Substation switching safety protection system and method based on UWB positioning

Abstract

The embodiment of the invention discloses a transformer substation switching safety protection system and method based on UWB positioning, a UWB base station is arranged in a transformer substation, UWB tags are arranged on power distribution equipment and a five-prevention key, and after a five-prevention machine determines target power distribution equipment through an operation order, the target power distribution equipment is sent to the UWB base station; the master control center can position the target power distribution equipment and the five-prevention key through a positioning signal broadcasted by the UWB tag so as to determine the real-time position of the target power distribution equipment relative to the five-prevention key, the master control center issues the real-time position to the five-prevention key through the five-prevention machine, navigation information is generated on the five-prevention key through the real-time position, and the navigation information is transmitted to the target power distribution equipment through the five-prevention machine. Operation and maintenance personnel are guided to accurately and quickly walk to target power distribution equipment through navigation information, switching operation is performed through five-prevention key unlocking, safety accidents caused by misoperation due to the fact that the operation and maintenance personnel mistakenly enter a non-target power distribution equipment interval are avoided, the switching safety protection performance and switching operation efficiency of a transformer substation are improved, and the safety and reliability of the transformer substation are improved. And the personal safety of operation and maintenance personnel is ensured.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of power grid security protection, and in particular to a substation switching security protection system and method based on UWB positioning. Background Art

[0002] As the complexity of power grid operation increases, the safety of substation on-site operations is crucial to the stability of the power grid. In the existing technology, five-protection locks are usually used to prevent misoperation.

[0003] However, the anti-misoperation mechanism of the five-protection lock is based on the execution of the relevant five-protection system logic when the user finds the correct equipment. However, in the substation, the nameplate with the equipment name and number printed on the equipment is exposed to the outdoor environment for a long time, and the nameplate falls off or becomes blurred and invisible, or the outdoor lighting is insufficient to accurately identify the equipment location and number. The operation and maintenance personnel holding the five-protection key may mistakenly enter the interval and fail to check the equipment, causing safety accidents due to the misoperation of illegal equipment, or they may need to walk repeatedly in the substation to find the target distribution equipment, resulting in reduced operation and maintenance efficiency. Summary of the invention

[0004] The embodiment of the present invention provides a substation switching safety protection system and method based on UWB positioning, so as to guide operation and maintenance personnel to quickly and accurately reach the target interval to perform switching operations on the target distribution equipment, thereby improving the safety performance and efficiency of the operation.

[0005] In a first aspect, an embodiment of the present invention provides a substation switching safety protection system based on UWB positioning, including:

[0006] A first UWB tag disposed on the power distribution device, used to broadcast a first positioning signal including a device ID;

[0007] A five-protection key provided with a second UWB tag for broadcasting a second positioning signal;

[0008] at least one UWB base station, configured to receive the first positioning signal and the second positioning signal;

[0009] Five-defense machine, used to determine the target power distribution equipment and unlock verification information based on the operation ticket information;

[0010] The main control center is used to receive the first positioning signal of the target power distribution equipment and the second positioning signal of the five-protection key from each UWB base station, and calculate the real-time position of the target power distribution equipment relative to the five-protection key according to the first positioning signal and the second positioning signal;

[0011] The five-protection machine is also used to receive the real-time position from the main control center, and load the real-time position and the unlocking verification information into the five-protection key;

[0012] The five-protection key is used to generate navigation information of the target power distribution equipment according to the real-time position, and to perform unlocking verification of the five-protection lock through the unlocking verification information.

[0013] Optionally, the number N of the UWB base stations is calculated by the following formula:

[0014]

[0015] Where s is the area of ​​the substation and R is the effective coverage radius of a UWB base station.

[0016] Optionally, the main control center includes:

[0017] The target power distribution equipment position calculation module is used to calculate the first position (x) of the target power distribution equipment relative to the target UWB base station according to the first positioning signal of the target power distribution equipment received from each UWB base station. t ,y t );

[0018] A five-protection key position calculation module is used to calculate the second position (x) of the five-protection key relative to the target UWB base station according to the second positioning signal of the five-protection key received from each UWB base station k ,y k );

[0019] A real-time position calculation module is used to calculate the position of the first position (x t ,y t ) and the second position (x k ,y k ) calculates the real-time position of the target power distribution equipment relative to the five-protection key.

[0020] Optionally, the target power distribution equipment location calculation module is specifically used for:

[0021] The distance d from the target power distribution equipment to the i-th UWB base station is calculated by the following formula: i :

[0022] d i = c·Δt;

[0023] Where c is the speed of light, △t is the time required for the first UWB tag to transmit to the i UWB base stations;

[0024] The triangulation position equation of each UWB base station is established to obtain the first set of equations:

[0025]

[0026] (xi ,y i ) is the coordinate of the i-th UWB base station, x, y are the coordinates of the target power distribution equipment, i = 1, 2, 3..., n, n is the number of base stations;

[0027] Select the first UWB base station as the target UWB base station;

[0028] Subtract the triangulated position equation of the first UWB base station from the triangulated position equations corresponding to the second to nth UWB base stations in the first set of equations to obtain the second set of equations:

[0029]

[0030] x1, y1 are the coordinates of the first UWB base station, and d1 is the distance from the target power distribution equipment to the first UWB base station;

[0031] Rewrite the second set of equations into the following matrix form:

[0032] Α·p=b;

[0033] in,

[0034]

[0035] The coordinates of the target power distribution equipment are solved using the least squares method:

[0036] p=(A T A) -1 A T b.

[0037] Optionally, the real-time position calculation module is specifically used for:

[0038] Calculate the distance d between the target power distribution equipment and the five-protection key according to the following formula: k-t and angle θ k-t :

[0039]

[0040] In the formula, x k ,y k is the coordinate of the five-defense key, x t ,y t The coordinates of the target power distribution equipment.

[0041] Optionally, the five-defense key includes:

[0042] The display module is used to display the real-time position as navigation information.

[0043] Optionally, the five-defense key also includes:

[0044] An operation prompt module, used for generating a five-protection key unlocking prompt message when the distance between the five-protection key and the target power distribution equipment in the real-time position is less than a preset distance threshold;

[0045] The operation verification module is used to perform five-protection unlocking verification according to the unlocking verification information, and the five-protection unlocking verification includes device ID verification and operation logic verification.

[0046] Optionally, a monitoring module is further included, and the monitoring module is used to:

[0047] Generate a walking trajectory of an operator according to the position data of the five-defense key;

[0048] Generate operation information, the operation information including the device ID of the unlocked device and the unlock result;

[0049] The walking track and the operation information are encrypted and uploaded to the server.

[0050] Optionally, the monitoring module is further used for:

[0051] Obtain the distance between the five-defense key and the non-target power distribution equipment;

[0052] Determine whether the distance between the five-defense key and the non-target power distribution equipment is less than a preset distance threshold;

[0053] If so, generate an alarm message.

[0054] In a second aspect, an embodiment of the present invention provides a substation switching safety protection method based on UWB positioning, which is applied to any system described in the first aspect, including:

[0055] Receiving, through at least one UWB base station, a first positioning signal broadcast by a first UWB tag set on the power distribution equipment, and receiving a second positioning signal broadcast by a first UWB tag set on the five-protection key;

[0056] Determine the target power distribution equipment and unlocking verification information according to the operation ticket information;

[0057] Calculating the real-time position of the target power distribution equipment relative to the five-protection key according to the first positioning signal and the second positioning signal;

[0058] The real-time position and the unlocking verification information are loaded into the five-protection key, and the five-protection key is used to generate navigation information of the target power distribution equipment according to the real-time position, and to perform unlocking verification of the five-protection lock through the unlocking verification information.

[0059] In the substation switching safety protection system based on UWB positioning of this embodiment, a first UWB tag is provided on the power distribution equipment of the substation, a second UWB tag is provided on the five-protection key, and a UWB base station is provided in the substation. The main control center can receive the first positioning signal broadcast by the first UWB tag on the power distribution equipment through the UWB base station, and receive the second positioning signal broadcast by the second UWB tag on the five-protection key, so as to locate the power distribution equipment and the five-protection key in the station. After the five-protection machine determines the target power distribution equipment through the operation ticket information, the real-time position of the target power distribution equipment relative to the five-protection key can be determined. The real-time position of the five-protection key is used to generate navigation information, so as to guide the operation and maintenance personnel to walk to the target power distribution equipment to perform corresponding operations through the navigation information. This solves the problem in the prior art that the operation and maintenance personnel cannot identify the target power distribution equipment through the nameplate information printed on the equipment or when the lighting is insufficient, resulting in the operation and maintenance personnel mistakenly entering the equipment interval with the five-protection key to perform operations and causing safety accidents. The real-time position of the target power distribution equipment located by UWB can be accurately and quickly guided to the target power distribution equipment, effectively avoiding safety accidents caused by mistakenly entering the interval, and improving the safety performance and efficiency of the substation switching operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of a substation switching safety protection system based on UWB positioning provided by an embodiment of the present invention;

[0061] Figure 2 This is a workflow diagram of a substation switching safety protection system based on UWB positioning in an example of the present invention.

[0062] Figure 3 It is a flow chart of a substation switching safety protection method based on UWB positioning provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0063] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0064] Figure 1 A schematic diagram of a substation switching safety protection system based on UWB positioning is provided in an embodiment of the present invention, as shown in FIG. Figure 1 As shown, the substation switching safety protection system based on UWB positioning according to an embodiment of the present invention includes a first UWB tag 1, a second UWB tag, a five-protection key 2, at least one UWB base station 3, a five-protection machine 4 and a main control center 5.

[0065] UWB (Ultra Wide Band) is a precise positioning technology with the advantages of high positioning accuracy, strong penetration, and high resolution. In this embodiment, the first UWB tag 1 can be set on the power distribution equipment in the substation, and each power distribution equipment can be provided with a first UWB tag 1. The first UWB tag 1 of each power distribution equipment can be written with the device ID of the power distribution equipment, so that the first UWB tag 1 regularly broadcasts a first positioning signal including the device ID and a timestamp. The second UWB tag is set on the five-protection key 2 to locate the operation and maintenance personnel holding the five-protection key 2 through the second UWB tag. The second UWB tag can regularly broadcast a second positioning signal including the five-protection key ID and a timestamp.

[0066] The UWB base station is set in the substation. The UWB base station is used to receive the first positioning signal broadcast by the first UWB tag 1 and the second positioning signal broadcast by the second UWB tag on the five-protection key 2. In one embodiment, the number of UWB base stations can be determined according to the area of ​​the substation and the signal coverage radius of each UWB base station. For example, the number N of UWB base stations required to be set in the substation can be calculated by the following formula:

[0067]

[0068] Among them, s is the area of ​​the substation, R is the effective coverage radius of a UWB base station. It should be noted that in order to determine the two-dimensional coordinates of the power distribution equipment and the five-protection key in the substation, at least three UWB base stations are required to be set up. At the same time, considering the signal loss and interference problems, the multiplier coefficient is added to the above formula. The multiplier in the above formula is 4 times, so that the substation is within the signal coverage range of N UWB base stations, ensuring that there is no signal blind spot in the substation.

[0069] The five-protection machine 4 and the main control center 5 of this embodiment can be arranged in the main control building of the substation, wherein the five-protection machine 4 is used to execute the logic related to the five-protection lock, and the main control center 5 can be used to process the first positioning signal and the second positioning signal received by the UWB base station 3 to obtain the coordinates of the distribution equipment and the coordinates of the five-protection key, and further calculate the real-time position of each distribution equipment relative to the five-protection key, which can include the distance from the distribution equipment to the five-protection key, and the azimuth angle of the distribution equipment relative to the five-protection key.

[0070] The five-protection machine 4 is used to determine the target power distribution equipment and unlocking verification information based on the operation ticket information, and to receive the real-time position of the target power distribution equipment relative to the five-protection key 2 from the main control center 5, and load the real-time position and unlocking verification information into the five-protection key 2. The five-protection key 2 is used to generate navigation information of the target power distribution equipment based on the real-time position, and to perform unlocking verification of the five-protection lock through the unlocking verification information.

[0071] The working principle of the substation switching safety protection system based on UWB positioning in the embodiment of the present invention is as follows:

[0072] After the operation and maintenance personnel arrive at the main control building of the substation, they can enter or select the operation ticket for this operation and maintenance operation (such as switching operation) on the five-defense machine 4. The five-defense machine 4 can identify the target distribution equipment on the operation ticket and determine the target distribution equipment ID, and load the target distribution equipment ID and related verification information on the operation ticket (such as switching operation logic) into the five-defense key 2. The operation and maintenance personnel walk out of the main control building holding the five-defense key 2. At the same time, the UWB base station 3 in the substation receives the first positioning signal broadcast by the first UWB tag 1 on the target distribution equipment, and receives the second UWB tag on the five-defense key 2. The second positioning signal of the broadcast, and the first positioning signal and the second positioning signal are sent to the main control center 5. The main control center 5 processes the first positioning signal and the second positioning signal to obtain the real-time position of the target power distribution equipment relative to the five-defense key 2, and sends the real-time position to the five-defense key 2 through the five-defense machine 4. The five-defense key 2 displays the real-time position on the display screen when receiving the real-time position, such as displaying "50 meters away from the target power distribution equipment, 45° to the right front", and can guide the operation and maintenance personnel to walk to the target power distribution equipment through sound and graphical information, so that the operation and maintenance personnel can quickly and accurately reach the target power distribution equipment.

[0073] In the substation switching safety protection system based on UWB positioning of this embodiment, a first UWB tag is set on the power distribution equipment of the substation, a second UWB tag is set on the five-protection key, and a UWB base station is set in the substation. The main control center can receive the first positioning signal broadcast by the first UWB tag on the power distribution equipment through the UWB base station, and receive the second positioning signal broadcast by the second UWB tag on the five-protection key, so as to locate the power distribution equipment and the five-protection key in the station. After the five-protection machine determines the target power distribution equipment through the operation ticket information, the real-time position of the target power distribution equipment relative to the five-protection key can be determined. The real-time position of the target power distribution equipment located by UWB is used to generate navigation information on the five-defense key, so as to guide the operation and maintenance personnel to walk to the target power distribution equipment to perform corresponding operations through the navigation information. This solves the problem in the prior art that the operation and maintenance personnel cannot identify the target power distribution equipment through the nameplate information printed on the equipment or when the lighting is insufficient, resulting in the operation and maintenance personnel mistakenly entering the equipment interval with the five-defense key to perform operations and causing safety accidents. The real-time position of the target power distribution equipment located by UWB can be accurately and quickly guided to the target power distribution equipment, effectively avoiding safety accidents caused by mistakenly entering the interval, and improving the safety performance and efficiency of substation switching operations.

[0074] In one embodiment, the main control center 5 may include a target power distribution equipment position calculation module, a five-defense key position calculation module, and a real-time position calculation module, wherein the target power distribution equipment position calculation module is used to calculate the first position (x ) of the target power distribution equipment relative to the target UWB base station according to the first positioning signal of the target power distribution equipment received from each UWB base station. t ,y t ), the five-defense key position calculation module is used to calculate the second position (x) of the five-defense key relative to the target UWB base station according to the second positioning signal of the five-defense key received from each UWB base station k ,y k ), a real-time position calculation module, used to calculate the position of the first position (x t ,y t ) and the second position (x k ,y k ) Calculate the real-time position of the target power distribution equipment relative to the five-protection key.

[0075] Since the process of calculating the target power distribution equipment and the five-protection key through the positioning signal is the same, the following is explained by calculating the position of the target power distribution equipment as an example. Specifically, the target power distribution equipment position calculation module can first calculate the distance d from the target power distribution equipment to the i-th UWB base station through the following formula: i :

[0076] d i = c·Δt;

[0077] Wherein, c is the speed of light, Δt is the time required for the first UWB tag to transmit to i UWB base stations (which can be calculated by the sending timestamp and receiving timestamp of the first positioning signal).

[0078] Since each UWB base station is fixed after installation in the distribution station, it has a certain UWB base station coordinate (x i ,y i ), for each UWB base station, a corresponding triangulation position equation can be established to obtain a first set of equations consisting of the triangulation position equations of multiple UWB base stations:

[0079]

[0080] (x i ,y i ) is the coordinate of the i-th UWB base station, x, y are the coordinates of the target power distribution equipment, i = 1, 2, 3..., n, n is the number of base stations;

[0081] The first UWB base station (of course, it can also be other UWB base stations) is further selected as the target UWB base station, and the triangulation position equation corresponding to the second to nth UWB base stations in the first equation group is subtracted from the triangulation position equation of the first UWB base station to obtain the second equation group:

[0082]

[0083] x1, y1 are the coordinates of the first UWB base station, d1 is the distance from the target power distribution equipment to the first UWB base station, and the second set of equations is further rewritten into the following matrix form:

[0084] Α·p=b;

[0085] in,

[0086]

[0087] The coordinates of the target power distribution equipment are solved using the least squares method:

[0088] p=(A T A) -1 A T b.

[0089] Optionally, different UWB base station combinations can be selected to solve the coordinates of the target power distribution equipment to obtain multiple coordinates of the target power distribution equipment. The average value or weighted average of the multiple coordinates can be calculated as the final coordinates of the target power distribution equipment to improve the accuracy of the coordinates of the target power distribution equipment.

[0090] The target power distribution equipment position calculation module calculates the first position (x t ,y t ), the five-protection key position calculation module calculates the second position of the five-protection key (x k ,y k ), the real-time position calculation module can calculate the distance d of the target power distribution equipment relative to the five-protection key according to the following formula k-t and angle θ k-t :

[0091]

[0092] In the formula, x k ,y k is the coordinate of the five-defense key, x t ,y t The coordinates of the target power distribution equipment.

[0093] The control center 5 sends the real-time position to the five-defense machine 4, and the five-defense machine 4 sends the real-time position to the five-defense key 2 (such as through a wireless communication network). The five-defense key 2 can be provided with a display screen, and the real-time position can be displayed on the display screen as navigation information. At the same time, the real-time position can also be broadcasted through voice information. By displaying the real-time position and broadcasting the real-time position, the operation and maintenance personnel are guided to walk to the target distribution equipment.

[0094] In an optional embodiment, the five-defense key 2 may also include an operation prompt module and an operation verification module. The operation prompt module is used to generate a five-defense key unlocking prompt information when the distance between the five-defense key and the target power distribution equipment in the real-time position is less than a preset distance threshold, so as to prompt the operation and maintenance personnel that they have entered the operating range of the target power distribution equipment and can use the five-defense key to perform unlocking operations. The operation verification module is used to perform a five-defense unlocking verification based on the unlocking verification information. The five-defense unlocking verification includes a device ID verification and an operation logic verification. For example, it can be verified whether the device ID stored in the five-defense key 2 is the ID of the current target power distribution equipment to avoid misoperation and further ensure that the current power distribution equipment is the target power distribution equipment. It also includes an operation logic verification related to the operation ticket. For details, please refer to the relevant logic of the switching in the prior art.

[0095] like Figure 1 As shown, a monitoring module 6 may also be included. The monitoring module 6 is used to generate the walking trajectory of the operator and generate operation information according to the position data of the five-protection key. The walking trajectory can be generated by fitting the position coordinates of the five-protection key at different times. The operation information includes the device ID of the unlocked device and the unlocking result (unlocking success or failure). The walking trajectory and operation information are encrypted and uploaded to the server, which can ensure the traceability of the operation process and data security.

[0096] Furthermore, the monitoring module is also used to obtain the distance between the five-protection key and the non-target distribution equipment, and determine whether the distance between the five-protection key and the non-target distribution equipment is less than a preset distance threshold. If so, an alarm message is generated. Specifically, the first UWB note on each distribution equipment in the substation (including target distribution equipment and non-target distribution equipment) broadcasts the first positioning signal to the UWB base station. The main control center can calculate the real-time position of each distribution equipment to the five-protection key. If a non-target distribution equipment is too close to the five-protection key, it means that the operation and maintenance personnel may have mistakenly entered the interval where the non-target distribution equipment is located, and an alarm message can be generated to prompt the operation and maintenance personnel.

[0097] In order to more clearly illustrate the working principle of the substation switching safety protection system based on UWB positioning in the embodiment of the present invention, the following is combined with Figure 2 To explain:

[0098] like Figure 2As shown, after the operation ticket is generated, the unlocking information of the target power distribution equipment is verified by the five-defense machine, the main control center calculates and obtains the equipment location information, the five-defense key loads the target power distribution equipment location and operation task, and the operator carries the five-defense key to the target power distribution equipment to determine whether the five-defense key is close to the equipment. If so, determine whether the equipment approached is the target power distribution equipment. If so, the five-defense key verifies the equipment information and determines whether the legality verification passes. If it is legal, the unlocking is completed and the operation data is recorded. If it is illegal, the unlocking is refused and an alarm is issued. The monitoring module uploads the recorded data in real time to facilitate subsequent audits and abnormal analysis. If the five-defense key does not approach the equipment, continue to walk according to the navigation information. If the equipment approached is not the target power distribution equipment, an alarm message is generated to prompt the operator to check whether the equipment interval is correct.

[0099] Figure 3 A flowchart of a substation switching safety protection method based on UWB positioning provided in an embodiment of the present invention is provided. The substation switching safety protection method based on UWB positioning in an embodiment of the present invention is applicable to the situation where the operation and maintenance personnel are guided to walk to the target distribution equipment when the substation is switched. The method can be executed by a substation switching safety protection system based on UWB positioning, such as Figure 3 As shown, the substation switching safety protection method based on UWB positioning in the embodiment of the present invention may specifically include the following steps:

[0100] S301, receiving, through at least one UWB base station, a first positioning signal broadcasted by a first UWB tag installed on a power distribution device, and receiving a second positioning signal broadcasted by a first UWB tag installed on a five-protection key.

[0101] Specifically, Figure 1 As shown, the substation switching safety protection system based on UWB positioning in the embodiment of the present invention includes a first UWB tag 1, a second UWB tag, a five-protection key 2, at least one UWB base station 3, a five-protection machine 4 and a main control center 5. The first UWB tag 1 can be set on the power distribution equipment in the substation, the second UWB tag is set on the five-protection key 2, and the UWB base station 3 is set in the substation. The first positioning signal broadcast by the first UWB tag 1 and the second positioning signal broadcast by the second UWB tag on the five-protection key 2 can be received through the UWB base station 3.

[0102] S302. Determine the target power distribution equipment and unlocking verification information according to the operation ticket information.

[0103] Specifically, the operation and maintenance personnel can enter or select the operation ticket for this operation and maintenance operation on the five-defense machine. The five-defense machine can identify the target power distribution equipment on the operation ticket and determine the target power distribution equipment ID, and load the target power distribution equipment ID and related verification information on the operation ticket into the five-defense key.

[0104] S303. Calculate the real-time position of the target power distribution equipment relative to the five-protection key according to the first positioning signal and the second positioning signal.

[0105] In one embodiment, the first position (x) of the target power distribution equipment relative to the target UWB base station can be calculated based on the first positioning signal of the target power distribution equipment received from each UWB base station. t ,y t ), calculate the second position (x) of the five-defense key relative to the target UWB base station according to the second positioning signal of the five-defense key received from each UWB base station k ,y k ), according to the first position (x t ,y t ) and the second position (x k ,y k ) Calculate the real-time position of the target power distribution equipment relative to the five-protection key, which real-time position includes the distance and angle information of the target power distribution equipment relative to the five-protection key.

[0106] S304. Load the real-time position and unlocking verification information into the five-protection key, which is used to generate navigation information of the target power distribution equipment according to the real-time position, and to perform unlocking verification of the five-protection lock through the unlocking verification information.

[0107] The five-defense machine can send the unlocking verification information and the real-time position received from the main control center to the five-defense key. The five-defense key can be provided with a display module. After receiving the real-time position, the five-defense key can generate navigation information of the target distribution equipment according to the real-time position, and perform unlocking verification of the five-defense lock through the unlocking verification information. This solves the problem in the prior art that the operation and maintenance personnel cannot identify the target distribution equipment through the nameplate information printed on the equipment or when the lighting is insufficient, resulting in the operation and maintenance personnel mistakenly entering the equipment interval with the five-defense key to perform operations and causing safety accidents. The real-time position of the target distribution equipment located by UWB can be accurately and quickly guided to the target distribution equipment, effectively avoiding safety accidents caused by mistakenly entering the interval, and improving the safety performance and efficiency of the substation switching operation.

[0108] In an optional embodiment, it may also include: when the distance between the five-defense key and the target power distribution equipment in the real-time position is less than a preset distance threshold, a five-defense key unlocking prompt message is generated to prompt the operation and maintenance personnel that they have entered the operating range of the target power distribution equipment. The operation and maintenance personnel can use the five-defense key to unlock the target power distribution equipment in the entered interval. If the unlocking operation fails, for example, if the device ID verifies that the currently unlocked device is not the target power distribution equipment, an alarm message is generated.

[0109] In an optional embodiment, it may also include: generating the operator's walking trajectory and operation information based on the position data of the five-protection key, the operation information including the device ID of the unlocked device and the unlocking result, encrypting the walking trajectory and operation information and uploading them to the server, which can ensure the traceability of the operation process and data security.

[0110] In an optional embodiment, it may also include: obtaining the distance between the five-protection key and the non-target distribution equipment; determining whether the distance between the five-protection key and the non-target distribution equipment is less than a preset distance threshold; if so, generating an alarm message. Specifically, the first UWB note on each distribution equipment in the substation (including the target distribution equipment and the non-target distribution equipment) broadcasts the first positioning signal to the UWB base station, and the main control center can calculate the real-time position of each distribution equipment to the five-protection key. If a non-target distribution equipment is too close to the five-protection key, it means that the operation and maintenance personnel may have mistakenly entered the interval where the non-target distribution equipment is located, and an alarm message can be generated to prompt the operation and maintenance personnel.

[0111] It should be noted that, for the method embodiment, since it is basically similar to the embodiment of the substation switching safety protection system based on UWB positioning, the description is relatively simple. For relevant matters, please refer to the partial description of the embodiment of the substation switching safety protection system based on UWB positioning.

[0112] The substation switching safety protection method based on UWB positioning provided in the embodiment of the present invention is applied to the substation switching safety protection system based on UWB positioning provided in the embodiment of the present invention, so that the substation switching safety protection method based on UWB positioning has corresponding beneficial effects.

[0113] Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute the substation switching safety protection method based on UWB positioning described in each embodiment of the present invention.

[0114] It is worth noting that in the above-mentioned embodiment of the substation switching safety protection system based on UWB positioning, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0115] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A substation switching safety protection system based on UWB positioning, characterized in that: include: A first UWB tag disposed on the power distribution device, used to broadcast a first positioning signal including a device ID; A five-protection key provided with a second UWB tag for broadcasting a second positioning signal; at least one UWB base station, configured to receive the first positioning signal and the second positioning signal; Five-defense machine, used to determine the target power distribution equipment and unlock verification information based on the operation ticket information; The main control center is used to receive the first positioning signal of the target power distribution equipment and the second positioning signal of the five-protection key from each UWB base station, and calculate the real-time position of the target power distribution equipment relative to the five-protection key according to the first positioning signal and the second positioning signal; The five-protection machine is also used to receive the real-time position from the main control center, and load the real-time position and the unlocking verification information into the five-protection key; The five-protection key is used to generate navigation information of the target power distribution equipment according to the real-time position, and to perform unlocking verification of the five-protection lock through the unlocking verification information.

2. The system according to claim 1, characterized in that The number N of UWB base stations is calculated by the following formula: Where s is the area of ​​the substation and R is the effective coverage radius of a UWB base station.

3. The system according to claim 1, characterized in that The main control center includes: The target power distribution equipment position calculation module is used to calculate the first position (x) of the target power distribution equipment relative to the target UWB base station according to the first positioning signal of the target power distribution equipment received from each UWB base station. t ,y t ); A five-protection key position calculation module is used to calculate the second position (x) of the five-protection key relative to the target UWB base station according to the second positioning signal of the five-protection key received from each UWB base station k ,y k ); A real-time position calculation module is used to calculate the position of the first position (x t ,y t ) and the second position (x k ,y k ) calculates the real-time position of the target power distribution equipment relative to the five-protection key.

4. The system according to claim 3, characterized in that The target power distribution equipment location calculation module is specifically used for: The distance d from the target power distribution equipment to the i-th UWB base station is calculated by the following formula: i : d i =c·Δt; Where c is the speed of light, △t is the time required for the first UWB tag to transmit to the i UWB base stations; The triangulation position equation of each UWB base station is established to obtain the first set of equations: (x i ,y i ) is the coordinate of the i-th UWB base station, x, y are the coordinates of the target power distribution equipment, i = 1, 2, 3..., n, n is the number of base stations; Select the first UWB base station as the target UWB base station; Subtract the triangulated position equation of the first UWB base station from the triangulated position equations corresponding to the second to nth UWB base stations in the first set of equations to obtain the second set of equations: x1, y1 are the coordinates of the first UWB base station, and d1 is the distance from the target power distribution equipment to the first UWB base station; Rewrite the second set of equations into the following matrix form: Α·p=b; in, The coordinates of the target power distribution equipment are solved using the least squares method: p=(A T A) -1 A T b。 5. The system according to claim 4, characterized in that The real-time position calculation module is specifically used for: Calculate the distance d between the target power distribution equipment and the five-protection key according to the following formula: k-t and angle θ k-t : In the formula, x k ,y k is the coordinate of the five-defense key, x t ,y t The coordinates of the target power distribution equipment.

6. The system according to claim 1, characterized in that The five-defense key includes: The display module is used to display the real-time position as navigation information.

7. The system according to any one of claims 1 to 6, characterized in that: The five-defense key also includes: An operation prompt module, used for generating a five-protection key unlocking prompt message when the distance between the five-protection key and the target power distribution equipment in the real-time position is less than a preset distance threshold; The operation verification module is used to perform five-protection unlocking verification according to the unlocking verification information, and the five-protection unlocking verification includes device ID verification and operation logic verification.

8. The system according to any one of claims 1 to 6, characterized in that: It also includes a monitoring module, which is used to: Generate a walking trajectory of an operator according to the position data of the five-defense key; Generate operation information, the operation information including the device ID of the unlocked device and the unlock result; The walking track and the operation information are encrypted and uploaded to the server.

9. The system according to claim 8, characterized in that The monitoring module is also used for: Obtain the distance between the five-defense key and the non-target power distribution equipment; Determine whether the distance between the five-defense key and the non-target power distribution equipment is less than a preset distance threshold; If so, generate an alarm message.

10. A substation switching safety protection method based on UWB positioning, characterized in that: The system according to any one of claims 1 to 9 comprises: Receiving, through at least one UWB base station, a first positioning signal broadcast by a first UWB tag set on the power distribution equipment, and receiving a second positioning signal broadcast by a first UWB tag set on the five-protection key; Determine the target power distribution equipment and unlocking verification information according to the operation ticket information; Calculating the real-time position of the target power distribution equipment relative to the five-protection key according to the first positioning signal and the second positioning signal; The real-time position and the unlocking verification information are loaded into the five-protection key, and the five-protection key is used to generate navigation information of the target power distribution equipment according to the real-time position, and to perform unlocking verification of the five-protection lock through the unlocking verification information.

Images