A high-voltage power distribution room maintenance protection system and method

Abstract

The present application provides a high-voltage power distribution room maintenance protection system and method. The scanning results of the power distribution lines in the high-voltage power distribution room of a large-scale power grid by a maintenance robot and the maintenance scope in the power grid maintenance instruction are used to mark the power distribution lines to be maintained. The transient traveling wave signals at both ends of the power distribution lines to be maintained are collected, and the maintenance position points of the power distribution lines to be maintained are located based on the amplitude correlation of the transient traveling wave signals at both ends of the power distribution lines to be maintained in combination with the line length of the power distribution lines to be maintained. The maintenance robot is controlled to set a disconnection switch at the rear end of the maintenance position point, and the phase sequence verification result is determined based on the phase sequence information when the standby power supply is connected to the line at the rear end of the disconnection switch and the initial phase sequence information of the high-voltage power distribution room. The maintenance robot replaces the line at the maintenance position point based on the phase sequence verification result. The above solution can locate the target maintenance point in the disturbed transient traveling wave signals based on the phase sequence verification result, thereby improving the maintenance quality of the power distribution lines.

Description

Technical Field

[0001] This application relates to the technical field of power grid security protection control. More specifically, this application relates to a high-voltage distribution room maintenance protection system and method. Background Art

[0002] With the rapid growth of the power grid scale, the security protection of large-scale power grids faces increasing challenges. The traditional manual inspection and maintenance method has a high labor intensity and high risk, and cannot meet the needs of modern power grid intelligent operation and maintenance. To improve the security and reliability of large-scale power grids, advanced technical means need to be applied, such as realizing the automatic maintenance of transmission lines through inspection robots. The inspection robot can achieve all-weather and non-blind-spot monitoring and maintenance of power lines, effectively avoiding potential safety risks during manual inspections, thereby improving the security and stability of large-scale power grids.

[0003] In the field of power grid security protection, power grid security protection control aims to ensure that the power system can still maintain stable operation and normal power supply after suffering various disturbances, so as to ensure that the system can still maintain stability after any component fails. The power grid security protection control system applies standardized stability control devices and global real-time stability control monitoring to achieve real-time security checking and stability analysis, so as to improve the security and stability of the power system. However, in the maintenance protection of high-voltage distribution rooms, when a fault occurs in the distribution line, 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 shunting effect on the transient traveling wave signal will be enhanced, causing changes in the amplitude and phase of the transient traveling wave signal), and the transient traveling wave signal will be reflected and refracted during the propagation process, resulting in deviations in fault location of the distribution line through the transient traveling wave signal, leading to 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 to improve the maintenance quality of the distribution line has become a difficult problem faced by the industry. Summary of the Invention

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

[0005] In a first aspect, this application provides a high-voltage distribution room maintenance protection method, including the following steps:

[0006] In response to a power grid maintenance instruction issued by a user, an inspection robot scans the distribution lines in the high-voltage distribution room of a large-scale power grid, and marks the distribution lines to be maintained in the high-voltage distribution room according to the scanning result and the maintenance scope in the power grid maintenance instruction;

[0007] Collect the transient traveling wave signals at both ends of the power distribution line to be repaired, and locate the repair position 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 in combination with the line length of the power distribution line to be repaired;

[0008] Control the repair robot to set a disconnection switch at the rear end of the repair position point, extract the phase sequence information when the backup power supply is connected to the line behind the disconnection switch, and verify the phase sequence when the backup power supply is connected to the line behind the disconnection switch based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room to obtain a phase sequence verification result;

[0009] The repair robot controls the disconnection and closing of the disconnection switch based on the phase sequence verification result. When the disconnection switch is in the off state, replace the line at the repair position point.

[0010] In some embodiments, marking the power distribution line to be repaired in the high-voltage power distribution room according to the scanning result and the repair scope in the power grid repair instruction specifically includes:

[0011] Extract the line spatial position information and the power distribution line diagram of the high-voltage power distribution room from the scanning result;

[0012] Associate and fuse the line spatial position information and the power distribution line diagram to obtain the wiring detail diagram of the high-voltage power distribution room;

[0013] Extract the power distribution line in the repair scope from the wiring detail diagram, and use the extracted power distribution line as the power distribution line to be repaired in the high-voltage power distribution room.

[0014] In some embodiments, locating the repair position 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 in combination with the line length of the power distribution line to be repaired specifically includes:

[0015] Dynamically divide the transient traveling wave signals at both ends of the power distribution line to be repaired according to a preset sliding step length to obtain transient traveling wave sub-signal groups of the power distribution line to be repaired in different time periods. The transient traveling wave sub-signal group includes a left-end transient traveling wave sub-signal at the left end of the power distribution line to be repaired and a right-end transient traveling wave sub-signal at the right end;

[0016] Select a time period as the selected time period, correlate 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 corresponding to the selected time period;

[0017] Continue to determine the amplitude correlations corresponding to the remaining time periods;

[0018] Extract the confident transient traveling wave sub-signal group from all transient traveling wave sub-signal groups according to all amplitude correlation degrees;

[0019] Locate the maintenance position point of the power distribution line to be maintained based on the confident transient traveling wave sub-signal group and the line length of the power distribution line to be maintained.

[0020] In some embodiments, locating the maintenance position point of the power distribution line to be maintained based on the confident transient traveling wave sub-signal group and the line length of the power distribution line to be maintained specifically includes:

[0021] Extract the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal in the confident transient traveling wave sub-signal group;

[0022] Map the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal to the same two-dimensional coordinate system to obtain a double-signal wave curve;

[0023] Extract the first signal intersection point from the double-signal wave curve in the order from left to right, and use the time point corresponding to this signal intersection point as the reference signal point when the maintenance robot performs maintenance on the power distribution line to be maintained;

[0024] Obtain the signal propagation speed of the transient traveling wave signal in the power distribution line to be maintained and the moment when the transient traveling wave signal is received at the left end of the power distribution line to be maintained;

[0025] Determine the maintenance position point of the power distribution line to be maintained based on the moment corresponding to the reference signal point, the signal propagation speed, the moment when the transient traveling wave signal is received at the left end of the power distribution line to be maintained, and the line length of the power distribution line to be maintained.

[0026] In some embodiments, verifying the phase sequence when the standby power supply is connected to the line behind the disconnection switch based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room to obtain the phase sequence verification result specifically includes:

[0027] Obtain the initial phase sequence information of the high-voltage power distribution room;

[0028] Compare the phase sequence information 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, measure the phase differences between the standby power supply and each phase line on the connected line when the standby power supply is connected to the line behind the disconnection switch, and compare each phase difference with the phase difference threshold respectively. If each phase difference is less than each phase difference threshold, determine that the phase sequence verification result is qualified; otherwise, determine that the phase sequence verification result is unqualified;

[0029] If the content of the phase sequence information is inconsistent with the content of the initial phase sequence information, determine that the phase sequence verification result is also unqualified.

[0030] In some embodiments, the power grid maintenance instruction represents indicative information for initiating the maintenance work of power grid equipment.

[0031] In some embodiments, the maintenance robot is an intelligent robot for maintenance and repair operations.

[0032] In a second aspect, the present application provides a maintenance protection system for a high-voltage power distribution room, including:

[0033] A scanning module, configured to respond to a power grid maintenance instruction issued by a user, instruct the maintenance robot to scan the power distribution lines in the high-voltage power distribution room in a large-scale power grid, and mark the power distribution lines to be maintained in the high-voltage power distribution room according to the scanning results and the maintenance scope in the power grid maintenance instruction;

[0034] A processing module, configured to collect transient traveling wave signals at both ends of the power distribution line to be maintained, and locate the maintenance position point of the power distribution line to be maintained based on the amplitude correlation of the transient traveling wave signals at both ends of the power distribution line to be maintained and the line length of the power distribution line to be maintained;

[0035] The processing module is further configured to control the maintenance robot to set a disconnection switch at the rear end of the maintenance position point, extract the phase sequence information when the standby power supply is connected to the line at the rear end of the disconnection switch, and perform a phase sequence check on the phase sequence when the standby power supply is connected to the line at the rear end of the disconnection switch based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room to obtain a phase sequence check result;

[0036] An execution module, configured to control the disconnection and closing of the disconnection switch by the maintenance robot based on the phase sequence check result, and when the disconnection switch is in the off state, replace the line at the maintenance position point.

[0037] In a third aspect, the present application provides a computer device, which includes a memory and a processor, the memory stores code, and the processor is configured to obtain the code and execute the above-mentioned maintenance protection method for a high-voltage power distribution room.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the above-mentioned maintenance protection method for a high-voltage power distribution room is implemented.

[0039] The technical solutions provided by the disclosed embodiments of the present application have the following beneficial effects:

[0040] In the high-voltage power distribution room maintenance protection system and method provided by the present application, first, in response to the power grid maintenance instruction issued by the user, the maintenance robot scans the power distribution lines in the high-voltage power distribution rooms of the large-scale power grid, and marks the power distribution lines to be maintained in the high-voltage power distribution rooms according to the scanning results and the maintenance scope in the power grid maintenance instruction; secondly, transient traveling wave signals at both ends of the power distribution lines to be maintained are collected, and the maintenance position points of the power distribution lines to be maintained are located based on the signal amplitude correlation of the transient traveling wave signals at both ends of the power distribution lines to be maintained and the line length of the power distribution lines to be maintained; then, the maintenance robot is controlled to set a disconnection switch at the rear end of the maintenance position point, and the phase sequence information when the standby power supply is connected to the line at the rear end of the disconnection switch is extracted, and the phase sequence when the standby power supply is connected to the line at the rear end of the disconnection switch is verified based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room to obtain a phase sequence verification result; finally, the maintenance robot controls the disconnection and closing of the disconnection switch based on the phase sequence verification result, and when the disconnection switch is in the open state, the line at the maintenance position point is replaced.

[0041] 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 power distribution line; first, the maintenance robot scans the power distribution lines in the high-voltage power distribution rooms of the large-scale power grid to obtain the wiring condition information of the power distribution lines in the high-voltage power distribution rooms, so as to accurately monitor the fault area of the power distribution line; secondly, the power distribution lines to be maintained in the high-voltage power distribution rooms are marked according to the scanning results and the maintenance scope in the power grid maintenance instruction to identify the specific power distribution lines to be maintained in the high-voltage power distribution rooms, and further provide conditions for subsequently locating the real maintenance position points, thereby avoiding the influence caused by the distributed capacitance in the power distribution line changing the signal characteristics of the transient traveling wave signal; further, the maintenance position points of the power distribution lines to be maintained are located based on the signal amplitude correlation of the transient traveling wave signals at both ends of the power distribution lines to be maintained and the line length of the power distribution lines to be maintained to obtain accurate maintenance position points, thereby avoiding the positioning error caused by the reflection and refraction of the transient traveling wave signal during the propagation process; then, the phase sequence when the standby power supply is connected to the line at the rear end of the disconnection switch is verified based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room to obtain a phase sequence verification result to ensure the safety and reliability of the power distribution line to be maintained during the non-power-off maintenance; finally, the maintenance robot controls the disconnection and closing of the disconnection switch based on the phase sequence verification result, and when the disconnection switch is in the open state, the line at the maintenance position point is replaced; in summary, the technical solution provided by the present application can locate the target maintenance point in the disturbed transient traveling wave signal, thereby improving the maintenance quality of the power distribution line. Description of the Drawings

[0042] Figure 1 is an exemplary flowchart of a maintenance protection method for a high-voltage power distribution room shown in some embodiments of the present application;

[0043] Figure 2 is an exemplary flowchart of determining a power distribution line to be maintained according to some embodiments of the present application;

[0044] Figure 3 is an exemplary flowchart of determining a phase sequence verification result according to some embodiments of the present application;

[0045] Figure 4 is a schematic structural diagram of a maintenance protection system for a high-voltage power distribution room shown in some embodiments of the present application;

[0046] Figure 5 is a schematic structural diagram of a computer device for implementing a maintenance protection method for a high-voltage power distribution room shown in some embodiments of the present application. Detailed implementation manners

[0047] To better understand the technical solutions of the present application, the technical solutions of the present application will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0048] Refer to Figure 1 , this figure is an exemplary flowchart of a maintenance protection method for a high-voltage power distribution room shown in some embodiments of the present application. The maintenance protection method 100 for the high-voltage power distribution room mainly includes the following steps:

[0049] In step 101, in response to a power grid maintenance instruction issued by a user, a maintenance robot scans the power distribution lines in a high-voltage power distribution room in a large-scale power grid, and marks the power distribution lines to be maintained in the high-voltage power distribution room according to the scanning result and the maintenance scope in the power grid maintenance instruction.

[0050] Specifically, in response to a power grid maintenance instruction issued by a user, the maintenance robot moves to a designated starting scanning position in a high-voltage power distribution room in a large-scale power grid, scans the power distribution lines in the high-voltage power distribution room of the large-scale power grid through a lidar and a high-definition camera, obtains the line spatial position information and the power distribution line diagram of the high-voltage power distribution room, combines the line spatial position information and the power distribution line diagram to obtain the wiring data of the power distribution line, and uses the wiring data as the scanning result.

[0051] It should be noted that in this application, the power grid maintenance instruction represents the indicative information for starting the maintenance work of power grid equipment. The power grid maintenance instruction is a key link in the operation and maintenance process of the power system, usually including various aspects such as the maintenance scope. The maintenance scope represents the maintenance area in the high-voltage switchgear room. In this application, the wiring data represents the layout information of the distribution lines in the high-voltage switchgear room, specifically including the line spatial position information and the distribution line diagram. In this embodiment, the distribution line represents the physical line for transmitting electric energy. The inspection robot scans the distribution lines in the high-voltage switchgear room of the large-scale power grid to obtain the wiring condition information of the distribution lines in the high-voltage switchgear room, so as to accurately inspect and monitor the fault areas of the distribution lines.

[0052] It should also be noted that the inspection robot is an intelligent robot for repair and maintenance operations. That is, in this embodiment, the inspection robot is an intelligent robot specifically used for inspecting, repairing, and maintaining the high-voltage power distribution equipment in the large-scale power grid. The inspection robot integrates technologies in multiple fields such as mechanical engineering, electronic technology, computer science, automation control, and artificial intelligence, and can replace or assist humans in completing complex, dangerous, or highly repetitive inspection tasks.

[0053] In some embodiments, referring to Figure 2 as shown, this figure is an exemplary flowchart for determining the distribution lines to be maintained according to some embodiments of this application. In this embodiment, the distribution lines to be maintained in the high-voltage switchgear room can be marked according to the scanning results and the maintenance scope in the power grid maintenance instruction by the following steps:

[0054] First, in step 1011, the line spatial position information and the distribution line diagram of the high-voltage switchgear room are extracted from the scanning results.

[0055] Then, in step 1012, the line spatial position information and the distribution line diagram are associated and integrated to obtain the wiring detail diagram of the high-voltage switchgear room.

[0056] Finally, in step 1013, the distribution lines in the maintenance scope 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 switchgear room.

[0057] When specifically implemented, the line spatial position information and the distribution line diagram are associated and integrated to obtain the wiring detail diagram of the high-voltage switchgear room, that is: the line positions in the line spatial position information are marked on the distribution line diagram through the power grid common information model to obtain the wiring detail diagram of the high-voltage switchgear room.

[0058] It should be noted that in this embodiment, the grid general information model is a standardized model for describing power system objects and their relationships; in this application, the wiring detail diagram represents a diagram for describing the details of the distribution lines in the high-voltage switchgear room. The wiring detail diagram presents key information about the distribution line layout. The wiring detail diagram is a very important feature in the operation and maintenance link 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 the high-voltage switchgear room in a large-scale power grid.

[0059] When specifically implemented, the distribution lines in the maintenance scope can be extracted from the wiring detail diagram through OpenCV in the image processing tool, which will not be elaborated here. In addition, in other embodiments, other extraction tools can also be used to extract the distribution lines in the maintenance scope from the wiring detail diagram, which is not limited here.

[0060] It should be noted that in this application, the distribution line to be maintained refers to the distribution line that needs to be maintained. The distribution line to be maintained is the core monitoring line during the maintenance process of the distribution line. When a fault occurs in the distribution line to be maintained, by determining the distribution line to be maintained, the specific distribution line to be maintained in the high-voltage switchgear room can be identified, thereby providing conditions for subsequently locating the actual maintenance position point, and avoiding the influence caused by the change of the signal characteristics of the transient traveling wave signal by the distributed capacitance in the distribution line.

[0061] In step 102, the transient traveling wave signals at both ends of the distribution line to be maintained are collected, and the maintenance position point of the distribution line to be maintained is located based on the amplitude correlation degree of the transient traveling wave signals at both ends of the distribution line to be maintained in combination with the line length of the distribution line to be maintained.

[0062] When specifically implemented, the transient traveling wave signals at both ends of the distribution line to be maintained are collected by the traveling wave sensor in the maintenance robot. In this application, the transient traveling wave signal refers to the traveling wave signal generated during the abnormal operation of the distribution line. The transient traveling wave signal is usually caused by reasons such as short circuit, open circuit, operation, lightning strike, and lightning induction, and is a characteristic of the distribution line in an abnormal state. The transient traveling wave signal contains information such as the fault point location, fault direction, fault type, and fault duration, which is of great significance for the fault diagnosis and protection of the power system. By obtaining the transient traveling wave signal, the operation state of the distribution line to be maintained can be effectively monitored, potential hidden dangers or fault problems can be discovered in time, and they can be solved in the shortest time, thereby avoiding the occurrence of safety hazards or accidents and ensuring the operation safety of the high-voltage switchgear room.

[0063] In some embodiments, to locate the maintenance position point of the power distribution line to be maintained based on the amplitude correlation degree of the transient traveling wave signals at both ends of the power distribution line to be maintained and the line length of the power distribution line to be maintained, the following steps can be specifically adopted, that is:

[0064] Dynamically divide the transient traveling wave signals at both ends of the power distribution line to be maintained according to a preset sliding step length to obtain transient traveling wave sub-signal groups of the power distribution line to be maintained in different time periods. The transient traveling wave sub-signal groups include the left-end transient traveling wave sub-signal at the left end of the power distribution line to be maintained and the right-end transient traveling wave sub-signal at the right end;

[0065] Select a time period as the selected time period, correlate the 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;

[0066] Continue to determine the amplitude correlation degrees corresponding to the remaining time periods;

[0067] Extract the confidence transient traveling wave sub-signal group from all transient traveling wave sub-signal groups according to all the amplitude correlation degrees;

[0068] Locate the maintenance position point of the power distribution line to be maintained based on the confidence transient traveling wave sub-signal group and the line length of the power distribution line to be maintained.

[0069] Specifically, the preset sliding step length in this embodiment can be set based on the sampling frequency of the transient traveling wave signals at both ends of the power distribution line to be maintained. For example, when the sampling frequency is 1 MHz, the sliding step length is 1 microsecond. In addition, in other embodiments, the sliding step length can also be set according to actual requirements, which is not limited here. The sliding step length in this embodiment represents the sliding length when dynamically dividing the transient traveling wave signals at both ends of the power distribution line to be maintained.

[0070] Specifically, when dynamically dividing the transient traveling wave signals at both ends of the power distribution line to be maintained according to the preset sliding step length to obtain the transient traveling wave sub-signal groups of the power distribution line to be maintained in different time periods, that is: divide the transient traveling wave signals at both ends of the power distribution line to be maintained in chronological order with an initial division length to obtain the left-end transient traveling wave sub-signal at the left end of the power distribution line to be maintained and the right-end transient traveling wave sub-signal at the right end corresponding to the first time period, and combine the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal into a transient traveling wave sub-signal group. Subsequently, each time a division is performed, the length of the sliding step length is increased on the basis of the previous division length until the time period corresponding to the smallest transient traveling wave signal in the transient traveling wave signals at both ends of the power distribution line to be maintained is divided, thereby obtaining the transient traveling wave sub-signal groups of the power distribution line to be maintained in different time periods.

[0071] It should be noted that in this 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. The left-end transient traveling wave sub-signal represents a sub-signal of the transient traveling wave signal at the left end of the power 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 power distribution line to be repaired. Among them, in the repair of the power distribution line, when a fault occurs, there is a great similarity in the transient traveling wave signals at the left and right ends of the fault point. The position of the fault point is close to the transient traveling wave signal in the initial time period. Therefore, when dividing the transient traveling wave signals at both ends of the power distribution line to be repaired, it can be divided into the time period corresponding to the smallest transient traveling wave signal in the transient traveling wave signals at both ends of the power distribution line to be repaired.

[0072] Among them, 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 in the selected time period are associated with the signal amplitude to obtain the amplitude correlation degree corresponding to the selected time period. The specific steps can be as follows:

[0073] Calculate the average value of the signal amplitudes of the left-end transient traveling wave sub-signals;

[0074] Calculate the average value of the signal amplitudes of the right-end transient traveling wave sub-signals

[0075] Take the average value of the signal amplitudes of the left-end transient traveling wave sub-signals, the average value of the signal amplitudes of the right-end transient traveling wave sub-signals, each signal amplitude in the left-end transient traveling wave sub-signals, and each signal amplitude in the right-end transient traveling wave sub-signals as input parameters and input them into the correlation coefficient function, and take the result output by the correlation coefficient function as the amplitude correlation degree corresponding to the selected time period.

[0076] It should be noted that the correlation coefficient function is a mathematical tool for measuring the linear correlation degree between two variables. In this application, the amplitude correlation degree represents the correlation degree of the signal amplitudes between two transient traveling wave sub-signals, that is, the correlation degree of the signal amplitudes between the left-end transient traveling wave sub-signal at the left end of the power distribution line to be repaired and the right-end transient traveling wave sub-signal at the right end.

[0077] In specific implementation, the amplitude correlation degree corresponding to the remaining time period is determined by the determination method of "associating 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 in the selected time period to obtain the amplitude correlation degree corresponding to the selected time period", which will not be elaborated here.

[0078] In specific implementation, according to all the amplitude correlation degrees, a confidence transient traveling wave sub-signal group is extracted from all the transient traveling wave sub-signal groups, that is: the maximum amplitude correlation degree is extracted from all the amplitude correlation degrees, and the transient traveling wave sub-signal group corresponding to the maximum amplitude correlation degree is used as the confidence transient traveling wave sub-signal group. In this embodiment, the confidence transient traveling wave sub-signal group represents an effective transient traveling wave sub-signal group.

[0079] Among them, in some embodiments, the following steps can be specifically adopted to locate the maintenance position point of the power distribution line to be maintained based on the confidence transient traveling wave sub-signal group and the line length of the power distribution line to be maintained, that is:

[0080] Extract the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal in the confidence transient traveling wave sub-signal group;

[0081] Map the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal to the same two-dimensional coordinate system to obtain a double-signal wave curve;

[0082] Extract the first signal intersection point from the double-signal wave curve in the order from left to right, and use the time point corresponding to this signal intersection point as the reference signal point when the maintenance robot performs maintenance on the power distribution line to be maintained;

[0083] Obtain the signal propagation speed of the transient traveling wave signal in the power distribution line to be maintained and the moment when the transient traveling wave signal is received at the left end of the power distribution line to be maintained;

[0084] Determine the maintenance position point of the power distribution line to be maintained based on the moment corresponding to the reference signal point, the signal propagation speed, the moment when the transient traveling wave signal is received at the left end of the power distribution line to be maintained, and the line length of the power distribution line to be maintained.

[0085] In specific implementation, map the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal to the same two-dimensional coordinate system to obtain a double-signal wave curve, that is: use each time point of the left-end transient traveling wave sub-signal as the abscissa element, and use each signal amplitude in the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal as the ordinate element, so as to map the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal to the same two-dimensional coordinate system to obtain a double-signal wave curve. It should be noted that in this embodiment, the double-signal wave curve represents a group of curves composed of the signal waves of two transient traveling wave sub-signals.

[0086] It should be noted that in this embodiment, the reference signal point represents a signal point used as a reference. By determining the reference signal point, the time point of abnormality in the power distribution line to be repaired can be effectively identified, thereby providing effective conditions for obtaining an accurate repair position point subsequently. In addition, in this application, the signal lengths of the left transient traveling wave sub-signal and the right transient traveling wave sub-signal in the transient traveling wave sub-signal group are the same and in the same time period.

[0087] Specifically, the signal propagation speed of the transient traveling wave signal in the power distribution line to be repaired and the moment when the transient traveling wave signal is received at the left end of the power distribution line to be repaired are obtained from the high-voltage power distribution room maintenance database, where the high-voltage power distribution room maintenance database represents a database used to store relevant data during the maintenance process of the high-voltage power distribution room.

[0088] Specifically, based on the moment corresponding to the reference signal point, the signal propagation speed, the moment when the transient traveling wave signal is received at the left end of the power distribution line to be repaired, and the line length of the power distribution line to be repaired, the repair position point of the power distribution line to be repaired is determined, that is: First, the moment when the transient traveling wave signal is received at the left end of the power distribution line to be repaired is subtracted from the moment corresponding to the reference signal point; Second, the result of the subtraction calculation is multiplied by the signal propagation speed; Then, the line length of the power distribution line to be repaired is subtracted from the result of the multiplication calculation; Finally, the result of the subtraction calculation is used as the repair position point of the power distribution line to be repaired. In addition, in other embodiments, other calculation methods can also be used to calculate, which are not limited here.

[0089] It should also be noted that in this application, the repair position point represents the calibrated repair position on the power distribution line to be repaired. When repairing the power distribution line in the high-voltage power distribution room of 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 on both sides of the fault point of the transient traveling wave signal are the same. Therefore, the repair position point can be accurately located through the reference signal point, thereby avoiding the positioning error caused by the reflection and refraction of the transient traveling wave signal during the propagation process.

[0090] In step 103, control the repair robot to set a disconnection switch at the rear end of the repair position point, and extract the phase sequence information when the standby power supply is connected to the line at the rear end of the disconnection switch. Based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room, the phase sequence when the standby power supply is connected to the line at the rear end of the disconnection switch is verified to obtain a phase sequence verification result.

[0091] During specific implementation, the disconnection switch is set in a live working mode at the rear end of the inspection position point of the inspection robot. It should be noted that before setting the disconnection switch, a professional voltage detection device is used to accurately measure the voltage at and around the inspection position point to ensure that the voltage at both ends is within a safe range when setting the disconnection switch.

[0092] During specific implementation, the phase sequence information when the backup power supply is connected to the circuit at the rear end of the disconnection switch is extracted, that is: the test lines of the phase sequence table are respectively connected to the three phases of the circuit of the backup power supply, and the phase sequence information when the backup power supply is connected to the circuit at the rear end of the disconnection switch is obtained by the phase sequence table. When the test lines of the phase sequence table are respectively connected to the three phases of the circuit of the backup power supply, the polarities of the test lines need to be consistent with the polarities of the circuit phase sequence. In this implementation, the phase sequence information represents the order content of the voltages of each phase when the backup power supply is connected to the circuit at the rear end of the disconnection switch. The phase sequence information can be two cases: positive sequence and reverse sequence. When the backup power supply is connected to the circuit at the rear end of the disconnection switch, if the phase sequence is incorrect, such as reverse sequence, it may cause problems such as motor reverse rotation and equipment damage, and it is necessary to promptly adjust the phase sequence of the backup power supply or find the root cause of the problem for correction.

[0093] In some embodiments, refer to Figure 3 As shown, this figure is an exemplary flowchart for determining the phase sequence verification result according to some embodiments of the present application. In this embodiment, the phase sequence when the backup power supply is connected to the circuit at the rear end of the disconnection switch is verified based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room. The phase sequence verification result can be achieved by the following steps:

[0094] First, in step 1031, the initial phase sequence information of the high-voltage power distribution room is obtained;

[0095] 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 differences on each phase line between the backup power supply and the connected circuit when the backup power supply is connected to the circuit at the rear end of the disconnection switch are measured, and each phase difference is respectively compared with the phase difference threshold. If each phase difference is less than each phase difference, it is determined that the phase sequence verification result is qualified; otherwise, it is determined that the phase sequence verification result is unqualified;

[0096] 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 also determined that the phase sequence verification result is unqualified.

[0097] During specific implementation, the initial phase sequence information of the high-voltage power distribution room can be obtained from the construction and commissioning records of the high-voltage power distribution room, and the initial phase sequence information represents the original phase sequence on the power distribution line of the high-voltage power distribution room.

[0098] In specific implementation, the phase differences between the standby power supply and each phase line on the connected line can be measured by an oscilloscope when the standby power supply is connected to the rear-end line of the disconnection switch. In addition, in other embodiments, other measurement sensors can also be used to measure the phase differences between the standby power supply and each phase line on the connected line when the standby power supply is connected to the rear-end line of the disconnection switch, which is not limited here. In this embodiment, the phase difference represents the phase difference in time between two sinusoidal alternating currents with the same frequency.

[0099] It should be noted that the phase difference threshold in this embodiment represents a pre-set standard phase difference, which is used to determine the effectiveness of the current standby power supply when connected to the rear-end line of the disconnection switch. If it exceeds the phase difference threshold, it is determined that there is a risk when the current standby power supply is connected to the rear-end line of the disconnection switch. The phase difference threshold can be specifically set according to actual needs and is not limited here.

[0100] It should also be noted that the phase sequence verification result in this application represents the result information after phase sequence verification. By determining the phase sequence verification result, the maintenance reliability of the current maintenance robot when performing live maintenance on the power distribution line to be maintained can be effectively identified, thereby improving the effectiveness of the maintenance task and ensuring the safety of the maintenance.

[0101] In addition, it should be noted that the phase sequence of the standby power supply when connected to the rear-end line of the disconnection switch is verified based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room, that is: obtain the initial phase sequence information of the high-voltage power distribution room; compare the phase sequence information 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, measure the phase differences between the standby power supply and each phase line on the connected line when the standby power supply is connected to the rear-end line of the disconnection switch, and compare each phase difference with the phase difference threshold respectively. If each phase difference is less than each phase difference threshold, it is determined that the phase sequence verification result is qualified, otherwise it is determined that the phase sequence verification result is unqualified; if the content of the phase sequence information is inconsistent with the content of the initial phase sequence information, it is also determined that the phase sequence verification result is unqualified, that is, the phase sequence verification of the standby power supply when connected to the rear-end line of the disconnection switch is completed. By verifying the phase sequence of the standby power supply when connected to the rear-end line of the disconnection switch, the safety and reliability of the live maintenance of the power distribution line to be maintained are ensured.

[0102] In step 104, the maintenance robot controls the disconnection and closing of the disconnection switch based on the phase sequence verification result. When the disconnection switch is in the open state, the line at the maintenance position point is replaced.

[0103] In some embodiments, the maintenance robot controls the disconnection and closing of the disconnection switch based on the phase sequence verification result, which can specifically adopt the following steps, that is:

[0104] When the phase sequence verification result is qualified, the maintenance robot controls the disconnection switch to disconnect.

[0105] When the phase sequence verification result is unqualified, the maintenance robot controls the disconnection switch to close.

[0106] In specific implementation, when the phase sequence verification result is qualified, the maintenance robot controls the disconnection switch to disconnect and perform subsequent maintenance; when the phase sequence verification result is unqualified, the maintenance robot controls the disconnection switch to close and perform phase sequence correction.

[0107] In specific implementation, when the disconnection switch is in the open state, it indicates that the introduced standby power supply has supplied power to subsequent users at this time, and the disconnection switch that is disconnected at this time isolates the current flow to the maintenance position point. Then, the line at the maintenance position point can be replaced without power interruption. It should be noted that there is an outgoing line switch at the outgoing end of the high-voltage power distribution room, and it is also in the open state when replacing the line at the maintenance position point.

[0108] In addition, on the other hand of the present application, in some embodiments, the present application provides a high-voltage power distribution room maintenance protection system. Refer to Figure 4 , this figure is a schematic structural diagram of a high-voltage power distribution room maintenance protection system according to some embodiments of the present application. The high-voltage power distribution room maintenance protection system 200 includes: a scanning module 201, a processing module 202, and an execution module 203, which are described as follows:

[0109] The scanning module 201. In the present application, the scanning module 201 is mainly used to respond to the grid maintenance instruction issued by the user, instruct the maintenance robot to scan the power distribution lines in the high-voltage power distribution room in the large-scale grid, and mark the power distribution lines to be maintained in the high-voltage power distribution room according to the scanning result and the maintenance scope in the grid maintenance instruction.

[0110] The processing module 202. In the present application, the processing module 202 is mainly used to collect the transient traveling wave signals at both ends of the power distribution line to be maintained, and locate the maintenance position point of the power distribution line to be maintained based on the amplitude correlation of the transient traveling wave signals at both ends of the power distribution line to be maintained and the line length of the power distribution line to be maintained.

[0111] The processing module 202 is further used to control the maintenance robot to set a disconnection switch at the rear end of the maintenance position point, extract the phase sequence information when the standby power supply is connected to the line at the rear end of the disconnection switch, and verify the phase sequence when the standby power supply is connected to the line at the rear end of the disconnection switch based on the phase sequence information and the initial phase sequence information of the high-voltage power distribution room to obtain a phase sequence verification result.

[0112] Execution module 203. In this application, the execution module 203 is mainly used for the maintenance robot to control the opening and closing of the disconnection switch based on the phase sequence verification result. When the disconnection switch is in the open state, the line at the maintenance position point is replaced.

[0113] In addition, this application also provides a computer device, which includes a memory and a processor. The memory stores code, and the processor is configured to obtain the code and execute the above-mentioned high-voltage power distribution room maintenance protection method.

[0114] In some embodiments, refer to Figure 5 , this figure is a schematic structural diagram of a computer device for implementing the high-voltage power distribution room maintenance protection method according to some embodiments of this application. The high-voltage power distribution room maintenance protection method in the above embodiments can be implemented by Figure 5 the computer device shown. The computer device 300 includes at least one processor 301, a communication bus 302, a memory 303, and at least one communication interface 304.

[0115] The 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 power distribution room maintenance protection method in this application.

[0116] The communication bus 302 can be used to transmit information between the above components.

[0117] The memory 303 can 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 can also be an electrically erasable programmable read only memory (EEPROM), a compact disc read only memory (CD ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disks or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 303 can exist independently and be connected to the processor 301 through the communication bus 302. The memory 303 can also be integrated with the processor 301.

[0118] Among them, the memory 303 is used to store the program code for executing the solution of this application and is controlled by the processor 301 for execution. The processor 301 is used to execute the program code stored in the memory 303. The program code can include one or more software modules. The determination of the high-voltage power distribution room maintenance protection method in the above embodiment can be implemented through one or more software modules in the program code of the processor 301 and the memory 303.

[0119] The communication interface 304 uses any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0120] In a specific implementation, as an embodiment, the computer device can include multiple processors, and each of these processors can be a single-core (single CPU) processor or a multi-core (multi CPU) processor. Here, the processor can refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0121] The computer device described above 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 laptop 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 embodiments of the present application do not limit the type of the computer device.

[0122] In addition, the present application further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-mentioned high-voltage power distribution room maintenance protection method is implemented.

[0123] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0124] 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 equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A maintenance protection method for high-voltage distribution rooms, which is used for maintaining the power distribution lines in the high-voltage distribution rooms of large-scale power grids, and is characterized in that, The steps include the following: In response to the power grid maintenance instruction issued by the user, the maintenance robot scans the power distribution lines in the high-voltage switchgear room of the large-scale power grid, and marks the power distribution lines to be maintained in the high-voltage switchgear room according to the scanning results and the maintenance scope in the power grid maintenance instruction; Collect the transient traveling wave signals at both ends of the power distribution line to be maintained, and locate the maintenance position point of the power distribution line to be maintained based on the amplitude correlation degree of the transient traveling wave signals at both ends of the power distribution line to be maintained in combination with the line length of the power distribution line to be maintained; Control the maintenance robot to set a disconnection switch at the rear end of the maintenance position point, extract the phase sequence information when the standby power supply is connected to the line at the rear end of the disconnection switch, and verify the phase sequence when the standby power supply is connected to the line at the rear end of the disconnection switch based on the phase sequence information and the initial phase sequence information of the high-voltage switchgear room to obtain a phase sequence verification result; The maintenance robot controls the disconnection and closing of the disconnection switch based on the phase sequence verification result. When the disconnection switch is in the open state, replace the line at the maintenance position point; Among them, locating the maintenance position point of the power distribution line to be maintained based on the amplitude correlation degree of the transient traveling wave signals at both ends of the power distribution line to be maintained in combination with the line length of the power distribution line to be maintained specifically includes: Dynamically divide the transient traveling wave signals at both ends of the power distribution line to be maintained according to a preset sliding step length to obtain transient traveling wave sub-signal groups at different time periods of the power distribution line to be maintained. The transient traveling wave sub-signal group includes a left-end transient traveling wave sub-signal at the left end of the power distribution line to be maintained and a right-end transient traveling wave sub-signal at the right end; Select a time period as the selected time period, perform signal amplitude correlation on 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; Continue to determine the amplitude correlation degrees corresponding to the remaining time periods; Extract a confidence transient traveling wave sub-signal group from all transient traveling wave sub-signal groups according to all the amplitude correlation degrees. The confidence transient traveling wave sub-signal group represents an effective transient traveling wave sub-signal group; Locate the maintenance position point of the power distribution line to be maintained based on the confidence transient traveling wave sub-signal group and the line length of the power distribution line to be maintained; Among them, locating the maintenance position point of the power distribution line to be maintained based on the confidence transient traveling wave sub-signal group and the line length of the power distribution line to be maintained specifically includes: Extract the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal in the confidence transient traveling wave sub-signal group; Map the left-end transient traveling wave sub-signal and the right-end transient traveling wave sub-signal to the same two-dimensional coordinate system to obtain a double-signal wave curve; Extract the first signal intersection point from the double-signal wave curve in the order from left to right, and use the time point corresponding to the signal intersection point as the reference signal point when the maintenance robot performs maintenance on the power distribution line to be maintained; Obtain the signal propagation speed of the transient traveling wave signal in the power distribution line to be maintained and the moment when the transient traveling wave signal is received at the left end of the power distribution line to be maintained; Determine the repair location point of the power distribution line to be repaired based on the moment corresponding to the reference signal point, the signal propagation speed, the moment when the transient traveling wave signal is received at the left end of the power distribution line to be repaired, and the line length of the power distribution line to be repaired.

2. The method according to claim 1, wherein Marking the power distribution line to be repaired in the high-voltage switchroom according to the scanning result and the repair scope in the power grid repair instruction specifically includes: Extract the line spatial position information and the power distribution line diagram of the high-voltage switchroom from the scanning result; Associate and fuse the line spatial position information and the power distribution line diagram to obtain the wiring detail diagram of the high-voltage switchroom; Extract the power distribution line within the repair scope from the wiring detail diagram, and use the extracted power distribution line as the power distribution line to be repaired in the high-voltage switchroom.

3. The method according to claim 1, characterized in that, Verify the phase sequence when the standby power supply is connected to the line behind the disconnection switch based on the phase sequence information and the initial phase sequence information of the high-voltage switchroom to obtain the phase sequence verification result, specifically including: Obtain the initial phase sequence information of the high-voltage switchroom; Compare the phase sequence information 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, measure the phase differences between the standby power supply and each phase line on the connected line when the standby power supply is connected to the line behind the disconnection switch, and compare each phase difference with the phase difference threshold respectively. If each phase difference is less than each phase difference threshold, determine that the phase sequence verification result is qualified; otherwise, determine that the phase sequence verification result is unqualified; If the content of the phase sequence information is inconsistent with the content of the initial phase sequence information, determine that the phase sequence verification result is also unqualified.

4. The method according to claim 1, wherein The power grid repair instruction represents the indicative information for starting the repair work of power grid equipment.

5. The method according to claim 1, wherein The repair robot is an intelligent robot for repair and maintenance operations.

6. A high-voltage power distribution room maintenance protection system, which uses the method described in any one of claims 1 to 5 for high-voltage power distribution room maintenance protection, characterized in that, The system includes: A scanning module, which is used to respond to the power grid repair instruction issued by the user, instruct the repair robot to scan the power distribution lines in the high-voltage switchroom of the large-scale power grid, and mark the power distribution line to be repaired in the high-voltage switchroom according to the scanning result and the repair scope in the power grid repair instruction; A processing module, which is used to collect the transient traveling wave signals at both ends of the power distribution line to be repaired, and locate the repair location 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 in combination with the line length of the power distribution line to be repaired; The processing module is also used to control the repair robot to set a disconnection switch at the rear end of the repair location point, extract the phase sequence information when the standby power supply is connected to the line behind the disconnection switch, and verify the phase sequence when the standby power supply is connected to the line behind the disconnection switch based on the phase sequence information and the initial phase sequence information of the high-voltage switchroom to obtain the phase sequence verification result; An execution module, which is used to control the disconnection and closing of the disconnection switch by the repair robot based on the phase sequence verification result, and when the disconnection switch is in the off state, replace the line at the repair location point.

7. A computer device, characterized in that, The computer device includes a memory and a processor, the memory stores code, and the processor is configured to obtain the code and execute the high-voltage power distribution room maintenance protection method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the high-voltage power distribution room maintenance protection method according to any one of claims 1 to 5.

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