Power transmission tower positioning system and method based on vibration signal frequency spectrum and laser point cloud

Abstract

The invention provides a power transmission tower positioning system and method based on a vibration signal frequency spectrum and a laser point cloud. The system comprises a micro-vibration sensor, a data storage and processing module, a communication module, a power supply module and a solar photovoltaic panel. The laser point cloud acquisition module is used for acquiring laser point cloud data of the iron tower and constructing a point cloud model of the power transmission iron tower; and the monitoring center is used for receiving the vibration signal processing result. The method comprises the following steps: collecting a vibration signal; performing noise reduction processing on the collected vibration signals by using an autocorrelation-VMD noise reduction decomposition algorithm; carrying out VMD decomposition on the vibration signal after noise reduction processing, and calculating a correlation coefficient and a center frequency; reconstructing the vibration signal, and performing spectrum analysis; and judging whether the iron tower is loosened or not according to a spectral analysis result, and if so, determining a fault position.

Description

Technical Field

[0001] The present invention belongs to the field of power transmission lines, and in particular relates to a power transmission tower positioning system and method based on vibration signal spectrum and laser point cloud. Background Art

[0002] With the continuous improvement of the voltage level of my country's power grid and the continuous expansion of the scale of the power grid, higher and larger power towers play an important role in the erection of transmission lines. Unlike wooden poles or cement poles that are already formed in one piece during production, transmission towers are assembled on site with a large number of rigid materials and bolted connectors. There are problems such as poor skills and negligence of construction workers when assembling the towers, loose bolts of the towers after years of operation, rust of tower materials, and deformation of tower materials when the towers are subjected to large tension of the conductors. If such defects of the transmission towers are not detected and handled in real time, the serious consequence of the tower collapse will occur, endangering the stable operation of the power grid. The existing method of checking the looseness of the tower materials of the transmission towers is mainly to manually go up the tower and check the bolts one by one, which requires a lot of manpower, material and financial resources. This patent aims to invent a device for locating loose parts of transmission tower materials, which can monitor online the vibration signals collected from the installation point and transmitted from the loose tower materials in different parts, and determine the location of the loose tower materials through spectrum analysis, so as to facilitate manual maintenance on the tower. At the same time, based on the collected data, a database for locating loose tower materials of towers with different tower types, tower heights and nominal heights is constructed, so that the database can be adapted to different transmission tower conditions. Summary of the invention

[0003] In order to solve the deficiencies in the prior art, the present invention provides a transmission tower positioning system and method based on vibration signal spectrum and laser point cloud. The device can monitor the transmission tower erected in harsh outdoor environments in real time, measure its vibration amount, analyze the spectrum of the vibration amount, grasp the overall tightness of the tower, and locate the position of loose tower materials, thereby solving the huge workload and financial expenses brought about by on-site inspections, and improving the efficiency of tower maintenance work.

[0004] The present invention adopts the following technical solution.

[0005] The present invention provides a transmission tower positioning system based on vibration signal spectrum and laser point cloud, comprising:

[0006] Micro-vibration sensor, data storage and processing module, communication module, power module, solar photovoltaic panel;

[0007] Laser point cloud acquisition module, used to collect laser point cloud data of the tower and build a point cloud model of the transmission tower;

[0008] The monitoring center is used to receive the vibration signal processing results.

[0009] Preferably, the micro-vibration sensor is used to monitor the vibration signal of the installation position online in real time, temporarily store the vibration signal in the data storage module and process it, and transmit the processing result to the monitoring center through the communication module.

[0010] Preferably, the system further comprises:

[0011] High-precision acceleration sensors are installed on transmission towers to collect real-time vibration data of transmission towers under different environmental conditions.

[0012] The present invention also provides a method for positioning a transmission tower based on a vibration signal spectrum and a laser point cloud. The method is a method for using the aforementioned transmission tower positioning system based on a vibration signal spectrum and a laser point cloud, comprising:

[0013] Collect vibration signals;

[0014] The collected vibration signal is denoised using the autocorrelation-VMD noise reduction decomposition algorithm;

[0015] Perform VMD decomposition on the vibration signal after noise reduction and calculate the correlation coefficient and center frequency;

[0016] Reconstruct the vibration signal and perform spectrum analysis;

[0017] Determine whether the tower is loose based on the spectrum analysis results. If so, locate the fault.

[0018] Preferably, the performing spectrum analysis comprises:

[0019] The vibration signal is subjected to time domain analysis, power spectral density (PSD), root mean square (RMS) and short-time Fourier transform (STFT) processing.

[0020] Preferably, the determination basis of whether the bolts of the tower are loose is:

[0021] When the monitoring point detects that the peak value of the vibration signal after noise reduction and reconstruction is far away from its inherent vibration frequency in the frequency characteristics, it is determined that there are loose connections in the tower material.

[0022] Preferably, determining the fault location includes:

[0023] The data iteration method is used to randomly mark several initial points on the tower point cloud model. The permutation and combination method is used to plan the paths from each point to the detection point, and the distance of each path is calculated. Several points with smaller distances are selected as the results of the first iteration.

[0024] Preferably, the determining of the fault location further comprises:

[0025] Randomly mark several points near the first child point to plan their respective paths and calculate the distance, eliminate the points with larger distances, and use the points with smaller distances as the results of the second iteration; repeat this cycle until the data converges and the fault location is obtained.

[0026] The present invention also provides a terminal, including a processor and a storage medium;

[0027] The storage medium is used to store instructions;

[0028] The processor is configured to operate according to the instructions to execute the steps according to the aforementioned method.

[0029] The present invention also provides a computer-readable storage medium on which a computer program is stored, characterized in that the program implements the steps of the above method when executed by a processor.

[0030] The beneficial effect of the present invention is that, compared with the prior art, the present invention provides a transmission tower positioning system and method based on vibration signal spectrum and laser point cloud, which can judge the looseness of tower materials online and locate the approximate position of loose tower materials, thus solving the huge workload brought by manual climbing inspection and saving a lot of manpower, material and financial resources in maintenance work. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of a transmission tower positioning system based on vibration signal spectrum and laser point cloud in the present invention;

[0032] Figure 2 It is a flow chart of a method for locating a transmission tower based on a vibration signal spectrum and a laser point cloud in the present invention;

[0033] Figure 3 This is a schematic diagram of collecting laser point cloud data of an iron tower using a laser point cloud collection module in the present invention;

[0034] Figure 4 The figure is a schematic diagram of the process of determining the fault location in the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0036] like Figure 1As shown, embodiment 1 of the present invention provides a transmission tower positioning system based on vibration signal spectrum and laser point cloud, including:

[0037] Micro-vibration sensor, data storage and processing module, communication module, power module, solar photovoltaic panel. The micro-vibration sensor monitors the vibration signal of the installation location in real time online, temporarily stores the vibration signal in the data storage module and processes it, and transmits the processing result to the monitoring center through the communication module. The photovoltaic panel receives solar energy and provides power to the entire data acquisition module through the power module. The entire equipment is integrated in the closed shell and fastened to the bottom of the main steel of the transmission tower by bolts;

[0038] Laser point cloud acquisition module, used to collect laser point cloud data of the tower and build a point cloud model of the transmission tower;

[0039] The monitoring center is used to receive the vibration signal processing results.

[0040] Embodiment 2 of the present invention provides a method for positioning a transmission tower based on a vibration signal spectrum and a laser point cloud. The method is a method for using the aforementioned transmission tower positioning system based on a vibration signal spectrum and a laser point cloud, comprising:

[0041] Step 1, collecting vibration signals;

[0042] Accelerometer group application: High-precision acceleration sensors are installed at key locations of transmission towers to collect real-time vibration data of the towers under different conditions (such as wind speed changes). These data are compressed and transmitted to the analysis center.

[0043] Natural frequency calculation: The analyzer receives data from the accelerometer and calculates the natural frequency of the transmission tower using techniques such as the Stochastic Subspace Identification (SSI) method. Changes in the natural frequency can indicate the health of the tower structure, such as loose bolts or structural deformation.

[0044] like Figure 3 As shown, the laser point cloud acquisition module is used to collect the laser point cloud data of the tower, and a point cloud model of the transmission tower is constructed. The data model is stored in the device data storage device. The constructed tower point cloud model is used to simulate the actual transmission tower model in proportion, providing model data support for vibration point measurement.

[0045] Step 2, using the autocorrelation-VMD noise reduction decomposition algorithm to perform noise reduction processing on the collected vibration signal;

[0046] like Figure 2As shown, in engineering practice, external interference noise seriously affects the collection of vibration signals, so it is necessary to further reduce the noise of the vibration signals. The present invention adopts the autocorrelation-VMD noise reduction decomposition algorithm to perform noise reduction on the collected signals. Autocorrelation-VMD noise reduction decomposition algorithm: The autocorrelation-VMD noise reduction decomposition algorithm is a process of performing correlation analysis on the data corresponding to the signal at different times. The autocorrelation function can be used to find the repeated patterns in the time domain signal, and the fundamental frequency hidden in the harmonic frequency of the signal can also be identified. Therefore, autocorrelation-VMD noise reduction is widely used in signal processing such as signal recognition, extraction of useful signals and noise removal.

[0047] Step 3, performing VMD decomposition on the vibration signal after noise reduction processing, and calculating the correlation coefficient and center frequency;

[0048] Step 4, reconstruct the vibration signal and perform spectrum analysis; Time domain and frequency domain analysis: By performing time domain analysis, power spectral density (PSD), root mean square (RMS) and short-time Fourier transform (STFT) on the vibration signal, we can have a more comprehensive understanding of the dynamic characteristics and potential problems of the tower.

[0049] Step 5: Determine whether the tower is loose based on the spectrum analysis results. If so, determine the fault location.

[0050] When studying the frequency spectrum characteristics of the vibration signals of various tower materials when they vibrate, it can be seen that if the tightness of the tower is good, the tower materials at different positions reach peak values ​​at different vibration frequencies, that is, the vibration peak values ​​appear at their natural frequencies. If the bolts are loose, when the two parts of the tower materials connected by the loose bolts vibrate, the resonance part of the vibration signal is enhanced, that is, the vibration peak values ​​of the two signals move toward each other's natural vibration frequency and away from their own natural vibration frequency, which is called the resonance effect between metals. Using this principle, when the monitoring point detects that the peak value of the vibration signal is far away from its natural vibration frequency in the frequency characteristics after noise reduction and reconstruction, it is determined that there is a loose connection in the tower material.

[0051] Similarly, mechanical waves attenuate when propagating inside metals. The longer the propagation distance, the greater the attenuation. Based on the peak attenuation of the mechanical wave, the distance of the fault location can be preliminarily determined.

[0052] like Figure 4 As shown, the fault location is determined: based on the time and propagation speed of the vibration mechanical wave propagating in the metal to the monitoring point, the distance between the actual tower vibration point and the monitoring point is calculated.

[0053] The data iteration method and ant colony algorithm are used. The ant colony algorithm comes from bionics. The algorithm simulates the optimal path of ants foraging and obtains the optimal solution to the problem through iteration. Randomly mark several initial points on the tower point cloud model, use the ant colony algorithm to plan the path from each point to the detection point, and calculate the distance of each path. Select several points with smaller distances as the result of the first iteration. Randomly mark several points near the first child point to plan their own paths and calculate the distance, and eliminate the points with larger distances. The points with smaller distances are used as the result of the second iteration. This cycle is repeated until the data converges. The approximate position of the vibrating tower material can be determined.

[0054] The beneficial effect of the present invention is that, compared with the prior art, the present invention provides a transmission tower positioning method and system based on vibration signal spectrum and laser point cloud, which can judge the looseness of tower materials online and locate the approximate position of loose tower materials, thus solving the huge workload brought by manual climbing inspection and saving a lot of manpower, material and financial resources in maintenance work.

[0055] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0056] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0057] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0058] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A transmission tower positioning system based on vibration signal spectrum and laser point cloud, characterized in that: include: Micro-vibration sensor, data storage and processing module, communication module, power module, solar photovoltaic panel; Laser point cloud acquisition module, used to collect laser point cloud data of the tower and build a point cloud model of the transmission tower; The monitoring center is used to receive the vibration signal processing results.

2. The transmission tower positioning system based on vibration signal spectrum and laser point cloud according to claim 1 is characterized in that: The micro-vibration sensor is used to monitor the vibration signal of the installation position online in real time, temporarily store the vibration signal in the data storage module and process it, and transmit the processing result to the monitoring center through the communication module.

3. The transmission tower positioning system based on vibration signal spectrum and laser point cloud according to claim 2 is characterized in that: High-precision acceleration sensors are installed on transmission towers to collect real-time vibration data of transmission towers under different environmental conditions.

4. A method for locating a transmission tower based on a vibration signal spectrum and a laser point cloud, the method being a method for using a transmission tower positioning system based on a vibration signal spectrum and a laser point cloud as claimed in any one of claims 1 to 3, characterized in that: include: Collect vibration signals; The collected vibration signal is denoised using the autocorrelation-VMD noise reduction decomposition algorithm; Perform VMD decomposition on the vibration signal after noise reduction and calculate the correlation coefficient and center frequency; Reconstruct the vibration signal and perform spectrum analysis; Determine whether the tower is loose based on the spectrum analysis results. If so, locate the fault.

5. The method for locating a transmission tower based on vibration signal spectrum and laser point cloud according to claim 4, characterized in that: The spectrum analysis comprises: The vibration signal is subjected to time domain analysis, power spectral density (PSD), root mean square (RMS) and short-time Fourier transform (STFT) processing.

6. A transmission tower positioning method based on vibration signal spectrum and laser point cloud according to claim 5, characterized in that: The basis for determining whether the bolts of the tower are loose is as follows: When the monitoring point detects that the peak value of the vibration signal after noise reduction and reconstruction is far away from its inherent vibration frequency in the frequency characteristics, it is determined that there are loose connections in the tower material.

7. A transmission tower positioning method based on vibration signal spectrum and laser point cloud according to claim 6, characterized in that: Determining the fault location includes: The data iteration method is used to randomly mark several initial points on the tower point cloud model. The permutation and combination method is used to plan the paths from each point to the detection point, and the distance of each path is calculated. Several points with smaller distances are selected as the results of the first iteration.

8. The method for locating a transmission tower based on vibration signal spectrum and laser point cloud according to claim 7, characterized in that: Determining the fault location further includes: Randomly mark several points near the first child point to plan their respective paths and calculate the distance, eliminate the points with larger distances, and use the points with smaller distances as the results of the second iteration; repeat this cycle until the data converges and the fault location is obtained.

9. A terminal comprising a processor and a storage medium; characterized in that: The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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