Maintenance protection system and method for high-voltage power distribution room

Abstract

The invention provides a high-voltage power distribution room maintenance protection system and method. A to-be-maintained power distribution line is marked according to a scanning result obtained by carrying out power distribution line scanning on a high-voltage power distribution room in a large-scale power grid through a maintenance robot and a maintenance range in a power grid maintenance instruction; collecting transient traveling wave signals at the two ends of the to-be-overhauled distribution line, and positioning an overhaul position point of the to-be-overhauled distribution line based on the amplitude correlation degree of the transient traveling wave signals at the two ends of the to-be-overhauled distribution line in combination with the line length of the to-be-overhauled distribution line; controlling the maintenance robot to set a break switch at the rear end of the maintenance position point, and determining a phase sequence verification result based on the phase sequence information when the standby power supply is connected to the rear end line of the break switch and the initial phase sequence information of the high-voltage distribution room; and the maintenance robot replaces the line of the maintenance position point based on the phase sequence verification result. According to the scheme, the target maintenance point can be positioned in the interfered transient traveling wave signal based on the phase sequence verification result, so that the maintenance quality of the distribution line is improved.

Description

Technical Field

[0001] The present application relates to the field of power grid security control technology, and more specifically, to a high-voltage distribution room maintenance and protection system and method. Background Art

[0002] With the rapid growth of power grids, the security of large-scale power grids faces increasing challenges. Traditional manual inspection and maintenance methods are labor-intensive and dangerous, and cannot meet the needs of intelligent operation and maintenance of modern power grids. In order to improve the safety and reliability of large-scale power grids, it is necessary to apply advanced technical means, such as using maintenance robots to realize automatic maintenance of transmission lines. Maintenance robots can realize all-weather, no-dead-angle monitoring and maintenance of power lines, effectively avoiding possible safety risks during manual inspections, thereby improving the safety and stability of large-scale power grids.

[0003] In the field of power grid security, power grid security control aims to ensure that the power system can maintain stable operation and normal power supply after suffering various disturbances, so as to ensure that the system can maintain stability after any component fails. The power grid security control system uses standardized stability control devices and global real-time stability control monitoring to achieve real-time safety verification and stability analysis to improve the safety and stability of the power system. However, in the maintenance and protection of high-voltage distribution rooms, when a distribution line fails, the distributed capacitance in the distribution line will change the signal characteristics of the transient traveling wave signal (for example, when the capacitive reactance of the distributed capacitance becomes smaller, the shunt effect on the transient traveling wave signal will be enhanced, causing the amplitude and phase of the transient traveling wave signal to change), and the transient traveling wave signal will be reflected and refracted during the propagation process, resulting in deviations when locating the fault of the distribution line through the transient traveling wave signal, resulting in misjudgment of the maintenance point, thereby reducing the maintenance quality of the distribution line. Therefore, how to locate the target maintenance point in the disturbed transient traveling wave signal and improve the maintenance quality of the distribution line has become a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a high-voltage distribution room maintenance protection system and method, which can locate a target maintenance point in a disturbed transient traveling wave signal, thereby improving the maintenance quality of the distribution line.

[0005] In a first aspect, the present application provides a high-voltage distribution room maintenance and protection method, comprising the following steps: In response to a power grid maintenance instruction issued by a user, the maintenance robot scans the distribution lines in the high-voltage distribution room in the large-scale power grid, and marks the distribution lines to be repaired in the high-voltage distribution room according to the scanning results and the maintenance scope in the power grid maintenance instruction; Collecting transient traveling wave signals at both ends of the distribution line to be repaired, and locating the maintenance position of the distribution line to be repaired based on the amplitude correlation of the transient traveling wave signals at both ends of the distribution line to be repaired and the line length of the distribution line to be repaired; Control the maintenance robot to set a disconnect switch at the rear end of the maintenance position point, and extract the phase sequence information when the backup power supply is connected to the rear end line of the disconnect switch, and verify the phase sequence when the backup power supply is connected to the rear end line of the disconnect switch based on the phase sequence information and the initial phase sequence information of the high-voltage distribution room to obtain a phase sequence verification result; The maintenance robot controls the opening and closing of the disconnect switch based on the phase sequence verification result, and when the disconnect switch is in the disconnected state, the line at the maintenance position point is replaced.

[0006] In some embodiments, marking the power distribution lines to be repaired in the high-voltage power distribution room according to the scanning results and the repair scope in the power grid repair instruction specifically includes: Extracting the line space location information and the distribution line diagram of the high-voltage distribution room from the scanning results; Associating and fusing the line spatial location information with the power distribution line diagram to obtain a wiring detail diagram of the high-voltage power distribution room; The distribution lines in the maintenance range are extracted from the wiring detail diagram, and the extracted distribution lines are used as the distribution lines to be maintained in the high-voltage distribution room.

[0007] In some embodiments, locating the maintenance position of the power distribution line to be repaired based on the amplitude correlation of the transient traveling wave signals at both ends of the power distribution line to be repaired and the line length of the power distribution line to be repaired specifically includes: Dynamically divide the transient traveling wave signals at both ends of the distribution line to be repaired according to a preset sliding step size to obtain transient traveling wave sub-signal groups of the distribution line to be repaired in different time periods, wherein the transient traveling wave sub-signal groups include a left-end transient traveling wave sub-signal at the left end of the distribution line to be repaired and a right-end transient traveling wave sub-signal at the right end; Select a time period as a selected time period, perform signal amplitude correlation on a left-end transient traveling wave sub-signal and a right-end transient traveling wave sub-signal in the transient traveling wave sub-signal group of the selected time period, and obtain an amplitude correlation degree corresponding to the selected time period; Continue to determine the amplitude correlation corresponding to the remaining time periods; Extracting a confident transient traveling wave sub-signal group from all transient traveling wave sub-signal groups according to all amplitude correlations; The maintenance position point of the power distribution line to be repaired is located based on the confidence transient traveling wave sub-signal group and the line length of the power distribution line to be repaired.

[0008] In some embodiments, locating the maintenance position of the power distribution line to be repaired based on the group of confident transient traveling wave sub-signals and the line length of the power distribution line to be repaired specifically includes: Extracting a left-end transient traveling wave sub-signal and a right-end transient traveling wave sub-signal from the confidence transient traveling wave sub-signal group; Mapping the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal into the same two-dimensional coordinate system to obtain a dual-signal wave curve; Extracting the first signal intersection point from the double signal wave curve in order from left to right, and using the time point corresponding to the signal intersection point as a reference signal point when the maintenance robot performs maintenance on the distribution line to be maintained; Acquire the signal propagation speed of the transient traveling wave signal in the power distribution line to be repaired and the time when the left end of the power distribution line to be repaired receives the transient traveling wave signal; The maintenance position point of the distribution line to be repaired is determined based on the time corresponding to the reference signal point, the signal propagation speed, the time when the left end of the distribution line to be repaired receives the transient traveling wave signal, and the line length of the distribution line to be repaired.

[0009] In some embodiments, based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room, the phase sequence of the backup power supply when connected to the rear end line of the disconnect switch is verified, and the phase sequence verification result is obtained specifically including: Obtaining initial phase sequence information of the high voltage distribution room; The phase sequence information is compared with the initial phase sequence information. If the content of the phase sequence information is consistent with the content of the initial phase sequence information, the phase difference between the backup power supply and each phase line on the access line is measured when the backup power supply is connected to the back-end line of the disconnect switch, and each phase difference is compared with the phase difference threshold value. If each phase difference is less than each phase difference, the phase sequence check result is determined to be qualified, otherwise the phase sequence check result is determined to be unqualified; If the content of the phase sequence information is inconsistent with the content of the initial phase sequence information, the phase sequence verification result is determined to be unqualified.

[0010] In some embodiments, the power grid maintenance instruction represents instructive information for starting power grid equipment maintenance work.

[0011] In some embodiments, the maintenance robot is an intelligent robot used for repair and maintenance operations.

[0012] In a second aspect, the present application provides a high-voltage distribution room maintenance and protection system, comprising: A scanning module, which is used to respond to a power grid maintenance instruction issued by a user, instruct the maintenance robot to scan the distribution lines in the high-voltage distribution room in the large-scale power grid, and mark the distribution lines to be repaired in the high-voltage distribution room according to the scanning results and the maintenance scope in the power grid maintenance instruction; A processing module, used for collecting transient traveling wave signals at both ends of the distribution line to be repaired, and locating the maintenance position of the distribution line to be repaired based on the amplitude correlation of the transient traveling wave signals at both ends of the distribution line to be repaired and the line length of the distribution line to be repaired; The processing module is further used to control the maintenance robot to set a disconnect switch at the rear end of the maintenance position point, and extract the phase sequence information when the backup power supply is connected to the rear end line of the disconnect switch, and verify the phase sequence when the backup power supply is connected to the rear end line of the disconnect switch based on the phase sequence information and the initial phase sequence information of the high-voltage distribution room to obtain a phase sequence verification result; An execution module is used for the maintenance robot to control the opening and closing of the disconnect switch based on the phase sequence verification result, and when the disconnect switch is in the disconnected state, the line of the maintenance position point is replaced.

[0013] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned high-voltage distribution room maintenance and protection method.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned high-voltage distribution room maintenance and protection method is implemented.

[0015] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects: In the high-voltage distribution room maintenance and protection system and method provided in the present application, first, in response to the power grid maintenance instruction issued by the user, a maintenance robot scans the distribution lines of the high-voltage distribution room in the large-scale power grid, and marks the distribution lines to be repaired in the high-voltage distribution room according to the scanning results and the maintenance range in the power grid maintenance instruction; secondly, the transient traveling wave signals at both ends of the distribution line to be repaired are collected, and the distribution line to be repaired is located based on the signal amplitude correlation of the transient traveling wave signals at both ends of the distribution line to be repaired and the line length of the distribution line to be repaired. a maintenance position point of the circuit; then, controlling the maintenance robot to set a disconnect switch at the rear end of the maintenance position point, and extracting the phase sequence information when the backup power supply is connected to the rear end line of the disconnect switch, and verifying the phase sequence when the backup power supply is connected to the rear end line of the disconnect switch based on the phase sequence information and the initial phase sequence information of the high-voltage distribution room, to obtain a phase sequence verification result; finally, the maintenance robot controls the opening and closing of the disconnect switch based on the phase sequence verification result, and when the disconnect switch is in the disconnected state, replaces the line at the maintenance position point.

[0016] It can be seen that the present application can locate the target maintenance point in the disturbed transient traveling wave signal, thereby improving the maintenance quality of the distribution line; first, the maintenance robot scans the distribution line in the high-voltage distribution room in the large-scale power grid to obtain the wiring status information of the distribution line in the high-voltage distribution room, so as to accurately monitor the fault area of ​​the distribution line; secondly, the distribution line to be repaired in the high-voltage distribution room is marked according to the scanning results and the maintenance range in the power grid maintenance instruction, so as to identify the specific distribution line to be repaired in the high-voltage distribution room, and then provide conditions for the subsequent positioning of the actual maintenance location point, thereby avoiding the influence of the distributed capacitance in the distribution line changing the signal characteristics of the transient traveling wave signal; further, based on the signal amplitude correlation degree of the transient traveling wave signal at both ends of the distribution line to be repaired combined with the distribution line to be repaired The line length of the distribution line locates the maintenance position point of the distribution line to be repaired, so as to obtain an accurate maintenance position point, thereby avoiding the positioning error caused by reflection and refraction of the transient traveling wave signal during the propagation process; then, based on the phase sequence information and the initial phase sequence information of the high-voltage distribution room, the phase sequence of the backup power supply when connected to the rear-end line of the disconnect switch is verified to obtain a phase sequence verification result, so as to ensure the safety and reliability of non-stop power supply maintenance of the distribution line to be repaired; finally, the maintenance robot controls the opening and closing of the disconnect switch based on the phase sequence verification result, and when the disconnect switch is in the disconnected state, the line of the maintenance position point is replaced; in summary, the technical solution provided by the present application can locate the target maintenance point in the interfered transient traveling wave signal, thereby improving the maintenance quality of the distribution line. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is an exemplary flow chart of a high-voltage power distribution room maintenance and protection method according to some embodiments of the present application; Figure 2 is an exemplary flow chart for determining a power distribution line to be repaired according to some embodiments of the present application; Figure 3 is an exemplary flow chart of determining a phase sequence verification result according to some embodiments of the present application; Figure 4 It is a structural schematic diagram of a high-voltage power distribution room maintenance and protection system according to some embodiments of the present application; Figure 5 It is a structural schematic diagram of a computer device for implementing a high-voltage distribution room maintenance and protection method according to some embodiments of the present application. DETAILED DESCRIPTION

[0018] In order to better understand the technical solution of the present application, the technical solution of the present application will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0019] refer to Figure 1 , which is an exemplary flow chart of a high-voltage power distribution room maintenance and protection method according to some embodiments of the present application. The high-voltage power distribution room maintenance and protection method 100 mainly includes the following steps: In step 101, in response to a power grid maintenance instruction issued by a user, a maintenance robot scans the distribution lines in a high-voltage distribution room in a large-scale power grid, and marks the distribution lines to be maintained in the high-voltage distribution room according to the scanning results and the maintenance scope in the power grid maintenance instruction.

[0020] In specific implementation, in response to the power grid maintenance command issued by the user, the maintenance robot moves to the starting scanning position specified in the high-voltage distribution room in the large-scale power grid, and scans the distribution lines in the high-voltage distribution room in the large-scale power grid through laser radar and high-definition camera to obtain the line space position information and distribution line map of the high-voltage distribution room, combine the line space position information and the distribution line map to obtain the wiring data of the distribution line, and use the wiring data as the scanning result.

[0021] It should be noted that the power grid maintenance instruction in the present application represents indicative information for starting power grid equipment maintenance work. The power grid maintenance instruction is a key link in the operation and maintenance process of the power system, and usually includes many aspects such as the maintenance scope. The maintenance scope represents the maintenance area in the high-voltage distribution room; the wiring data in the present application represents the layout information of the distribution lines in the high-voltage distribution room, specifically including the line spatial location information and the distribution line diagram; the distribution lines in the present embodiment represent the physical lines used to transmit electric energy, and the high-voltage distribution rooms in large-scale power grids are scanned by maintenance robots to obtain the wiring status information of the distribution lines in the high-voltage distribution rooms, thereby accurately monitoring the fault areas of the distribution lines.

[0022] It should also be noted that the maintenance robot is an intelligent robot used for repair and maintenance operations, that is, the maintenance robot in this embodiment is an intelligent robot specifically used for inspection, repair and maintenance of high-voltage distribution equipment in large-scale power grids. The maintenance robot integrates technologies from multiple fields such as mechanical engineering, electronic technology, computer science, automatic control and artificial intelligence, and can replace or assist humans in completing complex, dangerous or repetitive maintenance tasks.

[0023] In some embodiments, reference Figure 2 As shown, this figure is an exemplary flow chart of determining the distribution line to be repaired according to some embodiments of the present application. In this embodiment, the distribution line to be repaired in the high-voltage distribution room is marked according to the scanning results and the repair range in the power grid repair instruction, which can be implemented by the following steps: First, in step 1011, the line space position information and the distribution line diagram of the high-voltage distribution room are extracted from the scanning results; Then, in step 1012, the line spatial location information and the power distribution line diagram are associated and fused to obtain a wiring detail diagram of the high-voltage power distribution room; Finally, in step 1013, the distribution lines in the maintenance range are extracted from the wiring detail diagram, and the extracted distribution lines are used as the distribution lines to be maintained in the high-voltage distribution room.

[0024] In specific implementation, the line spatial location information and the distribution line diagram are associated and integrated to obtain the wiring detail diagram of the high-voltage distribution room, that is: the line position in the line spatial location information is marked on the distribution line diagram through the general information model of the power grid to obtain the wiring detail diagram of the high-voltage distribution room.

[0025] It should be noted that the general information model of the power grid in this embodiment is a standardized model for describing power system objects and their relationships; the wiring detail diagram in this application represents a diagram describing the details of the distribution lines in the high-voltage distribution room, and the wiring detail diagram presents key information about the layout of the distribution lines. The wiring detail diagram is a very important feature in the operation and maintenance of the electrical system. The wiring detail diagram provides comprehensive and accurate line layout information, which can effectively ensure the safe and stable operation of high-voltage distribution rooms in large-scale power grids.

[0026] In specific implementation, the distribution lines in the maintenance scope can be extracted from the wiring detail map through OpenCV in the image processing tool, which will not be repeated here. In addition, in other embodiments, other extraction tools can be used to extract the distribution lines in the maintenance scope from the wiring detail map, which is not limited here.

[0027] It should be noted that the distribution line to be inspected in the present application represents a distribution line that needs to be inspected, and the distribution line to be inspected is the core monitoring line in the distribution line maintenance process. When a fault occurs in the distribution line to be inspected, the distribution line to be inspected is determined to identify the specific distribution line to be inspected in the high-voltage distribution room, thereby providing conditions for the subsequent positioning of the actual maintenance location point, thereby avoiding the influence of the distributed capacitance in the distribution line changing the signal characteristics of the transient traveling wave signal.

[0028] In step 102, transient traveling wave signals at both ends of the distribution line to be repaired are collected, and the maintenance position of the distribution line to be repaired is located based on the amplitude correlation of the transient traveling wave signals at both ends of the distribution line to be repaired and the line length of the distribution line to be repaired.

[0029] In specific implementation, the traveling wave sensor in the maintenance robot collects transient traveling wave signals at both ends of the distribution line to be inspected. In the present application, the transient traveling wave signal represents the traveling wave signal generated during the abnormal operation of the distribution line. The transient traveling wave signal is usually caused by short circuit, line break, operation, lightning strike and lightning induction, and is a characteristic of the distribution line being in an abnormal state. The transient traveling wave signal contains information such as the location of the fault point, the direction of the fault, the type of fault and the duration of the fault, which is of great significance for the fault diagnosis and protection of the power system. By acquiring the transient traveling wave signal, the operating status of the distribution line to be inspected can be effectively monitored, potential hidden dangers or fault problems can be discovered in time, and solved in the shortest time, thereby avoiding the occurrence of safety hazards or accidents and ensuring the safe operation of the high-voltage distribution room.

[0030] In some embodiments, the following steps may be used to locate the maintenance point of the power distribution line to be repaired based on the amplitude correlation of the transient traveling wave signals at both ends of the power distribution line to be repaired and the line length of the power distribution line to be repaired, namely: Dynamically divide the transient traveling wave signals at both ends of the distribution line to be repaired according to a preset sliding step size to obtain transient traveling wave sub-signal groups of the distribution line to be repaired in different time periods, wherein the transient traveling wave sub-signal groups include a left-end transient traveling wave sub-signal at the left end of the distribution line to be repaired and a right-end transient traveling wave sub-signal at the right end; Select a time period as a selected time period, perform signal amplitude correlation on a left-end transient traveling wave sub-signal and a right-end transient traveling wave sub-signal in the transient traveling wave sub-signal group of the selected time period, and obtain an amplitude correlation degree corresponding to the selected time period; Continue to determine the amplitude correlation corresponding to the remaining time periods; Extracting a confident transient traveling wave sub-signal group from all transient traveling wave sub-signal groups according to all amplitude correlations; The maintenance position point of the power distribution line to be repaired is located based on the confidence transient traveling wave sub-signal group and the line length of the power distribution line to be repaired.

[0031] In specific implementation, the sliding step size preset in this embodiment can be set based on the sampling frequency of the transient traveling wave signal at both ends of the distribution line to be inspected. For example, when the sampling frequency is 1 MHz, the sliding step size is 1 microsecond. In addition, in other embodiments, the sliding step size can be set according to actual needs. There is no limitation here. In this implementation, the sliding step size represents the sliding length when dynamically dividing the transient traveling wave signal at both ends of the distribution line to be inspected.

[0032] In specific implementation, the transient traveling wave signals at both ends of the distribution line to be repaired are dynamically divided according to a preset sliding step size to obtain transient traveling wave sub-signal groups of the distribution line to be repaired in different time periods, that is: the transient traveling wave signals at both ends of the distribution line to be repaired are divided according to the initial division length in chronological order to obtain the left-end transient traveling wave sub-signal of the left end and the right-end transient traveling wave sub-signal of the right end of the distribution line to be repaired corresponding to the first time period, and the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal are combined into a transient traveling wave sub-signal group, and each subsequent division is increased by the length of the sliding step size on the basis of the previous division length until the time period corresponding to the minimum transient traveling wave signal in the transient traveling wave signals at both ends of the distribution line to be repaired is divided, thereby obtaining the transient traveling wave sub-signal groups of the distribution line to be repaired in different time periods.

[0033] It should be noted that, in the present embodiment, the transient traveling wave sub-signal group includes a left-end transient traveling wave sub-signal and a right-end transient traveling wave sub-signal, wherein the left-end transient traveling wave sub-signal represents a sub-signal of the transient traveling wave signal at the left end of the distribution line to be repaired, and the right-end transient traveling wave sub-signal represents a sub-signal of the transient traveling wave signal at the right end of the distribution line to be repaired. In the maintenance of the distribution line, when a fault occurs, there is great similarity between the transient traveling wave signals at the left and right ends of the fault point, and the position of the fault point is close to the transient traveling wave signal of the initial time period. Therefore, when dividing the transient traveling wave signals at both ends of the distribution line to be repaired, they can be divided into the time period corresponding to the minimum transient traveling wave signal in the transient traveling wave signals at both ends of the distribution line to be repaired.

[0034] In some embodiments, the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal in the transient traveling wave sub-signal group of the selected time period are correlated by signal amplitude to obtain the amplitude correlation degree corresponding to the selected time period, specifically, the following steps may be adopted, namely: Calculating the signal amplitude average value of the left-end transient traveling wave sub-signal; Calculate the signal amplitude average value of the transient traveling wave sub-signal at the right end The average signal amplitude value of the left-end transient traveling wave sub-signal, the average signal amplitude value of the right-end transient traveling wave sub-signal, each signal amplitude in the left-end transient traveling wave sub-signal, and each signal amplitude in the right-end transient traveling wave sub-signal are input as input parameters into a correlation coefficient function, and the result output by the correlation coefficient function is used as the amplitude correlation degree corresponding to the selected time period.

[0035] It should be noted that the correlation coefficient function is a mathematical tool used to measure the degree of linear correlation between two variables. In this application, the amplitude correlation degree represents the degree of correlation between the signal amplitudes of two transient traveling wave sub-signals, that is, the degree of correlation between the signal amplitudes of the left-end transient traveling wave sub-signal at the left end of the distribution line to be inspected and the right-end transient traveling wave sub-signal at the right end.

[0036] In specific implementation, the amplitude correlation degree corresponding to the remaining time periods is determined by "correlating the signal amplitudes of the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal in the transient traveling wave sub-signal group of the selected time period to obtain the amplitude correlation degree corresponding to the selected time period", which will not be repeated here.

[0037] In specific implementation, a confident transient traveling wave sub-signal group is extracted from all transient traveling wave sub-signal groups according to all amplitude correlations, that is, the maximum amplitude correlation is extracted from all amplitude correlations, and the transient traveling wave sub-signal group corresponding to the maximum amplitude correlation is used as the confident transient traveling wave sub-signal group. In this embodiment, the confident transient traveling wave sub-signal group represents a valid transient traveling wave sub-signal group.

[0038] Among them, in some embodiments, the following steps can be specifically adopted to locate the maintenance position point of the distribution line to be repaired based on the group of confident transient traveling wave sub-signals and the line length of the distribution line to be repaired, namely: Extracting a left-end transient traveling wave sub-signal and a right-end transient traveling wave sub-signal from the confidence transient traveling wave sub-signal group; Mapping the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal into the same two-dimensional coordinate system to obtain a dual-signal wave curve; Extracting the first signal intersection point from the double signal wave curve in order from left to right, and using the time point corresponding to the signal intersection point as a reference signal point when the maintenance robot performs maintenance on the distribution line to be maintained; Acquire the signal propagation speed of the transient traveling wave signal in the power distribution line to be repaired and the time when the left end of the power distribution line to be repaired receives the transient traveling wave signal; The maintenance position point of the distribution line to be repaired is determined based on the time corresponding to the reference signal point, the signal propagation speed, the time when the left end of the distribution line to be repaired receives the transient traveling wave signal, and the line length of the distribution line to be repaired.

[0039] In a specific implementation, the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal are mapped to the same two-dimensional coordinate system to obtain a dual-signal wave curve, that is: each time point of the left-end transient traveling wave sub-signal is used as a horizontal coordinate element, and each signal amplitude in the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal is used as a vertical coordinate element, so that the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal are mapped to the same two-dimensional coordinate system to obtain a dual-signal wave curve. It should be noted that the dual-signal wave curve in this embodiment represents a group of curves composed of signal waves of two transient traveling wave sub-signals.

[0040] It should be noted that the reference signal point in this embodiment represents a signal point used as a reference. By determining the reference signal point, the time point when the abnormality occurs in the distribution line to be repaired can be effectively identified, thereby providing effective conditions for subsequently obtaining an accurate maintenance location point. In addition, in the present application, the signal lengths of the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal in the transient traveling wave sub-signal group are consistent and are in the same time period.

[0041] In specific implementation, the signal propagation speed of the transient traveling wave signal in the distribution line to be repaired and the moment when the left end of the distribution line to be repaired receives the transient traveling wave signal are obtained from the high-voltage distribution room maintenance database. The high-voltage distribution room maintenance database represents a database used to store relevant data during the maintenance process of the high-voltage distribution room.

[0042] In specific implementation, the maintenance position point of the distribution line to be inspected is determined based on the moment corresponding to the reference signal point, the signal propagation speed, the moment when the left end of the distribution line to be inspected receives the transient traveling wave signal, and the line length of the distribution line to be inspected, that is: first, the moment when the left end of the distribution line to be inspected receives the transient traveling wave signal and the moment corresponding to the reference signal point are difference calculated; secondly, the difference calculation result is multiplied by the signal propagation speed; then, the line length of the distribution line to be inspected and the product calculation result are difference calculated; finally, the difference calculation result is used as the maintenance position point of the distribution line to be inspected. In addition, other calculation methods can also be used in other embodiments, which are not limited here. It should also be noted that the maintenance position point in the present application represents the maintenance position calibrated in the distribution line to be inspected. When the distribution line is inspected in the high-voltage distribution room in a large-scale power grid, when a fault occurs at a certain point, the monitored transient traveling wave signal will pass through the fault point, and the signal characteristics of the transient traveling wave signal on both sides of the fault point are consistent. Therefore, the maintenance position point can be accurately located by reference to the signal point, thereby avoiding the positioning error caused by reflection and refraction of the transient traveling wave signal during the propagation process.

[0043] In step 103, the maintenance robot is controlled to set a disconnect switch at the rear end of the maintenance position, and the phase sequence information of the backup power supply when connected to the rear end line of the disconnect switch is extracted. The phase sequence of the backup power supply when connected to the rear end line of the disconnect switch is verified based on the phase sequence information and the initial phase sequence information of the high-voltage distribution room to obtain a phase sequence verification result.

[0044] In the specific implementation, the maintenance robot is controlled to set the disconnect switch at the rear end of the maintenance position through live operation. It should be noted that before setting the disconnect switch, professional voltage detection equipment is used to accurately measure the voltage at the maintenance position and its surroundings to ensure that the voltage at both ends is within a safe range when setting the disconnect switch.

[0045] In specific implementation, the phase sequence information when the backup power supply is connected to the rear-end line of the disconnect switch is extracted, that is: the test lines of the phase sequence table are respectively connected to the three phases of the line of the backup power supply, and the phase sequence information when the backup power supply is connected to the rear-end line of the disconnect switch is extracted from the phase sequence table. When the test lines of the phase sequence table are respectively connected to the three phases of the line of the backup power supply, the polarity of the test lines must be consistent with the polarity of the line phase sequence. In this implementation, the phase sequence information represents the sequence content of the voltages of each phase when the backup power supply is connected to the rear-end line of the disconnect switch. The phase sequence information can be positive sequence and reverse sequence. When the backup power supply is connected to the rear-end line of the disconnect switch, if the phase sequence is incorrect, for example, reverse sequence, it may cause problems such as motor reversal and equipment damage. It is necessary to adjust the phase sequence of the backup power supply in time or find the root cause of the problem and correct it.

[0046] In some embodiments, reference Figure 3 As shown, this figure is an exemplary flow chart for determining the phase sequence verification result according to some embodiments of the present application. In this embodiment, based on the phase sequence information and the initial phase sequence information of the high-voltage distribution room, the phase sequence of the backup power supply when connected to the rear end line of the disconnect switch is verified, and the phase sequence verification result can be obtained by the following steps: First, in step 1031, the initial phase sequence information of the high voltage distribution room is obtained; Then, in step 1032, the phase sequence information is compared with the initial phase sequence information. If the content of the phase sequence information is consistent with the content of the initial phase sequence information, the phase difference between the backup power supply and each phase line on the access line when the backup power supply is connected to the back-end line of the disconnect switch is measured, and each phase difference is compared with the phase difference threshold value respectively. If each phase difference is less than each phase difference, the phase sequence verification result is determined to be qualified, otherwise, the phase sequence verification result is determined to be unqualified; Finally, in step 1033, if the content of the phase sequence information is inconsistent with the content of the initial phase sequence information, it is determined that the phase sequence verification result is also unqualified.

[0047] In specific implementation, the initial phase sequence information of the high-voltage distribution room can be obtained from the construction and debugging records of the high-voltage distribution room, and the initial phase sequence information represents the original phase sequence on the distribution line of the high-voltage distribution room.

[0048] In specific implementation, the phase difference between the backup power supply and each phase line on the access line when the backup power supply is connected to the rear-end line of the disconnect switch can be measured by an oscilloscope. In addition, in other embodiments, other measuring sensors can be used to measure the phase difference between the backup power supply and each phase line on the access line when the backup power supply is connected to the rear-end line of the disconnect switch. There is no limitation here. In this embodiment, the phase difference represents the phase difference in time between two sinusoidal alternating currents of the same frequency.

[0049] It should be noted that, in this embodiment, the phase difference threshold represents a pre-selected standard phase difference, which is used to determine the effectiveness of the current backup power supply when it is connected to the back-end line of the disconnect switch. If it exceeds the phase difference threshold, it is determined that the current backup power supply is risky when connected to the back-end line of the disconnect switch. The phase difference threshold can be set specifically according to actual needs and is not limited here.

[0050] It should also be noted that the phase sequence verification result in the present application represents the result information after the phase sequence verification. By determining the phase sequence verification result, the maintenance reliability of the current maintenance robot when performing uninterrupted maintenance on the distribution line to be maintained can be effectively identified, thereby improving the effectiveness of the maintenance task and ensuring the safety of the maintenance.

[0051] In addition, it should be noted that the phase sequence of the backup power supply when it is connected to the rear end line of the disconnect switch is verified based on the phase sequence information and the initial phase sequence information of the high-voltage distribution room, that is: the initial phase sequence information of the high-voltage distribution room is obtained; the phase sequence information is compared with the initial phase sequence information, if the content of the phase sequence information is consistent with the content of the initial phase sequence information, then the phase difference between the backup power supply and each phase line on the access line is measured when the backup power supply is connected to the rear end line of the disconnect switch, and each phase difference is compared with the phase difference threshold value respectively, if each phase difference is less than each phase difference, then the phase sequence verification result is determined to be qualified, otherwise the phase sequence verification result is determined to be unqualified; if the content of the phase sequence information is inconsistent with the content of the initial phase sequence information, then the phase sequence verification result is also determined to be unqualified, that is, the phase sequence verification of the backup power supply when it is connected to the rear end line of the disconnect switch is completed, and the phase sequence of the backup power supply when it is connected to the rear end line of the disconnect switch is verified to ensure the safety and reliability of the uninterrupted power supply maintenance of the distribution line to be repaired.

[0052] In step 104, the maintenance robot controls the opening and closing of the disconnect switch based on the phase sequence verification result, and when the disconnect switch is in the disconnected state, the line at the maintenance location point is replaced.

[0053] In some embodiments, the maintenance robot controls the opening and closing of the disconnect switch based on the phase sequence verification result, and specifically adopts the following steps, namely: When the phase sequence check result is qualified, the maintenance robot controls the disconnect switch to disconnect; When the phase sequence verification result is unqualified, the maintenance robot controls the disconnect switch to close.

[0054] In specific implementation, when the phase sequence check result is qualified, the maintenance robot controls the disconnect switch to be disconnected and performs subsequent maintenance; when the phase sequence check result is unqualified, the maintenance robot controls the disconnect switch to be closed and performs phase sequence correction.

[0055] In specific implementation, when the disconnect switch is in the disconnected state, it means that the backup power supply introduced at this time has supplied power to subsequent users, and the disconnected disconnect switch at this time isolates the current from flowing to the maintenance location point, so the line at the maintenance location point can be replaced without interrupting power supply. It should be noted that there is an outlet switch at the outlet end of the high-voltage distribution room, which is also in the disconnected state when the line at the maintenance location point is replaced.

[0056] In addition, in another aspect of the present application, in some embodiments, the present application provides a high-voltage distribution room maintenance protection system, referring to Figure 4 , which is a structural schematic diagram of a high-voltage power distribution room maintenance and protection system according to some embodiments of the present application. The high-voltage power distribution room maintenance and protection system 200 includes: a scanning module 201, a processing module 202 and an execution module 203, which are described as follows: Scanning module 201, in this application, scanning module 201 is mainly used to respond to the power grid maintenance instruction issued by the user, instruct the maintenance robot to scan the distribution lines of the high-voltage distribution room in the large-scale power grid, and mark the distribution lines to be repaired in the high-voltage distribution room according to the scanning results and the maintenance scope in the power grid maintenance instruction; Processing module 202, in the present application, the processing module 202 is mainly used to collect transient traveling wave signals at both ends of the distribution line to be repaired, and locate the maintenance position point of the distribution line to be repaired based on the amplitude correlation degree of the transient traveling wave signals at both ends of the distribution line to be repaired and the line length of the distribution line to be repaired; The processing module 202 is further used to control the maintenance robot to set a disconnect switch at the rear end of the maintenance position point, and extract the phase sequence information when the backup power supply is connected to the rear end line of the disconnect switch, and verify the phase sequence when the backup power supply is connected to the rear end line of the disconnect switch based on the phase sequence information and the initial phase sequence information of the high-voltage distribution room to obtain a phase sequence verification result; The execution module 203 in the present application is mainly used for the maintenance robot to control the opening and closing of the disconnect switch based on the phase sequence verification result. When the disconnect switch is in the disconnected state, the line of the maintenance position point is replaced.

[0057] In addition, the present application also provides a computer device, which includes a memory and a processor, the memory stores a code, and the processor is configured to obtain the code and execute the above-mentioned high-voltage distribution room maintenance and protection method.

[0058] In some embodiments, reference Figure 5 , which is a schematic diagram of the structure of a computer device for implementing a high-voltage distribution room maintenance and protection method according to some embodiments of the present application. The high-voltage distribution room maintenance and protection method in the above embodiment can be Figure 5 The computer device 300 shown in the figure is implemented, and the computer device 300 includes at least one processor 301, a communication bus 302, a memory 303 and at least one communication interface 304.

[0059] Processor 301 can be a general-purpose central processing unit (CPU), or an application specific integrated circuit (ASIC) or one or more for controlling the execution of the high-voltage distribution room maintenance and protection method in the present application.

[0060] The communication bus 302 may be used to transmit information between the above-mentioned components.

[0061] The memory 303 may be a read only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read only memory (EEPROM), a compact disc read only memory (CD ROM) or other optical disc storage, an optical disc storage (including a compressed optical disc, a laser disc, an optical disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 303 may exist independently and be connected to the processor 301 via the communication bus 302. The memory 303 may also be integrated with the processor 301.

[0062] The memory 303 is used to store the program code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the program code stored in the memory 303. The program code may include one or more software modules. The determination of the maintenance and protection method of the high-voltage distribution room in the above embodiment can be implemented by the processor 301 and one or more software modules in the program code in the memory 303.

[0063] The communication interface 304 uses any transceiver or other device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0064] In a specific implementation, as an embodiment, a computer device may include multiple processors, each of which may be a single-core (single CPU) processor or a multi-core (multi CPU) processor. The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0065] The above-mentioned computer device may be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the computer device may be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device. The embodiment of the present application does not limit the type of computer device.

[0066] In addition, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned high-voltage distribution room maintenance and protection method is implemented.

[0067] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0068] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A high-voltage distribution room maintenance and protection method, used for maintenance of distribution lines in high-voltage distribution rooms in large-scale power grids, characterized in that: The steps include: In response to a power grid maintenance instruction issued by a user, the maintenance robot scans the distribution lines in the high-voltage distribution room in the large-scale power grid, and marks the distribution lines to be repaired in the high-voltage distribution room according to the scanning results and the maintenance scope in the power grid maintenance instruction; Collecting transient traveling wave signals at both ends of the distribution line to be repaired, and locating the maintenance position of the distribution line to be repaired based on the amplitude correlation of the transient traveling wave signals at both ends of the distribution line to be repaired and the line length of the distribution line to be repaired; Control the maintenance robot to set a disconnect switch at the rear end of the maintenance position point, and extract the phase sequence information when the backup power supply is connected to the rear end line of the disconnect switch, and verify the phase sequence when the backup power supply is connected to the rear end line of the disconnect switch based on the phase sequence information and the initial phase sequence information of the high-voltage distribution room to obtain a phase sequence verification result; The maintenance robot controls the opening and closing of the disconnect switch based on the phase sequence verification result, and when the disconnect switch is in the disconnected state, the line at the maintenance position point is replaced.

2. The method according to claim 1, characterized in that Marking the distribution lines to be repaired in the high-voltage distribution room according to the scanning results and the maintenance scope in the power grid maintenance instruction specifically includes: Extracting the line space location information and the distribution line diagram of the high-voltage distribution room from the scanning results; Associating and fusing the line spatial location information with the power distribution line diagram to obtain a wiring detail diagram of the high-voltage power distribution room; The distribution lines in the maintenance range are extracted from the wiring detail diagram, and the extracted distribution lines are used as the distribution lines to be maintained in the high-voltage distribution room.

3. The method according to claim 1, characterized in that The method of locating the maintenance position of the power distribution line to be repaired based on the amplitude correlation of the transient traveling wave signals at both ends of the power distribution line to be repaired and the line length of the power distribution line to be repaired specifically includes: Dynamically divide the transient traveling wave signals at both ends of the distribution line to be repaired according to a preset sliding step size to obtain transient traveling wave sub-signal groups of the distribution line to be repaired in different time periods, wherein the transient traveling wave sub-signal groups include a left-end transient traveling wave sub-signal at the left end of the distribution line to be repaired and a right-end transient traveling wave sub-signal at the right end; Select a time period as a selected time period, perform signal amplitude correlation on a left-end transient traveling wave sub-signal and a right-end transient traveling wave sub-signal in the transient traveling wave sub-signal group of the selected time period, and obtain an amplitude correlation degree corresponding to the selected time period; Continue to determine the amplitude correlation corresponding to the remaining time periods; Extracting a confident transient traveling wave sub-signal group from all transient traveling wave sub-signal groups according to all amplitude correlations; The maintenance position point of the power distribution line to be repaired is located based on the confidence transient traveling wave sub-signal group and the line length of the power distribution line to be repaired.

4. The method according to claim 3, characterized in that The method of locating the maintenance position of the power distribution line to be repaired based on the confidence transient traveling wave sub-signal group and the line length of the power distribution line to be repaired specifically includes: Extracting a left-end transient traveling wave sub-signal and a right-end transient traveling wave sub-signal from the confidence transient traveling wave sub-signal group; Mapping the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal into the same two-dimensional coordinate system to obtain a dual-signal wave curve; Extracting the first signal intersection point from the double signal wave curve in order from left to right, and using the time point corresponding to the signal intersection point as a reference signal point when the maintenance robot performs maintenance on the distribution line to be maintained; Acquire the signal propagation speed of the transient traveling wave signal in the power distribution line to be repaired and the time when the left end of the power distribution line to be repaired receives the transient traveling wave signal; The maintenance position point of the distribution line to be repaired is determined based on the time corresponding to the reference signal point, the signal propagation speed, the time when the left end of the distribution line to be repaired receives the transient traveling wave signal, and the line length of the distribution line to be repaired.

5. The method according to claim 1, characterized in that Based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room, the phase sequence of the backup power supply when connected to the rear end line of the disconnect switch is verified, and the phase sequence verification result is obtained specifically including: Obtaining initial phase sequence information of the high voltage distribution room; The phase sequence information is compared with the initial phase sequence information. If the content of the phase sequence information is consistent with the content of the initial phase sequence information, the phase difference between the backup power supply and each phase line on the access line is measured when the backup power supply is connected to the back-end line of the disconnect switch, and each phase difference is compared with the phase difference threshold value. If each phase difference is less than each phase difference, the phase sequence check result is determined to be qualified, otherwise the phase sequence check result is determined to be unqualified; If the content of the phase sequence information is inconsistent with the content of the initial phase sequence information, the phase sequence verification result is determined to be unqualified.

6. The method according to claim 1, characterized in that The power grid maintenance instruction represents indicative information for starting power grid equipment maintenance work.

7. The method according to claim 1, characterized in that The inspection robot is an intelligent robot used for repair and maintenance operations.

8. A high-voltage distribution room maintenance and protection system, characterized in that: include: A scanning module, which is used to respond to a power grid maintenance instruction issued by a user, instruct the maintenance robot to scan the distribution lines in the high-voltage distribution room in the large-scale power grid, and mark the distribution lines to be repaired in the high-voltage distribution room according to the scanning results and the maintenance scope in the power grid maintenance instruction; A processing module, used for collecting transient traveling wave signals at both ends of the distribution line to be repaired, and locating the maintenance position of the distribution line to be repaired based on the amplitude correlation of the transient traveling wave signals at both ends of the distribution line to be repaired and the line length of the distribution line to be repaired; The processing module is further used to control the maintenance robot to set a disconnect switch at the rear end of the maintenance position point, and extract the phase sequence information when the backup power supply is connected to the rear end line of the disconnect switch, and verify the phase sequence when the backup power supply is connected to the rear end line of the disconnect switch based on the phase sequence information and the initial phase sequence information of the high-voltage distribution room to obtain a phase sequence verification result; An execution module is used for the maintenance robot to control the opening and closing of the disconnect switch based on the phase sequence verification result, and when the disconnect switch is in the disconnected state, the line of the maintenance position point is replaced.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores codes, and the processor is configured to obtain the codes and execute the high-voltage distribution room maintenance and protection method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the high-voltage distribution room maintenance and protection method as described in any one of claims 1 to 7 is implemented.

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