Real-time monitoring method, system and medium for overhead transmission lines based on multiple sensors

Abstract

The present invention belongs to the field of transmission line monitoring technology, and specifically relates to a real-time monitoring method, system, and medium for overhead transmission lines based on multiple sensors. The method first measures the horizontal stress of the overhead transmission line located between transmission towers A and B in real time, and calculates the lowest sag point of the overhead transmission line. The horizontal stress of the overhead transmission line measured in real time and the calculated lowest sag point are then substituted into an equation. If the equation holds, it indicates that the sensor used to measure the horizontal stress of the overhead transmission line is faulty and requires repair. Otherwise, monitoring continues. The present invention not only enables real-time monitoring of the lowest sag point of the overhead transmission line, but also enables real-time monitoring of sensor failures.

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 methods for monitoring transmission line sag primarily involve manual surveying and inspection, such as the angle method, baseline method, and rope-and-stopwatch method. These methods, which require visual readings, suffer from low efficiency, low accuracy, and susceptibility to weather conditions. In recent years, technological advancements have led to significant advances in processors, sensors, and wireless communication methods. Transmission line sag monitoring has been implemented using sensors such as mechanical sensors, cameras, and lidar, employing mechanical modeling, image observation, and mobile measurement methods. However, these monitoring methods each have their own advantages and disadvantages, making them inapplicable. Mechanical modeling methods can be susceptible to sensor failure due to environmental factors (such as low temperature, high humidity, and strong electromagnetic interference), aging, and wear, leading to inconsistency in real-time monitoring and a lack of effective fault detection methods. Summary of the Invention

[0003] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and 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.

[0004] To achieve the above objectives, the technical solutions of the present invention are 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 overhead transmission line sag, 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 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 sag point calculated in S1 into the following equation and determine whether the following equation holds true; if so, it indicates 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 obtained by real-time measurement into the calculation formula of the lowest sag point of the overhead 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 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 are first measured in real time to determine whether the horizontal stress of the overhead transmission line obtained by real-time measurement 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 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 at 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.

[0015] 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.

[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 transmission tower A and 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 overhead transmission line sag, 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 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 it is 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 further configured to measure in real time the angle between the theoretical tangent direction at 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 at the end of the overhead transmission line connected to the transmission tower B and the horizontal direction, 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 determine whether the horizontal stress of the overhead transmission line measured in real time satisfies the following relationship. If not, it indicates that a sensor fault exists:

[0026]

[0027] In the above formula, θ0 represents the angle between the theoretical tangent direction at 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 at 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.

[0028] 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.

[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, and 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 method for real-time monitoring of overhead transmission lines based on multiple sensors described in the present invention first measures the horizontal stress of the overhead transmission line located between transmission tower A and transmission tower B in real time, and calculates the lowest sag point of the overhead transmission line based on the horizontal stress of the overhead transmission line. Then, the horizontal stress of the overhead transmission line measured in real time and the calculated lowest sag point are substituted into an equation. If the equation holds, it indicates that the sensor used to measure the horizontal stress of the overhead transmission line is faulty and requires maintenance. Otherwise, monitoring continues. This method not only realizes real-time monitoring of the lowest sag point of the overhead transmission line, but also realizes real-time monitoring of sensor failures by determining 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 the end of the overhead transmission line connected to transmission tower A and the horizontal direction, and the angle between the theoretical tangent direction at the end of the overhead transmission line connected to transmission tower B and the horizontal direction, and determines whether the horizontal stress of the overhead transmission line obtained by real-time measurement satisfies a relationship. If not, it indicates that the sensor used to measure the horizontal stress of the overhead transmission line is faulty. This method uses data from another set of sensors to verify whether the sensor measuring 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 will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0040] Example 1:

[0041] See also Figure 1 ,A real-time monitoring method for overhead transmission lines based on multiple sensors, based on e.g. Figure 2 The monitoring model shown is designed in proportion to the actual monitoring object, including 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 the horizontal stress of the overhead transmission line between transmission tower A and transmission tower B in real time. Measure the angle between the theoretical tangent direction of the end of the overhead transmission line connected to 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 transmission tower B and the horizontal direction in real time. Determine whether the horizontal stress of the overhead transmission line measured in real time satisfies the following relationship. If so, proceed to S3. If not, it indicates that there is a sensor failure and a technician needs to be arranged to repair the sensor:

[0045]

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

[0047] As an embodiment, 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 installed 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 installed on the top of the transmission tower B; the horizontal stress of the overhead transmission line is measured by a stress sensor installed on the overhead transmission line;

[0048] Step S3: Substitute 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 overhead transmission line sag, 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 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 sag point calculated in S3 into the following equation and determine whether the following equation holds true; if so, it indicates a sensor failure and requires 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] Example 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 an overhead transmission line located between transmission towers A and B, measure in real time the angle between a theoretical tangent direction at the end of the overhead transmission line connected to transmission tower A and the horizontal direction, and measure in real time the angle between a theoretical tangent direction at the end of the overhead transmission line connected to transmission tower B and the horizontal direction, and determine whether the horizontal stress of the overhead transmission line measured in real time satisfies the following relationship. If not, it indicates a sensor fault:

[0056]

[0057] In the above formula, θ0 represents the angle between the theoretical tangent direction at 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 at 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 at the end of the overhead transmission line connected to the transmission tower A and the horizontal direction is measured by a first tilt sensor installed on the top of the transmission tower A, and the angle between the theoretical tangent direction at the end of the overhead transmission line connected to the transmission tower B and the horizontal direction is measured by a second tilt sensor installed on the top of the transmission tower B; the horizontal stress of the overhead transmission line is measured by a stress sensor installed 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 further 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 overhead transmission line sag, 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 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 monitoring system described above can be implemented using the ModBUS protocol. Each sensor can be parameterized using hardware / software modules. The ModBUS communication protocol interfaces between the sensor and a common software application. Each sensor is assigned an ID and has specific read / write functions for the ModBUS communication protocol, enabling real-time reading and parameterization of sensor data. The data collected by the sensors is centrally collected via the ModBUS protocol on the Teltonika TRB 145 local gateway and transmitted to the monitoring system's server via 3G / 4G.

[0066] Example 3:

[0067] See also Figure 4 , a real-time monitoring device for overhead transmission lines based on multiple sensors, including 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] Example 4:

[0069] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the monitoring method described in Example 1.

[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 application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the 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 embodiment of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal translation 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0074] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional 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 that fall within the scope of the present application.

[0075] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A real-time monitoring method for overhead transmission lines based on multiple sensors, characterized by: 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 overhead transmission line sag, 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 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 sag point calculated in S1 into the following equation and determine whether the following equation holds true; if so, it indicates 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 transmission lines based on multiple sensors according to claim 1, characterized in that: In S1, before substituting the horizontal stress of the overhead transmission line obtained by real-time measurement into the calculation formula of the lowest sag point of the overhead 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 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 are first measured in real time to determine whether the horizontal stress of the overhead transmission line obtained by real-time measurement 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 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 at 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.

3. The method for real-time monitoring of overhead transmission lines based on multiple sensors according to claim 2, characterized in that: 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.

4. The method for real-time monitoring of overhead power lines based on multiple sensors according to claim 3, 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 by: The real-time monitoring system includes: The sag lowest point calculation module is used to 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 sag lowest point of the overhead transmission line: In the above formula, (x * ,y * ) represents the coordinates of the lowest point of the overhead transmission line sag, 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 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 it is 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 multiple sensor-based real-time monitoring system for overhead power lines according to claim 5, characterized in that: The sag lowest point calculation module is further configured to measure in real time the angle between the theoretical tangent direction at 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 at the end of the overhead transmission line connected to the transmission tower B and the horizontal direction, 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 determine whether the horizontal stress of the overhead transmission line measured in real time satisfies the following relationship. If not, it indicates that a sensor fault exists: In the above formula, θ0 represents the angle between the theoretical tangent direction at 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 at 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.

7. The multiple sensor-based real-time monitoring system for overhead power lines according to claim 6, characterized in that: 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.

8. The real-time monitoring system for overhead power 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 power 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 according to claims 1-4 according to 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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