Distribution network fault searching route generation method

Abstract

The invention discloses a distribution network fault finding route generation method, which comprises the following steps of: automatically generating a distribution network tower routing inspection route by using coordinates and elevation data of a distribution network tower and combining a relative position relationship between a distribution network refined routing inspection point location and a tower top, and automatically finding a distribution network fault finding route according to topological data of a distribution network line. And connecting the tower inspection route along a main line-branch line-branch line relation to form a final distribution network line inspection route. In addition, the invention also provides a distribution network autonomous inspection safety route combination method. Firstly, a plurality of safe take-off towers are added to a distribution network line, a direct flight channel between the safe take-off towers and an unmanned aerial vehicle airport is guaranteed, and the safe take-off towers are relatively safe at the set height. And then, when a line inspection route is executed, entering the upper part of the distribution network line through the safety tower, searching the shortest line from the safety tower to the starting point of the fault section according to a line topological relation, and splicing according to coordinates of the towers on the way to form a safe takeoff route for fault searching.

Description

Technical Field

[0001] The invention relates to the field of drone inspection technology, and in particular to a method for generating a distribution network fault finding route. Background Art

[0002] With the development of smart grids and the continuous expansion of the scale of distribution networks, it is particularly important to quickly and accurately locate fault points in distribution networks. Traditional fault finding methods usually rely on manual line inspections or vehicle-mounted equipment, which is not only time-consuming and labor-intensive, but also inefficient in complex terrain or severe weather conditions. In recent years, with the advancement of drone and drone automated airport technology and its increasing application in the field of power inspection, the use of drones for automated inspections has gradually become a research hotspot. In particular, combined with modern sensing technology and data processing methods, drones can more efficiently complete rapid scanning of large areas and detect potential problems in a timely manner.

[0003] Although the use of drones for distribution network fault detection has shown certain advantages, there are still some problems that need to be solved in practical applications. On the one hand, most of the existing drone inspection systems rely on preset routes and are not flexible enough to respond to sudden faults. Secondly, when faced with a complex power grid structure, it is a challenge to accurately plan the flight path of the drone to ensure that all possible fault points are covered. On the other hand, the inspection tasks are issued through drone airports, because the inspection targets are not clear and the direct flight strategy from the airport to the fault point is used, there are great safety hazards. Therefore, it is particularly necessary to develop a distribution network fault detection route generation method that can dynamically adjust the flight route according to real-time fault information and can efficiently and accurately locate the fault point. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a distribution network fault finding route generation method, which uses the coordinates and elevation data of the distribution network tower, combined with the relative position relationship between the distribution network refined inspection points and the tower tops, to automatically generate the distribution network tower inspection route, and then according to the topological data of the distribution network line, connects the tower inspection route along the relationship of the main line-branch line-branch line to form a final distribution network line inspection route.

[0005] A method for generating a distribution network fault finding route comprises the following steps:

[0006] S1. Collect distribution network line topology data and distribution network tower parameters. The distribution network topology data includes the name of the distribution network line and the upper and lower relationships of the distribution network lines. The distribution network tower parameters include the longitude and latitude coordinates of the tower, the tower top elevation and the connection relationship between the upper and lower base towers. The tower orientation is calculated based on the above data.

[0007] S2. According to the requirements of distribution network refined inspection, the relationship between the inspection points of distribution network towers and tower parameters is formed;

[0008] S3. Calculate the inspection waypoint location based on the tower orientation, waypoint relative relationship and other data;

[0009] Preferably, in S1, when calculating the orientation of the current tower according to the coordinates of the upper and lower towers, the current tower is assumed to be B (lonB, latB), the upper base tower is assumed to be A (lonA, latA), and the lower base tower is assumed to be C (lonC, latC);

[0010] S1.1 Calculate the direction angles θAB and θBC of AB and BC:

[0011]

[0012]

[0013] S1.2 Calculate the true north angle θ of the angle bisector:

[0014]

[0015] Assuming that the target waypoint is d meters in the α direction from the top of the tower (lonB, latB), and the radius of the earth is R, calculate the latitude, longitude and direction of the target waypoint D;

[0016] S1.3 Calculate the central angle corresponding to the moving distance d

[0017]

[0018] S1.4 Use spherical trigonometry to calculate the coordinates of point D in radians (lonD_rad, latD_rad):

[0019]

[0020]

[0021]

[0022] S1.5 Convert back to longitude and latitude:

[0023]

[0024]

[0025] S1.6 Calculate θDB, i.e. the heading angle of the new waypoint D, according to the direction angle calculation formula:

[0026]

[0027]

[0028] S1.7 Calculate the latitude, longitude and orientation of the tower inspection waypoints in sequence and connect them in the inspection sequence to form a tower inspection route;

[0029] S1.8 Connect the tower inspection route from the fault starting tower to the large side in sequence;

[0030] If a branch line is encountered, collect data from the branch line and inspect it all the way to the end of the branch line. Then, return to the branch tower of the upper line according to the coordinates of the branch tower, and continue to inspect the towers on the original route until all towers in the fault section have been inspected.

[0031] Preferably, the route generation method also includes a distribution network autonomous inspection safety route combination method in actual application, and the route combination method includes the following steps:

[0032] A1 adds several safe takeoff poles to the distribution network to ensure that the direct flight channel between the safe takeoff poles and the drone airport is relatively safe at the specified height;

[0033] When A2 executes the line inspection route, it enters the distribution network line through the safety tower, and then finds the shortest route from the safety tower to the starting point of the fault section according to the line topology relationship, and forms a safe take-off route for fault detection according to the coordinates of the towers along the way.

[0034] The advantages and technical effects of the present invention are:

[0035] (1) The method provided by the present invention for generating fault inspection routes based on distribution network tower parameters. Through the provided line section information, the tower parameters and line topology data are automatically extracted, and the inspection route of the target area is automatically generated, so that the drone inspection task can be started at the first time. Combined with the fault section information fed back by the distribution network traveling wave fault recorder, the optimal flight route can be quickly planned. This instant response mechanism makes fault finding no longer limited to the preset route, greatly improving the emergency response speed.

[0036] (2) The method of combining safe routes for autonomous inspection of distribution networks provided by the present invention. By setting up a safe take-off tower at the drone airport, the safety of the passage from the drone to the inspection route is ensured. Then, the shortest flight path along the distribution network line is dynamically generated according to the fault interval to ensure the flight safety of the drone to the inspection interval. Avoid the flight safety problem caused by the uncertainty of the direct flight path from the drone to the inspection interval. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A flow chart of the method for generating inspection routes based on distribution network tower parameters of the present invention.

[0038] Figure 2 The present invention is a flow chart of the method for autonomous inspection of safe route combinations in distribution networks. DETAILED DESCRIPTION

[0039] The embodiments of the invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the invention, and cannot be understood as limiting the invention.

[0040] The first purpose of the present invention is to provide a method for generating a fault inspection route based on distribution network tower parameters. Using the coordinate and elevation data of the distribution network tower, combined with the relative position relationship between the distribution network refined inspection points and the tower top, the inspection route of the distribution network tower is automatically generated, and then according to the topological data of the distribution network line, the tower inspection route is connected along the relationship of the main line-branch line-branch line to form the final distribution network line inspection route.

[0041] The technical solution to achieve the first purpose of the present invention is: first collect the distribution network line topology data and distribution network tower parameters, the distribution network topology data includes the distribution network line name, the upper and lower relationship of the distribution network line, and the distribution network tower parameters include the longitude and latitude coordinates of the tower, the tower top elevation and the connection relationship between the upper and lower base towers, and calculate the tower direction through the above data. Then, according to the requirements of the refined inspection of the distribution network, the relationship between the inspection point of the distribution network tower and the tower parameters is formed. For example, the tower positioning photography waypoint is 2 meters above the top of the tower, the pan-tilt angle is -90 degrees, and the direction is consistent with the large side outlet direction of the current tower. The left-phase insulator photography waypoint is 2 meters vertically and 2 meters horizontally from the top of the tower, the pan-tilt angle is -47 degrees, and it is facing the direction of the tower. Finally, the inspection waypoint position is calculated based on data such as the tower direction and the relative relationship of the waypoints.

[0042] The specific calculation method is as follows.

[0043] 1. Calculate the orientation of the current tower based on the coordinates of the upper and lower towers. Assume that the current tower is B (lonB, latB), the upper tower is A (lonA, latA), and the lower tower is C (lonC, latC).

[0044] (1) Calculate the direction angles θAB and θBC of AB and BC

[0045]

[0046]

[0047] (2) Calculate the true north angle θ of the angle bisector

[0048]

[0049] 2. Assume that the target waypoint is d meters in the α direction from the top of the tower (lonB, latB), and the radius of the earth is R. Calculate the latitude, longitude and direction of the target waypoint D.

[0050] (1) Calculate the central angle corresponding to the moving distance d

[0051]

[0052] (2) Use spherical trigonometry to calculate the coordinate radians of point D (lonD_rad, latD_rad)

[0053]

[0054]

[0055] (3) Convert back to longitude and latitude

[0056]

[0057]

[0058] (4) According to the direction angle calculation formula, calculate θDB, which is the heading angle of the new waypoint D.

[0059]

[0060]

[0061] 3. Calculate the latitude, longitude and direction of the tower inspection waypoints in sequence, and connect them in the inspection order to form a tower inspection route.

[0062] 4. Connect the tower inspection route from the fault starting tower to the large side in sequence.

[0063] 5. If a branch line is encountered, collect data from the branch line and inspect it all the way to the end of the branch line. Then, return to the branch tower of the upper line according to the coordinates of the branch tower, and continue to inspect the towers of the original route until all towers in the fault section have been inspected.

[0064] The second purpose of the present invention is to provide a method for combining safe routes for autonomous inspection of distribution networks. First, several safe take-off towers are added to the distribution network line to ensure that the direct flight channel between the safe take-off tower and the drone airport is relatively safe at a specified height. Then, when executing the line inspection route, the distribution network line is entered through the safety tower, and the shortest route from the safety tower to the starting point of the fault interval is found according to the line topology relationship, and the safe take-off route for fault finding is formed according to the coordinates of the towers along the way.

[0065] The technical solution for achieving the second object of the present invention is:

[0066] 1. Set the safe take-off height of the drone airport, generally 50-100 meters.

[0067] 2. Set up a safe take-off pole tower for the distribution network line near the drone airport. The selection principle is that the distance between the pole tower and the drone airport should be as short as possible, and there should be no obstacles at the safe take-off height between the drone airport and the safe take-off pole tower.

[0068] 3. Search for the fault starting tower from the safe take-off tower to the large side. If the fault starting tower does not exist on the main line, search the branch lines from the small side to the large side one by one until the fault starting tower is found or all towers are traversed.

[0069] 4. If the fault starting tower is not found on the large side, search for the fault starting tower on the small side in the order of main line-branch line-branch line until the fault starting tower is found or all towers are traversed.

[0070] 5. If no faulty starting tower is found, abandon this method, notify the administrator, confirm whether to implement the direct flight strategy, and monitor the safety of mission execution.

[0071] 6. The safe takeoff route is followed by a fault inspection route generated based on the distribution network tower parameters.

[0072] After the inspection route is completed, the shortest path is determined in the order of branch line-branch line-main line from the fault terminal tower to the airport safe take-off tower, and the coordinates of the towers along the line are connected to form the final full-process route.

[0073] Although embodiments of the invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A method for generating a distribution network fault finding route, characterized in that: The following steps are involved: S1. Collect distribution network line topology data and distribution network tower parameters. The distribution network topology data includes the name of the distribution network line and the upper and lower relationships of the distribution network lines. The distribution network tower parameters include the longitude and latitude coordinates of the tower, the tower top elevation and the connection relationship between the upper and lower base towers. The tower orientation is calculated based on the above data. S2. According to the requirements of distribution network refined inspection, the relationship between the inspection points of distribution network towers and tower parameters is formed; S3. Calculate the inspection waypoint location based on the tower orientation, waypoint relative relationship and other data.

2. A method for generating a distribution network fault finding route according to claim 1, characterized in that: In S1, when calculating the orientation of the current tower according to the coordinates of the upper and lower towers, the current tower is assumed to be B (lonB, latB), the upper tower is assumed to be A (lonA, latA), and the lower tower is assumed to be C (lonC, latC); S1.1 Calculate the direction angles θAB and θBC of AB and BC: S1.2 Calculate the true north angle θ of the angle bisector: Assuming that the target waypoint is d meters in the α direction from the top of the tower (lonB, latB), and the radius of the earth is R, calculate the latitude, longitude and direction of the target waypoint D; S1.3 Calculate the central angle corresponding to the moving distance d S1.4 Use spherical trigonometry to calculate the coordinates of point D in radians (lonD_rad, latD_rad): S1.5 Convert back to longitude and latitude: S1.6 Calculate θDB, i.e. the heading angle of the new waypoint D, according to the direction angle calculation formula: S1.7 Calculate the latitude, longitude and orientation of the tower inspection waypoints in sequence and connect them in the inspection sequence to form a tower inspection route; S1.8 Connect the tower inspection route from the fault starting tower to the large side in sequence; If a branch line is encountered, collect data from the branch line and inspect it all the way to the end of the branch line. Then, return to the branch tower of the upper line according to the coordinates of the branch tower, and continue to inspect the towers on the original route until all towers in the fault section have been inspected.

3. A method for generating a distribution network fault finding route according to claim 1, characterized in that: The route generation method also includes a distribution network autonomous inspection safety route combination method in actual application, and the route combination method includes the following steps: A1 adds several safe takeoff poles to the distribution network to ensure that the direct flight channel between the safe takeoff poles and the drone airport is relatively safe at the specified height; When A2 executes the line inspection route, it enters the distribution network line through the safety tower, and then finds the shortest route from the safety tower to the starting point of the fault section according to the line topology relationship, and forms a safe take-off route for fault detection according to the coordinates of the towers along the way.

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