Power transmission line on-line monitoring integrated system based on Beidou

Abstract

The invention provides a Beidou-based power transmission line on-line monitoring integrated system, and relates to the technical field of communication. Comprising a main control unit, a communication unit, a sensor unit and a power supply unit, the sensor unit is used for acquiring sensor data, the main control unit is used for carrying out galloping condition judgment processing, offset judgment processing and sag value judgment processing on the sensor data to obtain monitoring data, and the communication unit is used for sending the monitoring data to a background system for display. And the power supply unit is used for supplying power to the main control unit, the communication unit and the sensor unit. The power transmission line online monitoring device solves the problem that a power transmission line online monitoring device in the prior art cannot monitor multiple conditions at the same time.

Description

Technical Field

[0001] The present invention relates to the field of communication technologies, and particularly to an integrated Beidou-based on-line monitoring system for transmission lines. Background Art

[0002] Transmission lines are widely distributed and pass through various terrains such as plains, deserts, hills, plateaus, grasslands, deserts, lakes, and humid areas. In the poor geological areas such as soft soil areas, hillside lands, riverbeds, as well as mined-out areas or weak sections passed through, the towers in these areas are affected by natural environments, surrounding geological damages, human factors, etc., and may experience ground settlement or landslides, resulting in the risk of tower collapse. In severe weather conditions such as freezing and strong winds, the transmission lines may experience the phenomenon of iced conductors dancing with the wind, which poses a serious threat to the safe operation of the transmission lines. The dancing may lead to phase-to-phase flashovers and damage to fittings, causing line tripping and power outages or more serious accidents. The change in the sag of the transmission line is one of the key indicators in the operation of the transmission line, which affects the stability and safety of the line. With the development of technology, there are now many on-line monitoring devices for transmission lines, but they can only monitor one of the situations and cannot monitor multiple situations simultaneously. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide an integrated Beidou-based on-line monitoring system for transmission lines, and the present invention solves the problem that the on-line monitoring devices for transmission lines in the prior art cannot monitor multiple situations simultaneously.

[0004] To achieve the above purpose, the present invention provides the following solution:

[0005] An integrated Beidou-based on-line monitoring system for transmission lines, comprising:

[0006] A main control unit, and a communication unit, a sensor unit, and a power supply unit all connected to the main control unit;

[0007] The sensor unit is used to obtain sensor data, the main control unit is used to perform dancing situation judgment processing, offset judgment processing, and sag value judgment processing on the sensor data to obtain monitoring data, the communication unit is used to send the monitoring data to the background system for display, and the power supply unit is used to supply power to the main control unit, the communication unit, and the sensor unit.

[0008] Preferably, the sensor unit includes:

[0009] A settlement and inclination sensor, a Beidou dancing sensor, a Beidou sag sensor, and a micro-meteorological sensor all connected to the main control unit;

[0010] The settlement tilt sensor is used to obtain settlement data, the Beidou dancing sensor is used to obtain Beidou dancing data, the Beidou sag sensor is used to obtain sag data, and the micro-meteorological sensor is used to obtain meteorological data.

[0011] Preferably, the main control unit includes:

[0012] A data sampling module, an edge computing module and a data processing and analysis module both connected to the data sampling module;

[0013] The data sampling module is used to collect the settlement data, Beidou dancing data, sag data and meteorological data. The data processing and analysis module is used to perform fusion analysis on the dancing monitoring data and meteorological data to process and judge the real situation of on-site dancing, and perform fusion analysis processing based on the meteorological data and settlement data to judge whether there is an offset due to heavy rainfall on-site. The edge computing module calculates the change in the distance between two points by comparing the longitude, latitude information and elevation information output by the Beidou module in real time with the initial position information, and calculates the sag data of the transmission wire monitoring point through the longitude, latitude information and elevation.

[0014] Preferably, the communication unit includes:

[0015] A 4G wireless communication module, a Beidou short message communication module and a LORA self-organizing network communication module;

[0016] The 4G communication module is connected to the main control unit through a USB interface, the Beidou short message communication module is connected to the main control unit through an RS485 bus, and the LORA self-organizing network communication module is connected to the main control unit through a serial port.

[0017] Preferably, the settlement tilt sensor, the Beidou dancing sensor and the Beidou sag sensor are all connected to the main control unit through a LORA self-organizing network, and the meteorological sensor is connected to the main control unit through an RS485 bus.

[0018] Preferably, the power supply unit includes:

[0019] An MPPT charging controller, a solar panel and a storage battery both connected to the MPPT charging controller;

[0020] Preferably, each sensor in the sensor unit includes:

[0021] A power supply sub-module, an MCU main control sub-module, an RTK Beidou positioning sub-module, an acceleration sub-module and a LORA communication sub-module;

[0022] The RTK Beidou positioning sub-module is used to receive Beidou satellite data, the acceleration sub-module is used to output triaxial acceleration data, the MCU main control sub-module is used to calculate the inclination angle and the dancing state quantity according to the triaxial acceleration data, the LORA communication sub-module is used to send the Beidou satellite data, the inclination angle and the dancing state quantity to the main control unit, and the power supply sub-module is used to supply power to the MCU main control sub-module, the RTK Beidou positioning sub-module, the acceleration sub-module and the LORA communication sub-module.

[0023] The present invention discloses the following technical effects:

[0024] The present invention provides a comprehensive on-line monitoring system for transmission lines based on Beidou, including: a main control unit and a communication unit, a sensor unit and a power supply unit all connected to the main control unit; the sensor unit is used to obtain sensor data, the main control unit is used to perform dancing condition judgment processing, offset judgment processing and sag value judgment processing on the sensor data to obtain monitoring data, the communication unit is used to send the monitoring data to the background system for display, and the power supply unit is used to supply power to the main control unit, the communication unit and the sensor unit. The sensor of the present invention realizes a monitoring station, and can simultaneously monitor the settlement and inclination of transmission line towers, the dancing of transmission line conductors, and the sag of transmission line conductors. It can better feedback the working state of the transmission line. Based on the wireless data transmission system of LORA self-organizing network, the mutual communication between the sensor and the host can be realized, the RTK Beidou positioning solution based on the local area can be realized, and the monitoring of conductor dancing, conductor sag, and tower settlement displacement can be realized. Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic structural diagram of a comprehensive on-line monitoring system for transmission lines based on Beidou provided by an embodiment of the present invention;

[0027] Figure 2 It is a schematic structural diagram of each sensor provided by an embodiment of the present invention;

[0028] Figure 3 It is a schematic diagram of the device on-site deployment plan provided by an embodiment of the present invention;

[0029] Figure 4 It is a schematic diagram of the algorithm for converting acceleration data into angle data provided by an embodiment of the present invention. Detailed implementation mode

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation modes.

[0032] As Figure 1 shown, the present invention provides an integrated on-line monitoring system for transmission lines based on Beidou, including:

[0033] A main control unit, a communication unit, a sensor unit, and a power supply unit all connected to the main control unit;

[0034] The sensor unit is used to obtain sensor data. The main control unit is used to judge and process the galloping situation, offset situation, and sag value of the sensor data to obtain monitoring data. The communication unit is used to send the monitoring data to the background system for display. The power supply unit is used to supply power to the main control unit, communication unit, and sensor unit.

[0035] Specifically, the main control unit mainly includes a collection module for sensor data. The data processing and analysis module mainly analyzes and processes the collected sensor data, including fusing and analyzing the galloping monitoring data and meteorological monitoring data to judge the actual galloping situation on site; fusing and analyzing the meteorological data and tower settlement monitoring data to judge whether there is an offset due to heavy rainfall on site, etc. The edge computing module processes the received data through algorithms to obtain the sag value of the conductor at the monitoring point, the displacement value of the monitoring tower, etc. The RTK Beidou positioning sub-module of the host system serves as a Beidou reference station to provide reference position information; finally, the obtained data is calculated and processed and uploaded to the background system.

[0036] Furthermore, the sensor unit includes:

[0037] A settlement and inclination sensor, a Beidou galloping sensor, a Beidou sag sensor, and a micro-meteorological sensor all connected to the main control unit;

[0038] The settlement and inclination sensor is used to obtain settlement data. The Beidou galloping sensor is used to obtain Beidou galloping data. The Beidou sag sensor is used to obtain sag data. The micro-meteorological sensor is used to obtain meteorological data.

[0039] Further, the main control unit includes:

[0040] A data sampling module, an edge computing module, and a data processing and analysis module, both of which are connected to the data sampling module;

[0041] The data sampling module is used to collect the settlement data, Beidou dancing data, sag data, and meteorological data. The data processing and analysis module is used to perform fusion analysis on the dancing monitoring data and meteorological data to process and judge the real situation of on-site dancing, and perform fusion analysis based on the meteorological data and settlement data to judge whether there is an offset due to heavy rainfall on-site. The edge computing module calculates the distance change between two points by comparing the longitude and latitude information and elevation information output by the Beidou module with the initial position information in real time, and calculates the sag data of the transmission line monitoring point through the longitude and latitude information and elevation.

[0042] The direction of the wind force on the wire can be judged according to the wind speed and direction data measured by the meteorological data and the direction of the transmission line wire. The dancing data of the wire, the amplitude of the dancing, and the frequency of the dancing can be obtained according to the acceleration data, the wind direction, and the wind speed magnitude, and corresponding anti-dancing measures can be taken according to the measurement data. Fusion analysis is performed based on the meteorological data and settlement data to judge whether there is an offset due to heavy rainfall on-site. Whether the tower needs to be reinforced or relocated is judged according to the monitored rainfall data and the tower settlement displacement data obtained by Beidou differential. If the tower is displaced when the rainfall is large, it means that the geology at this place is loose and natural disasters such as landslides are likely to occur, and the iron tower needs to be reinforced or relocated in time.

[0043] Further, the communication unit includes:

[0044] A 4G wireless communication module, a Beidou short message communication module, and a LORA self-organizing network communication module;

[0045] The 4G communication module is connected to the main control unit through a USB interface, the Beidou short message communication module is connected to the main control unit through an RS485 bus, and the LORA self-organizing network communication module is connected to the main control unit through a serial port.

[0046] The communication unit mainly includes a 4G wireless communication module, a Beidou short message communication module, and a LORA self-organizing network communication module. Among them, the 4G communication module is connected to the main control unit through a USB interface, the Beidou short message communication module is connected to the main control unit through an RS485 bus, and the LORA self-organizing network communication module is connected to the main control unit through a serial port

[0047] Further, the settlement and inclination sensor, the Beidou dancing sensor, and the Beidou sag sensor are all connected to the main control unit through a LORA self-organizing network, and the meteorological sensor is connected to the main control unit through an RS485 bus.

[0048] The sensor unit includes a high-precision Beidou displacement settlement and inclination monitoring sensor, a Beidou galloping sensor, a Beidou sag sensor, a micro-meteorological six-element sensor (for temperature, humidity, wind speed, wind direction, air pressure, and rainfall monitoring). The high-precision Beidou displacement settlement and inclination monitoring sensor, the Beidou galloping sensor, the Beidou sag sensor, and the main control unit are connected through LORA self-organizing network. The micro-meteorological module is connected to the main control unit through the RS485 bus. The power supply unit includes an MPPT charge controller, a solar panel, and a storage battery. The solar panel is connected to the charge controller, and the charge controller is connected to the storage battery.

[0049] The MPPT charge controller, the solar panel connected to the MPPT charge controller, and the storage battery. The MPPT charge controller adjusts the output voltage and current of the solar panel so that the solar panel always operates at the maximum power point under different light intensity and temperature conditions. The relationship between the output power (P) of the solar panel, the voltage (V), and the current (I) is: P = V × I. The output voltage and current of the solar panel change with different environmental light intensity and temperature. To meet the output maximum power point, it is necessary to adjust the output voltage and current in real time. Considering cost and practical applications, the MPPT charge controller uses the perturbation and observation algorithm for real-time adjustment. It calculates the power by periodically collecting the voltage and current of the solar panel, compares the current power with the previous power, and observes the power change. If the power increases, continue to perturb; if the power decreases, perturb in the opposite direction until the maximum power point of the solar panel output is found. When the MPPT controller finds the maximum power point of the solar panel output, it will keep the solar panel at this working point and continuously adjust according to environmental changes.

[0050] Further, as Figure 2 shown, each sensor in the sensor unit includes:

[0051] A power supply sub-module, an MCU main control sub-module, an RTK Beidou positioning sub-module, an acceleration sub-module, and a LORA communication sub-module;

[0052] The RTK Beidou positioning sub-module is used to receive Beidou satellite data. The acceleration sub-module is used to output three-axis acceleration data. The MCU main control sub-module is used to calculate the inclination angle and galloping state quantity based on the three-axis acceleration data. The LORA communication sub-module is used to send the Beidou satellite data, inclination angle, and galloping state quantity to the main control unit. The power supply sub-module is used to supply power to the MCU main control sub-module, RTK Beidou positioning sub-module, acceleration sub-module, and LORA communication sub-module.

[0053] The high-precision Beidou displacement, settlement and inclination monitoring sensors, Beidou galloping sensors, and Beidou sag sensors all include a power supply sub-module, an MCU main control sub-module, an RTK Beidou positioning sub-module, an acceleration sub-module, and a LORA communication sub-module. Among them, the power supply sub-module includes a lithium battery, a solar panel, a device support CT power-taking module installed on the AC transmission wire, and an MPPT charging chip responsible for the charge and discharge control of the sensor; the RTK Beidou positioning sub-module receives Beidou satellite data, and the acceleration sub-module outputs three-axis acceleration data. The MCU module collects the acceleration data for inclination calculation and galloping state quantity calculation. The galloping state quantity includes galloping amplitude, galloping frequency, etc.; and the calculated data is sent to the host through LORA self-organizing network.

[0054] System working principle: The device host is installed on the cross arm of the transmission tower, and the device's micro-meteorological sensor and the high-precision Beidou displacement, settlement and inclination monitoring sensor are installed on the cross bar of the transmission tower. The Beidou sag sensor is installed at the lowest point of the sag of the transmission wire, and the Beidou galloping sensor is installed at two-ninths of the span of the transmission wire. Among them, the device host system is mainly composed of a main control unit, a communication unit, a power supply unit, and an RTK Beidou positioning sub-module unit. The tower where the host is installed should be located in an area with good geological conditions, where the foundation of the transmission tower is stable and geological disasters are not likely to occur. The host includes an RTK Beidou positioning sub-module as a positioning reference station, and the high-precision Beidou displacement, settlement and inclination monitoring sensor, Beidou galloping sensor, and Beidou sag sensor as monitoring stations. The reference station broadcasts the observed satellite data and its own precise coordinates to the monitoring stations through LORA self-organizing network. After receiving these data, the monitoring stations combine the satellite signals they receive and calculate their own precise positions through differential calculation. The monitoring stations then upload the data to the monitoring host through LORA self-organizing network, and the monitoring host processes the received data and uploads it to the background system.

[0055] When the galloping monitoring sensor is in a stationary state, in order to ensure the low power consumption of the sensor, the RTK Beidou module is in a sleep state, and only the acceleration sensor is in a working state. The sensor collects the three-axis acceleration data of the acceleration chip, and after preprocessing the collected data, processes the collected data through the fast Fourier transform (FFT) algorithm. Thus, characteristic quantities such as the amplitude and frequency of galloping are obtained. According to the calculated result data, if the amplitude is greater than the set value, the Beidou module is awakened, the data of the reference station is received through LORA, and combined with the satellite data it receives, it outputs accurate coordinate position information and elevation data to the host. After the host analyzes and processes the data and uploads it to the background system, the complete and accurate galloping characteristic quantities and galloping trajectory process of the transmission wire can be displayed in the background system.

[0056] Similarly, the Beidou sag sensor receives the reference station information of the LORA self-organizing network at regular intervals. By combining the satellite data it receives itself, it outputs accurate position information and elevation information to the host through differential calculation. The host calculates the sag data of the accurate sensor installation point.

[0057] The high-precision Beidou displacement, settlement and inclination monitoring sensor has two working modes. One is that after the RTK Beidou positioning sub-module receives satellite data, it can upload the data to the Beidou position solution platform through 4G using the Ntrip protocol. At the same time, the reference value also uploads the data to the solution platform through the Ntrip protocol, and relevant configurations are made on the platform for subsequent calculation. This subsequent calculation method can achieve millimeter-level positioning. The other is that the sensor records the initial installation position. By monitoring the data of the acceleration sensor and converting it into inclination data, after the monitored inclination data exceeds the set value, it receives the reference station data through the LORA self-organizing network and performs RTK differential calculation to obtain the displacement of the installed sensor and the displacement of the iron tower.

[0058] After the host collects the above sensor data, it combines the wind speed, wind direction, temperature, humidity, and rainfall data collected by the micro-meteorological sensor for comprehensive processing to obtain accurate and precise monitoring data and upload it to the background system. The operating status of the on-site transmission line can be viewed intuitively in real time through the background system. Figure 3 It is the on-site deployment plan diagram of the device. During on-site deployment, generally the host is deployed on the central tower. According to the stable communication distance of the LORA wireless network data, the dancing, sag, and pole tower settlement and inclination monitoring sensors can be installed within two kilometers outward from the host according to the situation.

[0059] The algorithm for converting acceleration data into angle data is as follows:

[0060] The angle between each axis of the accelerometer and the reference position is determined separately. The reference position usually selects the direction in which the x-axis and y-axis of the device are in the horizontal plane (0g field), and the z-axis is perpendicular to the horizontal plane (1g field). Figure 4 Show this method, where, Figure 4 a, b, c, and d are respectively the data offsets of the x, y, and z axes rotating along different axes in the stationary state. θ represents the angle between the horizontal plane and the x-axis of the accelerometer, and ψ represents the angle between the horizontal plane and the y-axis of the accelerometer. represents the angle between the gravity vector and the z-axis. When at the initial position of 0g on the x and y axes and 1g on the z-axis, all calculated angles are 0°.

[0061] The single-axis inclination can be calculated using basic trigonometric identities:

[0062]

[0063] Where A X,OUT ,AY,OUT , A Z,OUT are the acceleration data values output by the X, Y, and Z axes of the acceleration sensor respectively.

[0064] Beidou distance algorithm between two points after obtaining precise position information coordinates (the influence of the earth's curvature can be ignored for the displacement of the monitoring point relative to the earth):

[0065] Conversion from longitude and latitude to Cartesian coordinates: First, the longitude and latitude coordinates need to be converted to Cartesian coordinates (X, Y, Z). This is usually achieved through the following formulas:

[0066] X = (R + h) · cos(φ) · cos(λ)

[0067] Y = (R + h) · cos(φ) · sin(λ)

[0068] Z = (R · (1 - f) 2 + h) · sin(φ)

[0069] where R is the radius of the earth, h is the elevation, φ is the latitude, and λ is the longitude.

[0070] Once the Cartesian coordinates of two points (x1, y1, z1) and (x2, y2, z2) are available, the Euclidean distance formula can be used to calculate the straight-line distance between the two points:

[0071]

[0072] More specifically, the present invention supports data backhaul of multiple types of communication methods, supports Beidou-3 short message communication to achieve monitoring data upload, the device has a communication link self-diagnosis and self-switching function, supports self-switching between wireless network communication and Beidou short message communication in signal-free areas or weak signal areas. When the device detects that there is no mobile operator communication signal in the area, it actively switches to transmit data through Beidou short messages; the sensor has a self-diagnosis function and a self-calibration function, supports active reporting of fault status, supports self-calibration of sensor measurement data in different environments, presets calibration parameters in advance according to the measurement characteristics of the sensor at different temperatures, and performs data self-calibration according to the measured environmental temperature.

[0073] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0074] In this article, specific examples are used to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. An integrated on-line monitoring system for transmission lines based on Beidou, characterized in that, Including: A main control unit, a communication unit, a sensor unit, and a power supply unit all connected to the main control unit; The sensor unit is used to obtain sensor data. The main control unit is used to perform dancing condition judgment processing, offset judgment processing, and sag value judgment processing on the sensor data to obtain monitoring data. The communication unit is used to send the monitoring data to the background system for display. The power supply unit is used to supply power to the main control unit, the communication unit, and the sensor unit.

2. The integrated on-line monitoring system for transmission lines based on Beidou according to claim 1, characterized in that, The sensor unit includes: A settlement and inclination sensor, a Beidou dancing sensor, a Beidou sag sensor, and a micro-meteorological sensor all connected to the main control unit; The settlement and inclination sensor is used to obtain settlement data. The Beidou dancing sensor is used to obtain Beidou dancing data. The Beidou sag sensor is used to obtain sag data. The micro-meteorological sensor is used to obtain meteorological data.

3. The integrated on-line monitoring system for transmission lines based on Beidou according to claim 2, characterized in that, The main control unit includes: A data sampling module, an edge computing module, and a data processing and analysis module all connected to the data sampling module; The data sampling module is used to collect the settlement data, Beidou dancing data, sag data, and meteorological data. The data processing and analysis module is used to perform fusion analysis on the dancing monitoring data and meteorological data to process and judge the actual dancing situation on site and perform fusion analysis processing based on the meteorological data and settlement data to judge whether there is an offset due to heavy rainfall on site. The edge computing module calculates the distance change between two points by comparing the longitude, latitude information, and elevation information output by the Beidou module in real time with the initial position information and calculates the sag data of the transmission line monitoring point through the longitude, latitude information, and elevation calculation.

4. The integrated on-line monitoring system for transmission lines based on Beidou according to claim 2, wherein The communication unit includes: A 4G wireless communication module, a Beidou short message communication module, and a LORA self-organizing network communication module; The 4G communication module is connected to the main control unit through a USB interface. The Beidou short message communication module is connected to the main control unit through an RS485 bus. The LORA self-organizing network communication module is connected to the main control unit through a serial port.

5. The integrated on-line monitoring system for transmission lines based on Beidou according to claim 2, characterized in that, The settlement and inclination sensor, the Beidou dancing sensor, and the Beidou sag sensor are all connected to the main control unit through a LORA self-organizing network. The meteorological sensor is connected to the main control unit through an RS485 bus.

6. The integrated on-line monitoring system for transmission lines based on Beidou according to claim 2, characterized in that, The power supply unit includes: An MPPT charging controller, a solar panel, and a storage battery all connected to the MPPT charging controller; The MPPT charging controller is used to adjust the output voltage and current of the solar panel according to different light intensities.

7. The integrated on-line monitoring system for transmission lines based on Beidou according to claim 2, characterized in that, Each sensor in the sensor unit includes: A power supply sub-module, an MCU main control sub-module, an RTK Beidou positioning sub-module, an acceleration sub-module, and a LORA communication sub-module; The RTK Beidou positioning sub-module is used to receive Beidou satellite data, the acceleration sub-module is used to output three-axis acceleration data, the MCU main control sub-module is used to calculate the inclination angle and the dancing state quantity according to the three-axis acceleration data, the LORA communication sub-module is used to send the Beidou satellite data, the inclination angle and the dancing state quantity to the main control unit, and the power supply sub-module is used to supply power to the MCU main control sub-module, the RTK Beidou positioning sub-module, the acceleration sub-module and the LORA communication sub-module.

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