Overhead transmission line real-time monitoring method and system based on multiple sensors, and medium

Abstract

The invention belongs to the technical field of power transmission line monitoring, and particularly relates to an overhead power transmission line real-time monitoring method and system based on multiple sensors and a medium, and the method comprises the steps: firstly carrying out real-time measurement to obtain the horizontal stress of an overhead power transmission line between a power transmission tower A and a power transmission tower B, and calculating to obtain the sag lowest point of the overhead power transmission line; and then substituting the horizontal stress of the overhead transmission line measured in real time and the sag lowest point obtained by calculation into an equation, if the equation is true, indicating that a sensor for measuring the horizontal stress of the overhead transmission line has a fault and needs to be overhauled, otherwise, continuing monitoring. According to the invention, real-time monitoring of the lowest sag point of the overhead transmission line is realized, and real-time monitoring of sensor faults is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of transmission line monitoring, and in particular relates to a real-time monitoring method, system and medium for overhead transmission lines based on multiple sensors. Background Art

[0002] Traditional monitoring methods for transmission line sag mainly include manual surveying and inspection, such as the angle method, baseline method, and rope-stopwatch method. Since manual visual readings are required, they generally have problems of low efficiency, low accuracy, and susceptibility to weather. In recent years, with the development of science and technology, processors, sensors, and wireless communication methods have also made great progress. Sensors including mechanical sensors, cameras, and lidar have begun to be used, and mechanical model methods, image observation methods, and mobile measurement methods have been used to achieve transmission line sag monitoring. However, the above monitoring methods still have their own advantages and disadvantages and are not universal. The mechanical model method will cause the installed sensors to fail due to environmental factors (such as low temperature, high humidity, strong electromagnetic interference), aging and wear, etc., resulting in the inability to continue real-time monitoring, and there is a lack of effective fault monitoring methods. Summary of the invention

[0003] The purpose of the present invention is to provide a real-time monitoring method, system and medium for overhead transmission lines based on multiple sensors, which can realize real-time monitoring of transmission line sag and sensor failure, in order to solve the above problems existing in the prior art.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows:

[0005] In a first aspect, the present invention provides a real-time monitoring method for overhead transmission lines based on multiple sensors, the real-time monitoring method comprising:

[0006] S1. Measure the horizontal stress of the overhead transmission line between transmission tower A and transmission tower B in real time, and substitute it into the following formula to calculate the lowest sag point of the overhead transmission line:

[0007]

[0008] In the above formula, (x * ,y * ) represents the coordinates of the lowest point of the sag of the overhead transmission line, and the coordinate system is constructed with the coordinates of the bottom of the transmission tower A as the origin; H represents the horizontal stress of the overhead transmission line; K1 and K2 are both intermediate calculation parameters; w represents the specific load of the overhead transmission line; G represents the weight of the overhead transmission line; asinh represents the inverse hyperbolic function; h represents the height difference between the two ends of the overhead transmission line; L represents the horizontal distance between the two ends of the overhead transmission line;

[0009] S2, substitute the horizontal stress of the overhead transmission line measured in real time and the lowest point of the sag calculated by S1 into the following equation, and determine whether the following equation is true; if true, it indicates that there is a sensor failure; otherwise, return to step S1 to continue monitoring;

[0010]

[0011] In the above formula, (x A ,y A )、(x B ,y B ) represent the top coordinates of transmission tower A and transmission tower B respectively.

[0012] In S1, before substituting the horizontal stress of the overhead transmission line measured in real time into the calculation formula of the lowest sag point of the overhead transmission line, first measure in real time the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower A and the horizontal direction, and the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower B and the horizontal direction, and judge whether the horizontal stress of the overhead transmission line measured in real time satisfies the following relationship. If not, it indicates that there is a sensor failure:

[0013]

[0014] In the above formula, θ0 represents the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower A and the horizontal direction; θ1 represents the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower B and the horizontal direction; G represents the weight of the transmission line.

[0015] The angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower A and the horizontal direction is measured by a first inclination sensor arranged on the top of the transmission tower A, and the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower B and the horizontal direction is measured by a second inclination sensor arranged on the top of the transmission tower B.

[0016] The horizontal stress of the overhead transmission line is measured by a stress sensor arranged on the overhead transmission line.

[0017] In a second aspect, the present invention provides a real-time monitoring system for overhead transmission lines based on a distributed sensor network, the real-time monitoring system comprising:

[0018] The sag lowest point calculation module is used to measure the horizontal stress of the overhead transmission line between the transmission tower A and the transmission tower B in real time, and substitute it into the following formula to calculate the sag lowest point of the overhead transmission line:

[0019]

[0020]

[0021] In the above formula, (x * ,y * ) represents the coordinates of the lowest point of the sag of the overhead transmission line, and the coordinate system is constructed with the coordinates of the bottom of the transmission tower A as the origin; H represents the horizontal stress of the overhead transmission line; K1 and K2 are both intermediate calculation parameters; w represents the specific load of the overhead transmission line; G represents the weight of the overhead transmission line; asinh represents the inverse hyperbolic function; h represents the height difference between the two ends of the overhead transmission line; L represents the horizontal distance between the two ends of the overhead transmission line;

[0022] The fault monitoring module is used to substitute the horizontal stress of the overhead transmission line measured in real time and the lowest point of the sag calculated by S1 into the following equation, and determine whether the following equation is true; if true, it indicates that there is a sensor fault; otherwise, return to step S1 to continue monitoring;

[0023]

[0024] In the above formula, (x A ,y A )、(x B ,y B ) represent the top coordinates of transmission tower A and transmission tower B respectively.

[0025] The sag lowest point calculation module is also used to first measure the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower A and the horizontal direction, and the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower B and the horizontal direction in real time before substituting the horizontal stress of the overhead transmission line measured in real time into the calculation formula of the sag lowest point of the overhead transmission line, and judge whether the horizontal stress of the overhead transmission line measured in real time satisfies the following relationship. If not, it indicates that there is a sensor failure:

[0026]

[0027] In the above formula, θ0 represents the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower A and the horizontal direction; θ1 represents the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower B and the horizontal direction; G represents the weight of the transmission line.

[0028] The angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower A and the horizontal direction is measured by a first inclination sensor arranged on the top of the transmission tower A, and the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower B and the horizontal direction is measured by a second inclination sensor arranged on the top of the transmission tower B.

[0029] The horizontal stress of the overhead transmission line is measured by a stress sensor arranged on the overhead transmission line.

[0030] In a third aspect, the present invention provides a real-time monitoring device for overhead transmission lines based on multiple sensors, the monitoring device comprising a memory and a processor; the memory is used to store computer program code and transmit the computer program code to the processor; the processor is used to execute the aforementioned method according to the instructions in the computer program code.

[0031] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the aforementioned method when executed by a processor.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The real-time monitoring method for overhead transmission lines based on multiple sensors of the present invention first measures in real time the horizontal stress of the overhead transmission line between the transmission tower A and the transmission tower B, and calculates the lowest point of the sag of the overhead transmission line based on the horizontal stress of the overhead transmission line; then substitutes the horizontal stress of the overhead transmission line measured in real time and the lowest point of the sag calculated into the equation. If the equation holds, it means that the sensor used to measure the horizontal stress of the overhead transmission line is faulty and needs to be repaired, otherwise the monitoring continues; the method not only realizes the real-time monitoring of the lowest point of the sag of the overhead transmission line, but also can realize the real-time monitoring of the sensor fault by judging whether the equation is satisfied.

[0034] 2. The real-time monitoring method for overhead transmission lines based on multiple sensors described in the present invention first measures in real time the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower A and the horizontal direction, and the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower B and the horizontal direction, and determines whether the horizontal stress of the overhead transmission line obtained by real-time measurement satisfies the relationship. If not, it indicates that the sensor used to measure the horizontal stress of the overhead transmission line is faulty. The method uses data from another set of sensors to verify whether the sensor of the horizontal stress of the overhead transmission line is faulty, which is beneficial to ensuring the safety of the transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a flow chart of the monitoring method described in Example 1.

[0036] Figure 2 This is a schematic diagram of the structure of the monitoring model described in Example 1.

[0037] Figure 3 This is a structural block diagram of the monitoring system described in Example 2.

[0038] Figure 4 This is a structural block diagram of the monitoring device described in Example 3. DETAILED DESCRIPTION

[0039] The present invention is further described in detail below in conjunction with specific implementations and drawings.

[0040] Embodiment 1:

[0041] See also Figure 1 ,A real-time monitoring method for overhead transmission lines based on multiple sensors, based on Figure 2 The monitoring model shown is designed in proportion to the actual monitoring object, and includes a transmission tower A, a transmission tower B, and an overhead transmission line connecting the two transmission towers A and B.

[0042] The monitoring method comprises the following steps in sequence:

[0043] Step S1, obtaining basic parameters of the real-time monitoring model, including the weight of the overhead transmission line, the specific load of the overhead transmission line, the horizontal distance between the two ends of the overhead transmission line, the height difference between the two ends of the overhead transmission line, the top coordinates of the transmission tower A and the transmission tower B, etc.;

[0044] Step S2, measure in real time the horizontal stress of the overhead transmission line between the transmission tower A and the transmission tower B, measure in real time the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower A and the horizontal direction, and the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower B and the horizontal direction, and judge whether the horizontal stress of the overhead transmission line measured in real time satisfies the following relationship. If so, enter S3. If not, it indicates that there is a sensor failure and it is necessary to arrange a technician to repair the sensor:

[0045]

[0046] In the above formula, θ0 represents the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower A and the horizontal direction; θ1 represents the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower B and the horizontal direction; G represents the weight of the transmission line;

[0047] As an implementation mode, the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower A and the horizontal direction is measured by a first tilt sensor arranged on the top of the transmission tower A, and the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower B and the horizontal direction is measured by a second tilt sensor arranged on the top of the transmission tower B; the horizontal stress of the overhead transmission line is measured by a stress sensor arranged on the overhead transmission line;

[0048] Step S3, substituting the horizontal stress of the overhead transmission line into the following formula to calculate the lowest sag point of the overhead transmission line:

[0049]

[0050] In the above formula, (x * ,y * ) represents the coordinates of the lowest point of the sag of the overhead transmission line, and the coordinate system is constructed with the coordinates of the bottom of the transmission tower A as the origin; H represents the horizontal stress of the overhead transmission line; K1 and K2 are both intermediate calculation parameters; w represents the specific load of the overhead transmission line; G represents the weight of the overhead transmission line; asinh represents the inverse hyperbolic function; h represents the height difference between the two ends of the overhead transmission line; L represents the horizontal distance between the two ends of the overhead transmission line;

[0051] Step S4, substitute the horizontal stress of the overhead transmission line measured in real time and the lowest point of the sag calculated in S3 into the following equation, and determine whether the following equation is true; if true, it means that there is a sensor failure, and it is necessary to arrange a technician to repair the sensor; otherwise, return to step S2 to continue monitoring;

[0052]

[0053] In the above formula, (x A ,y A )、(x B ,y B ) represent the top coordinates of transmission tower A and transmission tower B respectively.

[0054] Embodiment 2:

[0055] See also Figure 3 A real-time monitoring system for overhead transmission lines based on a distributed sensor network includes a sag minimum point calculation module and a fault monitoring module; the sag minimum point calculation module is used to measure in real time the horizontal stress of the overhead transmission line between the transmission tower A and the transmission tower B, measure in real time the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower A and the horizontal direction, and the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower B and the horizontal direction, and judge whether the horizontal stress of the overhead transmission line measured in real time satisfies the following relationship. If not, it indicates that there is a sensor fault:

[0056]

[0057] In the above formula, θ0 represents the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower A and the horizontal direction; θ1 represents the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower B and the horizontal direction; G represents the weight of the transmission line; the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower A and the horizontal direction is measured by a first tilt sensor arranged on the top of the transmission tower A, and the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower B and the horizontal direction is measured by a second tilt sensor arranged on the top of the transmission tower B; the horizontal stress of the overhead transmission line is measured by a stress sensor arranged on the overhead transmission line;

[0058] After determining that the horizontal stress of the overhead transmission line measured in real time satisfies the above relationship, the sag lowest point calculation module is also used to substitute it into the following formula to calculate the sag lowest point of the overhead transmission line:

[0059]

[0060]

[0061] In the above formula, (x * ,y * ) represents the coordinates of the lowest point of the sag of the overhead transmission line, and the coordinate system is constructed with the coordinates of the bottom of the transmission tower A as the origin; H represents the horizontal stress of the overhead transmission line; K1 and K2 are both intermediate calculation parameters; w represents the specific load of the overhead transmission line; G represents the weight of the overhead transmission line; asinh represents the inverse hyperbolic function; h represents the height difference between the two ends of the overhead transmission line; L represents the horizontal distance between the two ends of the overhead transmission line;

[0062] The fault monitoring module is used to substitute the horizontal stress of the overhead transmission line measured in real time and the lowest point of the sag calculated by S1 into the following equation, and determine whether the following equation is true; if true, it indicates that there is a sensor fault; otherwise, return to step S1 to continue monitoring;

[0063]

[0064] In the above formula, (x A ,y A )、(x B ,y B ) represent the top coordinates of transmission tower A and transmission tower B respectively.

[0065] The above monitoring system can be implemented based on ModBUS protocol. Each sensor can be parameterized using hardware / software modules. ModBUS communication protocol is used to interface between sensors and general software applications. Each sensor is assigned an ID and specific to the read / write functions of ModBUS communication protocol, so as to read the data provided by the sensor in real time and realize the parameterization of the sensor. The data collected by the sensor is uniformly collected on the ModBUS protocol of Teltonika TRB 145 local gateway and transmitted to the server of the monitoring system via 3G / 4G protocol.

[0066] Embodiment 3:

[0067] See also Figure 4 , a real-time monitoring device for overhead transmission lines based on multiple sensors, comprising a memory and a processor; the memory is used to store computer program code and transmit the computer program code to the processor; the processor is used to execute the monitoring method described in Example 1 according to the instructions in the computer program code.

[0068] Embodiment 4:

[0069] A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the monitoring method as described in Example 1 when executed by a processor.

[0070] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0071] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0072] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0073] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0074] 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.

[0075] 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 real-time monitoring method for overhead transmission lines based on multiple sensors, characterized in that: The real-time monitoring method comprises: S1. Measure the horizontal stress of the overhead transmission line between transmission tower A and transmission tower B in real time, and substitute it into the following formula to calculate the lowest sag point of the overhead transmission line: In the above formula, (x * ,y * ) represents the coordinates of the lowest point of the sag of the overhead transmission line, and the coordinate system is constructed with the coordinates of the bottom of the transmission tower A as the origin; H represents the horizontal stress of the overhead transmission line; K1 and K2 are both intermediate calculation parameters; w represents the specific load of the overhead transmission line; G represents the weight of the overhead transmission line; a sinh represents the inverse hyperbolic function; h represents the height difference between the two ends of the overhead transmission line; L represents the horizontal distance between the two ends of the overhead transmission line; S2, substitute the horizontal stress of the overhead transmission line measured in real time and the lowest point of the sag calculated by S1 into the following equation, and determine whether the following equation is true; if true, it indicates that there is a sensor failure; otherwise, return to step S1 to continue monitoring; In the above formula, (x A ,y A )、(x B ,y B ) represent the top coordinates of transmission tower A and transmission tower B respectively.

2. The method for real-time monitoring of overhead power lines based on multiple sensors according to claim 1 is characterized in that: In S1, before substituting the horizontal stress of the overhead transmission line measured in real time into the calculation formula of the lowest sag point of the overhead transmission line, first measure in real time the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower A and the horizontal direction, and the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower B and the horizontal direction, and judge whether the horizontal stress of the overhead transmission line measured in real time satisfies the following relationship. If not, it indicates that there is a sensor failure: In the above formula, θ0 represents the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower A and the horizontal direction; θ1 represents the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower B and the horizontal direction; G represents the weight of the transmission line.

3. The method for real-time monitoring of overhead power lines based on multiple sensors according to claim 2 is characterized in that: The angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower A and the horizontal direction is measured by a first inclination sensor arranged on the top of the transmission tower A, and the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower B and the horizontal direction is measured by a second inclination sensor arranged on the top of the transmission tower B.

4. The method for real-time monitoring of overhead power lines based on multiple sensors according to claim 3 is characterized in that: The horizontal stress of the overhead transmission line is measured by a stress sensor arranged on the overhead transmission line.

5. A real-time monitoring system for overhead transmission lines based on a distributed sensor network, characterized in that: The real-time monitoring system comprises: The sag lowest point calculation module is used to measure the horizontal stress of the overhead transmission line between the transmission tower A and the transmission tower B in real time, and substitute it into the following formula to calculate the sag lowest point of the overhead transmission line: In the above formula, (x * ,y * ) represents the coordinates of the lowest point of the sag of the overhead transmission line, and the coordinate system is constructed with the coordinates of the bottom of the transmission tower A as the origin; H represents the horizontal stress of the overhead transmission line; K1 and K2 are both intermediate calculation parameters; w represents the specific load of the overhead transmission line; G represents the weight of the overhead transmission line; asinh represents the inverse hyperbolic function; h represents the height difference between the two ends of the overhead transmission line; L represents the horizontal distance between the two ends of the overhead transmission line; The fault monitoring module is used to substitute the horizontal stress of the overhead transmission line measured in real time and the lowest point of the sag calculated by S1 into the following equation, and determine whether the following equation is true; if true, it indicates that there is a sensor fault; otherwise, return to step S1 to continue monitoring; In the above formula, (x A ,y A )、(x B ,y B ) represent the top coordinates of transmission tower A and transmission tower B respectively.

6. The real-time monitoring system for overhead power lines based on multiple sensors according to claim 5 is characterized in that: The sag lowest point calculation module is also used to first measure the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower A and the horizontal direction, and the angle between the theoretical tangent direction of the end of the overhead transmission line connected to the transmission tower B and the horizontal direction in real time before substituting the horizontal stress of the overhead transmission line measured in real time into the calculation formula of the sag lowest point of the overhead transmission line, and judge whether the horizontal stress of the overhead transmission line measured in real time satisfies the following relationship. If not, it indicates that there is a sensor failure: In the above formula, θ0 represents the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower A and the horizontal direction; θ1 represents the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower B and the horizontal direction; G represents the weight of the transmission line.

7. The real-time monitoring system for overhead power lines based on multiple sensors according to claim 6 is characterized in that: The angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower A and the horizontal direction is measured by a first inclination sensor arranged on the top of the transmission tower A, and the angle between the theoretical tangent direction at one end of the overhead transmission line connected to the transmission tower B and the horizontal direction is measured by a second inclination sensor arranged on the top of the transmission tower B.

8. The real-time monitoring system for overhead transmission lines based on multiple sensors according to any one of claims 5 to 7, characterized in that: The horizontal stress of the overhead transmission line is measured by a stress sensor arranged on the overhead transmission line.

9. Real-time monitoring equipment for overhead transmission lines based on multiple sensors, characterized by: The monitoring device includes a memory and a processor; the memory is used to store computer program code and transmit the computer program code to the processor; the processor is used to execute the monitoring method as described in claims 1-4 according to the instructions in the computer program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the monitoring method according to claims 1-4 is implemented.

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