Electric power line abnormal displacement detection method, device and system based on Beidou satellite positioning

Abstract

The invention relates to the technical field of smart power grids, in particular to a power line abnormal displacement detection method, device and system. The method comprises the following steps: acquiring position information of a positioning terminal arranged at a specified position of the power line in a current time slot and position information of a plurality of time slots in a normal operation state of the power line before the current time slot; calculating a position average value and a position variance of the plurality of time slots; calculating the position probability of the positioning terminal in the current time slot by using a preset position probability function; and judging whether the power line has abnormal displacement in the current time slot or not. According to the invention, abnormal displacement detection is carried out on the electric power circuit by automatically and regularly collecting the position information of the positioning terminal installed on the electric power circuit, so that the method can be adaptive to the influence of different regions and environments where the electric power circuit is located on the deviation of the electric power circuit and different line offsets which can be borne by various electric power circuits; compared with the prior art, the method has better real-time performance, adaptivity and universality.

Description

Technical Field

[0001] The present disclosure relates to the field of smart grid technology, and in particular to a method, device and system for detecting abnormal displacement of a power line. Background Art

[0002] Power line monitoring is an important means to ensure the safe and stable operation of the power system. Traditional power line monitoring technology mainly relies on manual inspections, drone inspections, and video monitoring. Although these methods can monitor the operation status of the line to a certain extent, they are limited in real time and accuracy. To solve these problems, with the advancement of satellite positioning technology, the Global Navigation Satellite System (GNSS) and Beidou satellite positioning technology are gradually being applied to the monitoring of power lines. By obtaining the location information of power line equipment and combining it with monitoring algorithms, it is possible to warn of abnormal conditions such as line offset and sagging. However, the existing methods for detecting abnormal displacement of power lines have the following shortcomings:

[0003] Lack of real-time performance: Existing methods such as manual inspection, drone inspection, and video surveillance cannot truly achieve real-time detection. Once a sudden line abnormality occurs, the detection and response speed is slow.

[0004] Lack of versatility leads to insufficient accuracy: The existing algorithms are unable to design anomaly detection algorithms for a single transmission line, resulting in the algorithm often having insufficient accuracy in anomaly detection of a single transmission line.

[0005] Lack of adaptability: The amount of line deviation that different power lines in different regions can withstand varies. Existing methods often use a relatively rigid threshold judgment method, which compares the line deviation with a fixed threshold to determine whether abnormal displacement occurs. This method cannot adapt to the specific needs of different power lines in different scenarios. Summary of the invention

[0006] In order to solve the problems in the related art, the embodiments of the present disclosure provide a method, device and system for detecting abnormal displacement of a power line.

[0007] In a first aspect, an embodiment of the present disclosure provides a method for detecting abnormal displacement of a power line, which is used to detect abnormality of a power line position, and the method includes:

[0008] Acquire the location information of the positioning terminal set at the designated position of the power line in the current time slot and the location information of multiple time slots before the current time slot when the power line is in a normal operation state;

[0009] Calculating the position average and position variance of the multiple time slots according to the position information of the multiple time slots;

[0010] Calculate the location probability of the positioning terminal in the current time slot using a preset location probability function according to the location averages and location variances of the multiple time slots and the location information of the current time slot;

[0011] It is determined whether the power line has abnormal displacement in the current time slot according to the position probability of the positioning terminal in the current time slot.

[0012] According to an embodiment of the present disclosure, the location information includes any one or more of longitude, latitude, and altitude.

[0013] According to an embodiment of the present disclosure, the position probability function is:

[0014]

[0015] Among them, s t is the location information of the current time slot, is the average position of multiple time slots before the current time slot when the power line is operating normally. is the position variance of multiple time slots before the current time slot when the power line is in normal operation, p t is the position probability of the current time slot.

[0016] According to an embodiment of the present disclosure, it also includes: fitting the location probability function using sample location information of multiple positioning terminals respectively arranged on multiple sample power lines and sample operation status information of corresponding sample power lines.

[0017] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the longitude average of the multiple time slots:

[0018]

[0019] The calculating the position variance of the multiple time slots includes calculating the longitude variance of the multiple time slots:

[0020]

[0021] The calculating the position probability of the positioning terminal in the current time slot includes calculating the longitude position probability of the positioning terminal in the current time slot:

[0022]

[0023] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and x i is the longitude of the ith time slot, x t is the longitude of the current time slot, is the average longitude of the multiple time slots, is the longitude variance of the multiple time slots, is the longitude position probability of the positioning terminal in the current time slot.

[0024] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the latitude average of the multiple time slots:

[0025]

[0026] The calculating the position variance of the multiple time slots includes calculating the latitude variance of the multiple time slots:

[0027]

[0028] The calculating the position probability of the positioning terminal in the current time slot includes calculating the latitude position probability of the positioning terminal in the current time slot:

[0029]

[0030] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and y i is the latitude of the i-th time slot, y t is the latitude of the current time slot, is the latitude average of the multiple time slots, is the latitude variance of the multiple time slots, is the latitude position probability of the positioning terminal in the current time slot.

[0031] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the height average of the multiple time slots:

[0032]

[0033] The calculating the position variance of the multiple time slots includes calculating the height variance of the multiple time slots:

[0034]

[0035] The calculating the position probability of the positioning terminal in the current time slot includes calculating the height position probability of the positioning terminal in the current time slot:

[0036]

[0037] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and h i is the height of the i-th time slot, h t is the height of the current time slot, is the average height of the multiple time slots, is the height variance of the multiple time slots, is the height position probability of the positioning terminal in the current time slot.

[0038] According to an embodiment of the present disclosure, judging whether the power line has abnormal displacement in the current time slot according to the position probability of the positioning terminal in the current time slot includes:

[0039] When the location probability of at least one type of location information of the positioning terminal meets the corresponding preset condition, it is determined that the power line has abnormal displacement in the current time slot; otherwise, it is determined that the power line has no abnormal displacement in the current time slot.

[0040] According to an embodiment of the present disclosure, the location probability satisfies corresponding preset conditions, including that the value of the location probability is less than 0.0001.

[0041] According to an embodiment of the present disclosure, it also includes sending an alarm message when any of the following situations occurs within a preset time period:

[0042] A location probability of location information satisfies corresponding preset conditions in M ​​time slots;

[0043] The location probabilities of the two types of location information satisfy corresponding preset conditions simultaneously in N time slots;

[0044] The location probabilities of the three types of location information meet the corresponding preset conditions in K time slots at the same time.

[0045] Among them, M>N>K.

[0046] According to an embodiment of the present disclosure, the positioning terminal is arranged on a pole tower or an insulator;

[0047] The method is executed by an edge device arranged near the positioning terminal, and the edge device is connected to a monitoring server of a monitoring center.

[0048] In a second aspect, an embodiment of the present disclosure provides a device for detecting abnormal displacement of a power line, which is used to detect abnormality of the position of a power line, and the device includes:

[0049] An acquisition module is configured to acquire the location information of a positioning terminal set at a designated position of the power line in a current time slot and the location information of multiple time slots before the current time slot when the power line is in a normal operation state;

[0050] A first calculation module is configured to calculate the position average and position variance of the multiple time slots according to the position information of the multiple time slots;

[0051] A second calculation module is configured to calculate the location probability of the positioning terminal in the current time slot using a preset location probability function according to the location average values ​​and location variances of the multiple time slots and the location information of the current time slot;

[0052] The judgment module is configured to judge whether the power line has abnormal displacement in the current time slot according to the position probability of the positioning terminal in the current time slot.

[0053] According to an embodiment of the present disclosure, the location information includes any one or more of longitude, latitude, and altitude.

[0054] According to an embodiment of the present disclosure, the position probability function is:

[0055]

[0056] Among them, s t is the location information of the current time slot, is the average position of multiple time slots before the current time slot when the power line is operating normally. is the position variance of multiple time slots before the current time slot when the power line is in normal operation, p t is the position probability of the current time slot.

[0057] According to an embodiment of the present disclosure, it also includes:

[0058] The fitting module is configured to fit the position probability function using sample position information of a plurality of positioning terminals respectively arranged on a plurality of sample power lines and sample operation state information of the corresponding sample power lines.

[0059] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the longitude average of the multiple time slots:

[0060]

[0061] The calculating the position variance of the multiple time slots includes calculating the longitude variance of the multiple time slots:

[0062]

[0063] The calculating the position probability of the positioning terminal in the current time slot includes calculating the longitude position probability of the positioning terminal in the current time slot:

[0064]

[0065] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and x i is the longitude of the ith time slot, xt is the longitude of the current time slot, is the average longitude of the multiple time slots, is the longitude variance of the multiple time slots, is the longitude position probability of the positioning terminal in the current time slot.

[0066] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the latitude average of the multiple time slots:

[0067]

[0068] The calculating the position variance of the multiple time slots includes calculating the latitude variance of the multiple time slots:

[0069]

[0070] The calculating the position probability of the positioning terminal in the current time slot includes calculating the latitude position probability of the positioning terminal in the current time slot:

[0071]

[0072] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and y i is the latitude of the i-th time slot, y t is the latitude of the current time slot, is the latitude average of the multiple time slots, is the latitude variance of the multiple time slots, is the latitude position probability of the positioning terminal in the current time slot.

[0073] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the height average of the multiple time slots:

[0074]

[0075] The calculating the position variance of the multiple time slots includes calculating the height variance of the multiple time slots:

[0076]

[0077] The calculating the position probability of the positioning terminal in the current time slot includes calculating the height position probability of the positioning terminal in the current time slot:

[0078]

[0079] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and h iis the height of the i-th time slot, h t is the height of the current time slot, is the average height of the multiple time slots, is the height variance of the multiple time slots, is the height position probability of the positioning terminal in the current time slot.

[0080] According to an embodiment of the present disclosure, judging whether the power line has abnormal displacement in the current time slot according to the position probability of the positioning terminal in the current time slot includes:

[0081] When the location probability of at least one type of location information of the positioning terminal meets the corresponding preset condition, it is determined that the power line has abnormal displacement in the current time slot; otherwise, it is determined that the power line has no abnormal displacement in the current time slot.

[0082] According to an embodiment of the present disclosure, the location probability satisfies corresponding preset conditions, including that the value of the location probability is less than 0.0001.

[0083] According to an embodiment of the present disclosure, an alarm module is further included, which is configured to send an alarm message when any of the following situations occurs within a preset time period:

[0084] A location probability of location information satisfies corresponding preset conditions in M ​​time slots;

[0085] The location probabilities of the two types of location information satisfy corresponding preset conditions simultaneously in N time slots;

[0086] The location probabilities of the three types of location information meet the corresponding preset conditions in K time slots at the same time.

[0087] Among them, M>N>K.

[0088] According to an embodiment of the present disclosure, the positioning terminal is arranged on a pole tower or an insulator;

[0089] The method is executed by an edge device arranged near the positioning terminal, and the edge device is connected to a monitoring server of a monitoring center.

[0090] In a third aspect, a monitoring device is provided in an embodiment of the present disclosure, comprising a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement any method described in the first aspect.

[0091] In a fourth aspect, an embodiment of the present disclosure provides a power line abnormal displacement detection system, the system comprising a positioning terminal and a monitoring device according to the second aspect, wherein:

[0092] The positioning terminal is arranged at a designated position of the power line, and the positioning terminal obtains the position information of the positioning terminal according to a preset time slot sequence and sends the position information to the monitoring device.

[0093] According to an embodiment of the present disclosure, the monitoring device includes an edge device arranged near the positioning terminal. When the monitoring device finds that there is an abnormally displaced power line, the monitoring device reports the relevant information of the power line to a monitoring center server, and the monitoring center server is connected to multiple monitoring devices; or

[0094] The monitoring device comprises a monitoring center server, and the monitoring center server is connected to positioning terminals in multiple designated areas.

[0095] In a fifth aspect, an embodiment of the present disclosure provides a computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed by a processor, the method described in any one of the first aspects is implemented.

[0096] According to the technical solution provided by the embodiment of the present disclosure, a method for detecting abnormal displacement of a power line is provided, which is used to detect abnormalities in the position of a power line, and the method comprises: obtaining the position information of a positioning terminal set at a specified position of the power line in a current time slot and the position information of multiple time slots when the power line is operating normally before the current time slot; calculating the position average and position variance of the multiple time slots according to the position information of the multiple time slots; calculating the position probability of the positioning terminal in the current time slot using a preset position probability function according to the position average and position variance of the multiple time slots and the position information of the current time slot; and judging whether the power line has abnormal displacement in the current time slot according to the position probability of the positioning terminal in the current time slot.

[0097] The disclosed embodiment detects abnormal displacement of the power line by automatically and regularly collecting the position information of the positioning terminal installed on the power line, which has better real-time performance than the existing methods of manual inspection, drone inspection, video monitoring, etc. The position probability function of the transmission line is established based on the position average and position variance of the positioning terminals installed on each transmission line, which can automatically adapt to the impact of different environments of different power lines in different regions on the power line deviation and the different line deviations that different power lines can bear. Compared with the simple threshold judgment method used in the existing technology, it has better adaptability and versatility.

[0098] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] Other features, objectives and advantages of the present disclosure will become more apparent through the following detailed description of non-limiting embodiments in conjunction with the accompanying drawings. In the accompanying drawings:

[0100] Figure 1 A schematic diagram showing the structure of a power line abnormal displacement detection system according to an embodiment of the present disclosure is shown;

[0101] Figure 2 A flow chart of a method for detecting abnormal displacement of a power line according to an embodiment of the present disclosure is shown;

[0102] Figure 3 A structural block diagram of a power line abnormal displacement detection device according to an embodiment of the present disclosure is shown;

[0103] Figure 4 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0104] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, parts not related to the description of the exemplary embodiments are omitted in the accompanying drawings.

[0105] In the present disclosure, it should be understood that terms such as "include" or "have" are intended to indicate the presence of features, numbers, steps, behaviors, components, parts, or a combination thereof disclosed in the present specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or a combination thereof exist or are added.

[0106] It should also be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0107] As mentioned above, the existing abnormal displacement detection method of power lines has the following shortcomings:

[0108] Lack of real-time performance: Existing methods such as manual inspection, drone inspection, and video surveillance cannot truly achieve real-time detection. Once a sudden line abnormality occurs, the detection and response speed is slow.

[0109] Lack of versatility leads to insufficient accuracy: The existing algorithms are unable to design anomaly detection algorithms for a single transmission line, resulting in the algorithm often having insufficient accuracy in anomaly detection of a single transmission line.

[0110] Lack of adaptability: The amount of line deviation that different power lines in different regions can withstand varies. The existing methods often use a relatively rigid threshold judgment method, which cannot adapt to the specific needs of different power lines in different scenarios.

[0111] The disclosed embodiment provides a method for detecting abnormal displacement of a power line, which is characterized in that it is used to detect abnormality in the position of a power line, and the method includes: obtaining the position information of a positioning terminal set at a specified position of the power line in a current time slot and the position information of multiple time slots when the power line is operating normally before the current time slot; calculating the position average and position variance of the multiple time slots according to the position information of the multiple time slots; calculating the position probability of the positioning terminal in the current time slot using a preset position probability function according to the position average and position variance of the multiple time slots and the position information of the current time slot; and judging whether the power line has abnormal displacement in the current time slot according to the position probability of the positioning terminal in the current time slot.

[0112] The disclosed embodiment detects abnormal displacement of the power line by automatically and regularly collecting the position information of the positioning terminal installed on the power line, which has better real-time performance than the existing methods of manual inspection, drone inspection, video monitoring, etc. The position probability function of the transmission line is established based on the position average and position variance of the positioning terminals installed on each transmission line, which can automatically adapt to the impact of different environments of different power lines in different regions on the power line deviation and the different line deviations that different power lines can bear. Compared with the simple threshold judgment method used in the existing technology, it has better adaptability and versatility.

[0113] Figure 1 A schematic structural diagram of a power line abnormal displacement detection system according to an embodiment of the present disclosure is shown.

[0114] like Figure 1 As shown, the power line abnormal displacement detection system according to the embodiment of the present disclosure includes a monitoring center server 101, multiple monitoring devices 102, and multiple positioning terminals 103. The multiple positioning terminals 103 are respectively installed at specified positions of multiple circuit lines to be detected, for example, on pole towers or insulators. The multiple monitoring devices 102 may include edge devices respectively arranged near the corresponding positioning terminals 103 and communicatively connected to the monitoring center server 101. The monitoring device 102 executes the power line abnormal displacement detection method according to the embodiment of the present disclosure, and when a power line with abnormal displacement is found, the relevant information of the power line is reported to the monitoring center server 101.

[0115] By implementing the monitoring device as an edge device near the corresponding positioning terminal, the embodiment of the present disclosure can reduce the workload of the monitoring center server and the communication transmission volume of the entire monitoring system through edge computing, and has better real-time performance and higher detection efficiency.

[0116] In an alternative implementation, the power line abnormal displacement detection system according to the embodiment of the present disclosure may also use a monitoring center server to implement the functions of the monitoring device. In this implementation, the monitoring center server is connected to multiple positioning terminals and executes the power line abnormal displacement detection method according to the embodiment of the present disclosure.

[0117] According to the embodiments of the present disclosure, the positioning terminal can use various positioning technologies including Beidou satellite positioning technology to obtain location information in periodic time slots. Among them, Beidou satellite positioning technology has outstanding advantages such as wide coverage and high positioning accuracy, and is increasingly being used in the field of power line monitoring.

[0118] Figure 2 A flow chart of a method for detecting abnormal displacement of a power line according to an embodiment of the present disclosure is shown.

[0119] like Figure 2 As shown, the method for detecting abnormal displacement of a power line according to an embodiment of the present disclosure includes steps S101 to S104.

[0120] In step S101, the location information of a positioning terminal set at a designated position of the power line in a current time slot and the location information of multiple time slots before the current time slot when the power line operates normally are obtained.

[0121] In step S102, the position average and position variance of the multiple time slots are calculated according to the position information of the multiple time slots.

[0122] In step S103, according to the position average values ​​and position variances of the multiple time slots and the position information of the current time slot, a preset position probability function is used to calculate the position probability of the positioning terminal in the current time slot.

[0123] In step S104, based on the location probability of the positioning terminal in the current time slot, it is determined whether the power line has abnormal displacement in the current time slot.

[0124] Ground subsidence, loose foundation, rain, snow, strong wind, freezing, frost, earthquake and other natural disasters and aging of the line itself may cause abnormal displacement of power lines, such as sagging, falling off of transmission lines, abnormal tilt of towers, etc. The sagging and falling off of transmission lines are mainly manifested as changes in height and may be accompanied by changes in longitude and / or latitude, while the tilt of towers may be manifested as changes in longitude, latitude and height at the same time. According to the characteristics of different power lines, any one or more of longitude, latitude and height can be selected as the location information.

[0125] According to an embodiment of the present disclosure, the position probability function is:

[0126]

[0127] Among them, s t is the location information of the current time slot, is the average position of multiple time slots before the current time slot when the power line is operating normally. is the position variance of multiple time slots before the current time slot when the power line is in normal operation, p t is the position probability of the current time slot.

[0128] According to an embodiment of the present disclosure, the position probability function is used to calculate the position probability based on the position average and position variance of multiple time slots when the power line is operating normally before the current time slot, and the position information of the current time slot, and the value of the position probability reflects the probability of abnormal displacement of the power line. Specifically, due to different environmental and climatic conditions in different locations, as well as performance differences of various power line equipment, the displacements that may occur are often different, and the displacements that can be tolerated are often different, and the position average and position variance of the power line under normal operation can well reflect this difference. The embodiment of the present disclosure is for a single transmission line, by collecting the position information of multiple time slots when the power line is operating normally before the current time slot, calculating the position average and position variance, and then combining the position information of the current time slot, compared with the threshold judgment method used in the prior art, it has better adaptability and can more accurately determine whether abnormal displacement has occurred.

[0129] For example, the position variance of power lines is generally small in normal weather. If the position information of the current time slot suddenly deviates significantly from the position average, then the power line is likely to have abnormal displacement. However, on the other hand, in windy weather, the power line may swing significantly but still operate normally. At this time, the position variance is large. Although the position information of the current time slot also deviates a lot from the position average, the displacement of the power line may still be normal due to the large position variance itself. However, if the wind force increases further and causes the position information of the current time slot to deviate too much from the position average, the power line may have abnormal displacement.

[0130] It can be seen that the threshold determination method may lead to misjudgment when the power line is in different environments (for example, different weather conditions), while the technical solution of the embodiment of the present disclosure can achieve accurate abnormal displacement detection for the same power line under different weather conditions. Furthermore, the position averages and position variances of different power lines in different regions when operating normally are often different, and good detection performance can also be achieved by applying the adaptive detection solution of the embodiment of the present disclosure.

[0131] According to an embodiment of the present disclosure, the location probability function is obtained by fitting using sample location information of a plurality of positioning terminals respectively arranged on a plurality of sample power lines and sample operating state information of the corresponding sample power lines.

[0132] For example, when the sample operation status information is normal, p t is equal to 1, when the sample running status information is abnormal, p t is equal to 0. When the fitted position probability function is actually used for detection, the value of the position probability calculated for the current time slot can be used to determine whether abnormal displacement occurs. For example, when p t When it is close to 0, it is considered that abnormal displacement has occurred, otherwise it is considered that no abnormal displacement has occurred.

[0133] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the longitude average of the multiple time slots:

[0134]

[0135] The calculating the position variance of the multiple time slots includes calculating the longitude variance of the multiple time slots:

[0136]

[0137] The calculating the position probability of the positioning terminal in the current time slot includes calculating the longitude position probability of the positioning terminal in the current time slot:

[0138]

[0139] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and x i is the longitude of the ith time slot, x t is the longitude of the current time slot, is the average longitude of the multiple time slots, is the longitude variance of the multiple time slots, is the longitude position probability of the positioning terminal in the current time slot.

[0140] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the latitude average of the multiple time slots:

[0141]

[0142] The calculating the position variance of the multiple time slots includes calculating the latitude variance of the multiple time slots:

[0143]

[0144] The calculating the position probability of the positioning terminal in the current time slot includes calculating the latitude position probability of the positioning terminal in the current time slot:

[0145]

[0146] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and y i is the latitude of the i-th time slot, y t is the latitude of the current time slot, is the latitude average of the multiple time slots, is the latitude variance of the multiple time slots, is the latitude position probability of the positioning terminal in the current time slot.

[0147] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the height average of the multiple time slots:

[0148]

[0149] The calculating the position variance of the multiple time slots includes calculating the height variance of the multiple time slots:

[0150]

[0151] The calculating the position probability of the positioning terminal in the current time slot includes calculating the height position probability of the positioning terminal in the current time slot:

[0152]

[0153] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and h i is the height of the i-th time slot, h t is the height of the current time slot, is the average height of the multiple time slots, is the height variance of the multiple time slots, is the height position probability of the positioning terminal in the current time slot.

[0154] According to an embodiment of the present disclosure, judging whether the power line has abnormal displacement in the current time slot based on the position probability of the positioning terminal in the current time slot includes: judging whether the power line has abnormal displacement in the current time slot when the position probability of at least one type of position information of the positioning terminal meets the corresponding preset condition, otherwise judging whether the power line has no abnormal displacement in the current time slot.

[0155] For example, when the position probability is calculated using the above formulas (3), (6), and (9), the position probability satisfies corresponding preset conditions, including that the value of the position probability is less than 0.0001.

[0156] According to an embodiment of the present disclosure, the abnormal displacement detection method also includes sending an alarm message when any of the following situations occurs within a preset time period: the location probability of one type of location information meets the corresponding preset conditions in M ​​time slots; the location probabilities of two types of location information meet the corresponding preset conditions in N time slots at the same time; the location probabilities of three types of location information meet the corresponding preset conditions in K time slots at the same time, where M>N>K.

[0157] Generally speaking, the more types of location information used for detection, the higher its accuracy. For example, the accuracy of detecting longitude and latitude at the same time is higher than that of detecting longitude only or latitude only. Therefore, if fewer types of location information are used for detection, it takes more times to get abnormal results before alarming, so as to reduce the occurrence of false alarms.

[0158] Figure 3 A structural block diagram of a power line abnormal displacement detection device according to an embodiment of the present disclosure is shown.

[0159] like Figure 3 As shown, according to an embodiment of the present disclosure, a power line abnormal displacement detection device is used to detect abnormality of a power line position, and the device includes:

[0160] An acquisition module is configured to acquire the location information of a positioning terminal set at a designated position of the power line in a current time slot and the location information of multiple time slots before the current time slot when the power line is in a normal operation state;

[0161] A first calculation module is configured to calculate the position average and position variance of the multiple time slots according to the position information of the multiple time slots;

[0162] A second calculation module is configured to calculate the location probability of the positioning terminal in the current time slot using a preset location probability function according to the location average values ​​and location variances of the multiple time slots and the location information of the current time slot;

[0163] The judgment module is configured to judge whether the power line has abnormal displacement in the current time slot according to the position probability of the positioning terminal in the current time slot.

[0164] According to an embodiment of the present disclosure, the location information includes any one or more of longitude, latitude, and altitude.

[0165] According to an embodiment of the present disclosure, the position probability function is:

[0166]

[0167] Among them, s t is the location information of the current time slot, is the average position of multiple time slots before the current time slot when the power line is operating normally. is the position variance of multiple time slots before the current time slot when the power line is in normal operation, p t is the position probability of the current time slot.

[0168] According to an embodiment of the present disclosure, it also includes:

[0169] The fitting module is configured to fit the position probability function using sample position information of a plurality of positioning terminals respectively arranged on a plurality of sample power lines and sample operation state information of the corresponding sample power lines.

[0170] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the longitude average of the multiple time slots:

[0171]

[0172] The calculating the position variance of the multiple time slots includes calculating the longitude variance of the multiple time slots:

[0173]

[0174] The calculating the position probability of the positioning terminal in the current time slot includes calculating the longitude position probability of the positioning terminal in the current time slot:

[0175]

[0176] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and x i is the longitude of the ith time slot, x t is the longitude of the current time slot, is the average longitude of the multiple time slots, is the longitude variance of the multiple time slots, is the longitude position probability of the positioning terminal in the current time slot.

[0177] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the latitude average of the multiple time slots:

[0178]

[0179] The calculating the position variance of the multiple time slots includes calculating the latitude variance of the multiple time slots:

[0180]

[0181] The calculating the position probability of the positioning terminal in the current time slot includes calculating the latitude position probability of the positioning terminal in the current time slot:

[0182]

[0183] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and y i is the latitude of the i-th time slot, y t is the latitude of the current time slot, is the latitude average of the multiple time slots, is the latitude variance of the multiple time slots, is the latitude position probability of the positioning terminal in the current time slot.

[0184] According to an embodiment of the present disclosure, calculating the position average of the multiple time slots includes calculating the height average of the multiple time slots:

[0185]

[0186] The calculating the position variance of the multiple time slots includes calculating the height variance of the multiple time slots:

[0187]

[0188] The calculating the position probability of the positioning terminal in the current time slot includes calculating the height position probability of the positioning terminal in the current time slot:

[0189]

[0190] Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and h i is the height of the i-th time slot, h t is the height of the current time slot, is the average height of the multiple time slots, is the height variance of the multiple time slots, is the height position probability of the positioning terminal in the current time slot.

[0191] According to an embodiment of the present disclosure, judging whether the power line has abnormal displacement in the current time slot according to the position probability of the positioning terminal in the current time slot includes:

[0192] When the location probability of at least one type of location information of the positioning terminal meets the corresponding preset condition, it is determined that the power line has abnormal displacement in the current time slot; otherwise, it is determined that the power line has no abnormal displacement in the current time slot.

[0193] According to an embodiment of the present disclosure, the location probability satisfies corresponding preset conditions, including that the value of the location probability is less than 0.0001.

[0194] According to an embodiment of the present disclosure, an alarm module is further included, which is configured to send an alarm message when any of the following situations occurs within a preset time period:

[0195] A location probability of location information satisfies corresponding preset conditions in M ​​time slots;

[0196] The location probabilities of the two types of location information satisfy corresponding preset conditions simultaneously in N time slots;

[0197] The location probabilities of the three types of location information meet the corresponding preset conditions in K time slots at the same time.

[0198] Among them, M>N>K.

[0199] According to an embodiment of the present disclosure, the positioning terminal is arranged on a pole tower or an insulator;

[0200] The method is executed by an edge device arranged near the positioning terminal, and the edge device is connected to a monitoring server of a monitoring center.

[0201] A monitoring device is provided in an embodiment of the present disclosure, comprising a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement a method as described in any one of the above method embodiments.

[0202] In an embodiment of the present disclosure, a power line abnormal displacement detection system is provided, the system comprising a positioning terminal and a monitoring device according to the second aspect, wherein:

[0203] The positioning terminal is arranged at a designated position of the power line, and the positioning terminal obtains the position information of the positioning terminal according to a preset time slot sequence and sends the position information to the monitoring device.

[0204] According to an embodiment of the present disclosure, the monitoring device includes an edge device arranged near the positioning terminal. When the monitoring device finds that there is an abnormally displaced power line, the monitoring device reports the relevant information of the power line to a monitoring center server, and the monitoring center server is connected to multiple monitoring devices; or

[0205] The monitoring device comprises a monitoring center server, and the monitoring center server is connected to positioning terminals in multiple designated areas.

[0206] Figure 4 1 shows a structural block diagram of an electronic device according to an embodiment of the present disclosure. Figure 4 As shown, the electronic device includes a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the power line abnormal displacement detection method as described in any one of the above method embodiments.

[0207] The present disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or computer system in the above embodiment; or a computer-readable storage medium that exists independently and is not assembled into a device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the power line abnormal displacement detection method described in the present disclosure.

[0208] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other.

Claims

1. A method for detecting abnormal displacement of a power line, characterized in that: For detecting anomalies at a power line location, the method comprises: Acquire the location information of the positioning terminal set at the designated position of the power line in the current time slot and the location information of multiple time slots before the current time slot when the power line is in a normal operation state; Calculating the position average and position variance of the multiple time slots according to the position information of the multiple time slots; Calculate the location probability of the positioning terminal in the current time slot using a preset location probability function according to the location averages and location variances of the multiple time slots and the location information of the current time slot; It is determined whether the power line has abnormal displacement in the current time slot according to the position probability of the positioning terminal in the current time slot.

2. The method according to claim 1, characterized in that: The location information includes any one or more of longitude, latitude, and altitude.

3. The method according to claim 1, characterized in that The position probability function is: Among them, s t is the location information of the current time slot, is the average position of multiple time slots before the current time slot when the power line is operating normally. is the position variance of multiple time slots before the current time slot when the power line is in normal operation, p t is the position probability of the current time slot.

4. The method according to claim 3, characterized in that Also includes: The location probability function is obtained by fitting using sample location information of a plurality of positioning terminals respectively arranged on a plurality of sample power lines and sample operation state information of the corresponding sample power lines.

5. The method according to claim 1, characterized in that: Calculating the position averages of the multiple time slots includes calculating the longitude averages of the multiple time slots: The calculating the position variance of the multiple time slots includes calculating the longitude variance of the multiple time slots: The calculating the position probability of the positioning terminal in the current time slot includes calculating the longitude position probability of the positioning terminal in the current time slot: Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and x i is the longitude of the ith time slot, x t is the longitude of the current time slot, x t avg is the average longitude of the multiple time slots, x t var is the longitude variance of the multiple time slots, is the longitude position probability of the positioning terminal in the current time slot.

6. The method according to claim 1, characterized in that: Calculating the position averages of the multiple time slots includes calculating the latitude averages of the multiple time slots: The calculating the position variance of the multiple time slots includes calculating the latitude variance of the multiple time slots: The calculating the position probability of the positioning terminal in the current time slot includes calculating the latitude position probability of the positioning terminal in the current time slot: Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and y i is the latitude of the i-th time slot, y t is the latitude of the current time slot, y t avg is the latitude average of the multiple time slots, y t var is the latitude variance of the multiple time slots, is the latitude position probability of the positioning terminal in the current time slot.

7. The method according to claim 1, characterized in that: The calculating the position average of the multiple time slots includes calculating the height average of the multiple time slots: The calculating the position variance of the multiple time slots includes calculating the height variance of the multiple time slots: The calculating the position probability of the positioning terminal in the current time slot includes calculating the height position probability of the positioning terminal in the current time slot: Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and h i is the height of the i-th time slot, h t is the height of the current time slot, h t avg is the average height of the multiple time slots, h t var is the height variance of the multiple time slots, is the height position probability of the positioning terminal in the current time slot.

8. The method according to any one of claims 1 to 7, characterized in that: The determining, according to the position probability of the positioning terminal in the current time slot, whether the power line has abnormal displacement in the current time slot includes: When the location probability of at least one type of location information of the positioning terminal meets the corresponding preset condition, it is determined that the power line has abnormal displacement in the current time slot; otherwise, it is determined that the power line has no abnormal displacement in the current time slot.

9. The method according to claim 8 when referring to any one of claims 5 to 7, characterized in that The position probability satisfies corresponding preset conditions, including that the value of the position probability is less than 0.0001.

10. The method according to claim 9, characterized in that It also includes sending alarm information when any of the following situations occur within a preset time period: A location probability of location information satisfies corresponding preset conditions in M ​​time slots; The location probabilities of the two types of location information satisfy corresponding preset conditions simultaneously in N time slots; The location probabilities of the three types of location information meet the corresponding preset conditions in K time slots at the same time. Among them, M>N>K.

11. The method according to claim 1, characterized in that: The positioning terminal is arranged on the tower or the insulator; The method is executed by an edge device arranged near the positioning terminal, and the edge device is connected to a monitoring server of a monitoring center.

12. A device for detecting abnormal displacement of a power line, characterized in that: Used to detect abnormality at the location of a power line, the device comprises: An acquisition module is configured to acquire the location information of a positioning terminal set at a designated position of the power line in a current time slot and the location information of multiple time slots before the current time slot when the power line is in a normal operation state; A first calculation module is configured to calculate the position average and position variance of the multiple time slots according to the position information of the multiple time slots; A second calculation module is configured to calculate the location probability of the positioning terminal in the current time slot using a preset location probability function according to the location average values ​​and location variances of the multiple time slots and the location information of the current time slot; The judgment module is configured to judge whether the power line has abnormal displacement in the current time slot according to the position probability of the positioning terminal in the current time slot.

13. The device according to claim 12, characterized in that: The location information includes any one or more of longitude, latitude, and altitude.

14. The device according to claim 12, characterized in that The position probability function is: Among them, s t is the location information of the current time slot, is the average position of multiple time slots before the current time slot when the power line is operating normally. is the position variance of multiple time slots before the current time slot when the power line is in normal operation, p t is the position probability of the current time slot.

15. The device according to claim 14, characterized in that Also includes: The fitting module is configured to fit the position probability function using sample position information of a plurality of positioning terminals respectively arranged on a plurality of sample power lines and sample operation state information of the corresponding sample power lines.

16. The device according to claim 12, characterized in that: Calculating the position averages of the multiple time slots includes calculating the longitude averages of the multiple time slots: The calculating the position variance of the multiple time slots includes calculating the longitude variance of the multiple time slots: The calculating the position probability of the positioning terminal in the current time slot includes calculating the longitude position probability of the positioning terminal in the current time slot: Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and x i is the longitude of the ith time slot, x t is the longitude of the current time slot, x t avg is the average longitude of the multiple time slots, x t var is the longitude variance of the multiple time slots, is the longitude position probability of the positioning terminal in the current time slot.

17. The device according to claim 12, characterized in that: Calculating the position averages of the multiple time slots includes calculating the latitude averages of the multiple time slots: The calculating the position variance of the multiple time slots includes calculating the latitude variance of the multiple time slots: The calculating the position probability of the positioning terminal in the current time slot includes calculating the latitude position probability of the positioning terminal in the current time slot: Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and y i is the latitude of the i-th time slot, y t is the latitude of the current time slot, y t avg is the latitude average of the multiple time slots, y t var is the latitude variance of the multiple time slots, is the latitude position probability of the positioning terminal in the current time slot.

18. The device according to claim 12, characterized in that: The calculating the position average of the multiple time slots includes calculating the height average of the multiple time slots: The calculating the position variance of the multiple time slots includes calculating the height variance of the multiple time slots: The calculating the position probability of the positioning terminal in the current time slot includes calculating the height position probability of the positioning terminal in the current time slot: Wherein, t is the serial number of the current time slot, N is the number of the multiple time slots, and h i is the height of the i-th time slot, h t is the height of the current time slot, h t avg is the average height of the multiple time slots, h t var is the height variance of the multiple time slots, is the height position probability of the positioning terminal in the current time slot.

19. The device according to any one of claims 12 to 18, characterized in that The determining, according to the position probability of the positioning terminal in the current time slot, whether the power line has abnormal displacement in the current time slot includes: When the location probability of at least one type of location information of the positioning terminal meets the corresponding preset condition, it is determined that the power line has abnormal displacement in the current time slot; otherwise, it is determined that the power line has no abnormal displacement in the current time slot.

20. The device according to claim 19 when appended to any one of claims 16 to 18, characterized in that The position probability satisfies corresponding preset conditions, including that the value of the position probability is less than 0.0001.

21. The device according to claim 19, characterized in that It also includes an alarm module configured to send an alarm message when any of the following situations occurs within a preset time period: A location probability of location information satisfies corresponding preset conditions in M ​​time slots; The location probabilities of the two types of location information satisfy corresponding preset conditions simultaneously in N time slots; The location probabilities of the three types of location information meet the corresponding preset conditions in K time slots at the same time. Among them, M>N>K.

22. The device according to claim 12, characterized in that: The positioning terminal is arranged on the tower or the insulator; The method is executed by an edge device arranged near the positioning terminal, and the edge device is connected to a monitoring server of a monitoring center.

23. A monitoring device, characterized in that: The method comprises a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to any one of claims 1 to 11.

24. A power line abnormal displacement detection system, characterized in that: The system comprises a positioning terminal and a monitoring device according to claim 23, wherein: The positioning terminal is arranged at a designated position of the power line, and the positioning terminal obtains the position information of the positioning terminal according to a preset time slot sequence and sends the position information to the monitoring device.

25. The system according to claim 24, characterized in that: The monitoring device includes an edge device arranged near the positioning terminal. When the monitoring device finds that there is an abnormally displaced power line, the monitoring device reports the relevant information of the power line to a monitoring center server, and the monitoring center server is connected to a plurality of monitoring devices; or The monitoring device comprises a monitoring center server, and the monitoring center server is connected to positioning terminals in multiple designated areas.

26. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by a processor, the method according to any one of claims 1 to 11 is implemented.

Images