Power transmission and distribution line safety early warning and countering system based on real-time space perception

Abstract

The invention provides a power transmission and distribution line safety early warning and countering system based on real-time space perception. The system is applied to the technical field of power transmission and distribution line safety early warning and countering, and comprises the steps that space coordinates of all towers in a power transmission and distribution line, the three-dimensional position and moving speed of all obstacles along the line, the line temperature, the line current load, the environment wind speed in a target area along the line and the relative humidity in the target area along the line are collected; according to the three-dimensional position, determining a preliminary threat level of the corresponding obstacle; determining a dynamic threat trend of the corresponding obstacle according to the preliminary threat level and the moving speed of the corresponding obstacle; determining an early warning level according to the dynamic threat trend, the line temperature and the line current load; and determining a countering measure type according to the early warning level, the environmental wind speed in the target area along the line and the relative humidity in the target area along the line. In this way, the power transmission and distribution line safety early warning efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission and distribution line safety early warning and countermeasures, and particularly relates to a power transmission and distribution line safety early warning and countermeasures system based on real-time spatial perception. BACKGROUND

[0002] As the core hub of the energy network, the power transmission and distribution line is a key infrastructure for guaranteeing people's livelihood and industrial production, and its safe operation is directly related to the stable development of the social economy. However, the environment along the power transmission and distribution line is complex and diverse, and obstacles such as tree growth, construction machinery intrusion, and foreign matter falling frequently threaten the line. At the same time, the line's own operating state is affected by temperature, current load fluctuations, and environmental wind speed, humidity, and other meteorological conditions, which also indirectly restrict the line safety. The existing power transmission and distribution line safety early warning system has many technical limitations: only monitoring the two-dimensional position of obstacles or the local temperature of the line, lacking the synchronous acquisition of the spatial coordinates of the towers, the three-dimensional position and moving speed of obstacles, and the multi-dimensional data such as environmental wind speed and humidity, there is a clear gap in data support; only judging the preliminary threat according to the current position of the obstacle, without combining the moving speed to predict the dynamic threat trend, it is difficult to identify progressive risks in advance; the warning level determination does not realize the fusion of multiple factors, and does not associate the dynamic threat of obstacles with the operating parameters such as line temperature and current load, which is easy to cause false alarm or false alarm due to the misjudgment of a single indicator; the countermeasures ignore environmental adaptability and do not consider the influence of wind speed and humidity on the disposal effect, and the countermeasures are not specific enough, resulting in low efficiency of power transmission and distribution line safety early warning. SUMMARY

[0003] The present application provides a power transmission and distribution line safety early warning and countermeasures system based on real-time spatial perception. The system comprises:

[0004] An acquisition module for acquiring the spatial coordinates of each tower in the power transmission and distribution line, the three-dimensional position and moving speed of each obstacle along the line, the line temperature, the line current load, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line.

[0005] A first determination module for determining the preliminary threat level of the corresponding obstacle according to the three-dimensional position;

[0006] A second determination module for determining the dynamic threat trend of the corresponding obstacle according to the preliminary threat level and the moving speed of the corresponding obstacle;

[0007] A third determination module for determining the warning level according to the dynamic threat trend, the line temperature, and the line current load;

[0008] A countermeasure module for determining the countermeasure type according to the warning level, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line.

[0009] Further, the determining the preliminary threat level of the corresponding obstacle according to the three-dimensional position comprises:

[0010] According to the three-dimensional position, a shortest straight-line distance Lzx between the corresponding obstacle and the power transmission line body is obtained;

[0011] If 0 < Lzx < Lzx1, it is determined that the preliminary threat level of the corresponding obstacle is a dangerous level;

[0012] If Lzx1≤ Lzx ≤ Lzx2, a re-determination is made according to the type of the corresponding obstacle;

[0013] If Lzx > Lzx2, it is determined that the preliminary threat level of the corresponding obstacle is a safe level;

[0014] Wherein, Lzx1 is a first distance threshold, Lzx2 is a second distance threshold, and 0 < Lzx1 < Lzx2.

[0015] Further, the re-determination according to the type of the corresponding obstacle comprises:

[0016] The type of each obstacle is obtained, and the type comprises a mobile obstacle and a fixed obstacle;

[0017] When the corresponding obstacle is a mobile obstacle, if Lzx1 < Lzx < Lzx3, it is determined that the preliminary threat level of the corresponding obstacle is a dangerous level; if Lzx3≤ Lzx ≤ Lzx4, it is determined that the preliminary threat level of the corresponding obstacle is a concern level; and if Lzx4 < Lzx ≤ Lzx2, it is determined that the preliminary threat level of the corresponding obstacle is a safe level;

[0018] When the corresponding obstacle is a fixed obstacle, if Lzx1 < Lzx < Lzx5, it is determined that the preliminary threat level of the corresponding obstacle is a dangerous level; if Lzx5≤ Lzx ≤ Lzx6, it is determined that the preliminary threat level of the corresponding obstacle is a concern level; and if Lzx6 < Lzx ≤ Lzx2, it is determined that the preliminary threat level of the corresponding obstacle is a safe level;

[0019] Wherein, Lzx3 is a third distance threshold, Lzx4 is a fourth distance threshold, Lzx5 is a fifth distance threshold, Lzx6 is a sixth distance threshold, and 0 < Lzx1 < Lzx5 < Lzx3 < Lzx4 < Lzx6 < Lzx2.

[0020] Further, the determining the dynamic threat trend of the corresponding obstacle according to the preliminary threat level and the moving speed of the corresponding obstacle comprises:

[0021] The moving speed Vyd of the corresponding obstacle is obtained;

[0022] When the preliminary threat level is the safe level, if 0

[0023] When the preliminary threat level is the attention level, if 0

[0024] When the preliminary threat level is the danger level, if 0

[0025] Wherein, Vyd1 is the first speed threshold, Lzx2 is the second speed threshold, Vyd3 is the third speed threshold, Lzx4 is the fourth speed threshold, Vyd5 is the fifth speed threshold, Lzx6 is the sixth speed threshold, 0

[0026] Further, the method further comprises:

[0027] calculating a current-threat coupling coefficient according to the dynamic threat trend and the line current load;

[0028] calculating a current overload risk value according to the current-threat coupling coefficient and the line rated current;

[0029] calculating a thermal-electric superposition coefficient Kdj according to the risk value and the line temperature;

[0030] determining a warning level according to the thermal-electric superposition coefficient Kdj.

[0031] Further, the method further comprises:

[0032] if Kdj

[0033] if Kdj1

[0034] if Kdj

[0035] Wherein, Kdj1 is a first coefficient threshold, Kdj2 is a second coefficient threshold, Kdj1 < Kdj2.

[0036] Further,

[0037] The countermeasure type includes a warning prompt type, an active intervention type, and an emergency treatment type.

[0038] The warning prompt type includes remote monitoring reinforcement measures, operation and maintenance personnel SMS alarm measures, and regional sound and light warning measures.

[0039] The active intervention type includes obstacle laser repelling measures, unmanned aerial vehicle repelling measures, and ground personnel on-site repelling measures.

[0040] The emergency treatment type includes line load temporary down-regulation measures, fault section local power outage measures, and line total power supply cut-off measures.

[0041] Further, when the warning level is a first warning level, the countermeasure type is determined according to the warning level, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line, comprising:

[0042] The environmental wind speed Vfs and the relative humidity Shd in the target area along the line are obtained.

[0043] If Vfs < Vfs1 and Shd > Shd1, it is determined that the countermeasure type is the remote monitoring reinforcement measures in the warning prompt type;

[0044] If Vfs1 ≤ Vfs ≤ Vfs2 or Shd2 ≤ Shd ≤ Shd1, it is determined that the countermeasure type is the operation and maintenance personnel SMS alarm measures in the warning prompt type;

[0045] If Vfs > Vfs2 and Shd < Shd2, it is determined that the countermeasure type is the regional sound and light warning measures in the warning prompt type.

[0046] Wherein, Vfs1 is a first wind speed threshold, Vfs2 is a second wind speed threshold, Shd1 is a first humidity threshold, Shd2 is a second humidity threshold, 0 < Vfs1 < Vfs2, 0 < Shd2 < Shd1 < 100%.

[0047] Further, when the warning level is a second warning level, the countermeasure type is determined according to the warning level, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line, comprising:

[0048] The environmental wind speed Vfs and the relative humidity Shd in the target area along the line are obtained.

[0049] If Vfs < Vfs3 and Shd > Shd3, it is determined that the countermeasure type is the laser obstacle driving measure in the active intervention category;

[0050] If Vfs3 < Vfs < Vfs4 and Shd4 < Shd < Shd3, it is determined that the countermeasure type is the UAV driving measure in the active intervention category;

[0051] If Vfs > Vfs4 or Shd < Shd4, it is determined that the countermeasure type is the on-site driving measure by ground personnel in the active intervention category;

[0052] Wherein, Vfs3 is the third wind speed threshold, Vfs4 is the fourth wind speed threshold, Shd3 is the third humidity threshold, Shd4 is the fourth humidity threshold, 0 < Vfs3 < Vfs4, 0 < Shd4 < Shd3 < 100%.

[0053] Further, when the warning level is the third warning level, the countermeasure type is determined according to the warning level, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line, comprising:

[0054] The environmental wind speed Vfs and the relative humidity Shd in the target area along the line are obtained;

[0055] If Vfs < Vfs5 and Shd > Shd5, it is determined that the countermeasure type is the line load temporary down-regulation measure in the emergency treatment category;

[0056] If Vfs5 < Vfs < Vfs6 and Shd6 < Shd < Shd5, it is determined that the countermeasure type is the fault section local power cut measure in the emergency treatment category;

[0057] If Vfs > Vfs6 or Shd < Shd6, it is determined that the countermeasure type is the line total power cut measure in the emergency treatment category;

[0058] Wherein, Vfs5 is the fifth wind speed threshold, Vfs6 is the sixth wind speed threshold, Shd5 is the fifth humidity threshold, Shd6 is the sixth humidity threshold, 0 < Vfs5 < Vfs6, 0 < Shd6 < Shd5 < 100%.

[0059] The application ensures the comprehensiveness of information by collecting multi-dimensional data such as tower space coordinates, three-dimensional positions and moving speeds of obstacles, line temperature / current load, and environmental wind speed / humidity, covering key elements of line state, environmental changes and external threats; the preliminary threat level is determined based on the three-dimensional position of the obstacle, and the dynamic trend is predicted in combination with the moving speed, so as to realize accurate tracking from static risk to dynamic risk and avoid the lag response of traditional methods to fast-moving objects; the dynamic threat trend is combined with the line temperature and current load, the line carrying capacity is quantified through a thermal stability model, the overload risk is evaluated in real time, and the limitations of single electrical quantity monitoring are avoided; through the whole-process closed-loop design from data collection to countermeasure execution, the second-level early warning response is supported, the processing cycle of traditional manual inspection is significantly shortened, and the application is especially suitable for emergency disposal of sudden disasters, thereby improving the safety early warning efficiency of power transmission and distribution lines.

[0060] It should be understood that the content described in the summary section is not intended to limit the key or important features of the embodiments of the application, nor to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0061] The above and other features, advantages, and aspects of embodiments of the present application will become more apparent by describing in detail preferred embodiments thereof with reference to the attached drawings in which:

[0062] Figure 1 A block diagram of a power transmission and distribution line safety early warning and countermeasure system based on real-time spatial perception according to an embodiment of the application is shown. DETAILED DESCRIPTION

[0063] In order to make the objects, technical solutions and advantages of the embodiments of the application clearer, the technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are some but not all of the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the application.

[0064] In addition, the term "and / or" herein is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can mean that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0065] Figure 1A flow chart of a real-time space perception based power transmission and distribution line safety early warning and countermeasure system according to an embodiment of the present application is shown, which comprises:

[0066] The acquisition module 101 is configured to acquire the spatial coordinates of each tower in the power transmission and distribution line, the three-dimensional positions and moving speeds of each obstacle along the line, the line temperature, the line current load, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line.

[0067] The first determination module 102 is configured to determine a preliminary threat level of the corresponding obstacle according to the three-dimensional position.

[0068] The second determination module 103 is configured to determine a dynamic threat trend of the corresponding obstacle according to the preliminary threat level and the moving speed of the corresponding obstacle.

[0069] The third determination module 104 is configured to determine a warning level according to the dynamic threat trend, the line temperature, and the line current load.

[0070] The countermeasure module 105 is configured to determine a countermeasure type according to the warning level, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line.

[0071] In some embodiments, the determination of the preliminary threat level of the corresponding obstacle according to the three-dimensional position comprises: obtaining the shortest straight-line distance Lzx between the corresponding obstacle and the power transmission and distribution line body according to the three-dimensional position; if 0 < Lzx < Lzx1, determining that the preliminary threat level of the corresponding obstacle is a dangerous level; if Lzx1≤ Lzx ≤ Lzx2, re-determining according to the type of the corresponding obstacle; if Lzx > Lzx2, determining that the preliminary threat level of the corresponding obstacle is a safe level; wherein Lzx1 is a first distance threshold, Lzx2 is a second distance threshold, and 0 < Lzx1 < Lzx2. According to the embodiment of the present application, by setting double distance thresholds based on the line body, the obstacles are quickly divided into three categories of dangerous, to-be-determined, and safe according to the shortest straight-line distance, avoiding complex analysis of all obstacles and improving the preliminary processing efficiency of early warning; by directly determining the obstacles in close proximity as a dangerous level, emergency early warning can be triggered in the first time, ensuring rapid disposal of high-threat targets; by re-determining only the obstacles at a medium distance in combination with the type, unnecessary detailed analysis steps are reduced, resources such as computing power are concentrated on targets that need further threat confirmation, and the determination accuracy and efficiency are improved; by directly classifying obstacles far beyond the safe distance as a safe level, subsequent processing is not needed, the amount of invalid early warning is greatly reduced, system resource waste is avoided, and the safety early warning efficiency of the power transmission and distribution line is improved.

[0072] For example, according to the three-dimensional position, the shortest straight-line distance Lzx between the corresponding obstacle and the power transmission line body is obtained; if 0 < Lzx < 5 m, it is determined that the preliminary threat level of the corresponding obstacle is the dangerous level; if 5 m ≤ Lzx ≤ 10 m, re-determination is performed according to the type of the corresponding obstacle; and if Lzx > 10 m, it is determined that the preliminary threat level of the corresponding obstacle is the safe level.

[0073] In some embodiments, the re-determination according to the type of the corresponding obstacle comprises: obtaining the type of each obstacle, the type including a mobile obstacle and a fixed obstacle; when the corresponding obstacle is a mobile obstacle, if Lzx1 < Lzx < Lzx3, it is determined that the preliminary threat level of the corresponding obstacle is the dangerous level; if Lzx3 ≤ Lzx ≤ Lzx4, it is determined that the preliminary threat level of the corresponding obstacle is the attention level; if Lzx4 < Lzx ≤ Lzx2, it is determined that the preliminary threat level of the corresponding obstacle is the safe level; when the corresponding obstacle is a fixed obstacle, if Lzx1 < Lzx < Lzx5, it is determined that the preliminary threat level of the corresponding obstacle is the dangerous level; if Lzx5 ≤ Lzx ≤ Lzx6, it is determined that the preliminary threat level of the corresponding obstacle is the attention level; and if Lzx6 < Lzx ≤ Lzx2, it is determined that the preliminary threat level of the corresponding obstacle is the safe level; wherein Lzx3 is a third distance threshold, Lzx4 is a fourth distance threshold, Lzx5 is a fifth distance threshold, Lzx6 is a sixth distance threshold, and 0 < Lzx1 < Lzx5 < Lzx3 < Lzx4 < Lzx6 < Lzx2. According to the embodiments of the present application, by dividing the obstacles into two categories of mobile and fixed, the threat mechanisms and change rates of the two categories to the power transmission line are different, laying a foundation for differentiated determination; by configuring adaptive distance thresholds of the dangerous level, the attention level and the safe level for the two categories of obstacles respectively, misjudgment or omission caused by “one-size-fits-all” determination is avoided; by the type-based differentiated determination, excessive early warning for the fixed obstacles can be filtered out, while early warning for the mobile obstacles is avoided to lag, so that the early warning is focused on the real high-risk situation, and thus the safety early warning efficiency of the power transmission line is improved.

[0074] For example, it is assumed that Lzx1 = 5 m, Lzx2 = 10 m, Lzx3 = 7 m, Lzx4 = 8 m, Lzx5 = 6 m, and Lzx6 = 9 m; when the obstacle is a mobile obstacle: if 5 m < Lzx < 7 m, it is determined that the preliminary threat level of the obstacle is the dangerous level; if 7 m ≤ Lzx ≤ 8 m, it is determined that the preliminary threat level of the obstacle is the attention level; and if 8 m < Lzx ≤ 10 m, it is determined that the preliminary threat level of the obstacle is the safe level; when the obstacle is a fixed obstacle: if 5 m < Lzx < 6 m, it is determined that the preliminary threat level of the obstacle is the dangerous level; if 6 m ≤ Lzx ≤ 9 m, it is determined that the preliminary threat level of the obstacle is the attention level; and if 9 m < Lzx ≤ 10 m, it is determined that the preliminary threat level of the obstacle is the safe level.

[0075] In some embodiments, the determining the dynamic threat trend of the corresponding obstacle according to the preliminary threat level and the moving speed of the corresponding obstacle comprises: obtaining the moving speed Vyd of the corresponding obstacle; when the preliminary threat level is the safe level, if 0 < Vyd < Vyd1, it is determined that the dynamic threat trend of the corresponding obstacle is stable; if Vyd1≤Lzx≤Lzx2, it is determined that the dynamic threat trend of the corresponding obstacle is rising; if Vyd > Lzx2, it is determined that the dynamic threat trend of the corresponding obstacle is urgent; when the preliminary threat level is the attention level, if 0 < Vyd < Vyd3, it is determined that the dynamic threat trend of the corresponding obstacle is stable; if Vyd3≤Lzx≤Lzx4, it is determined that the dynamic threat trend of the corresponding obstacle is rising; if Vyd > Lzx4, it is determined that the dynamic threat trend of the corresponding obstacle is urgent; when the preliminary threat level is the dangerous level, if 0 < Vyd < Vyd5, it is determined that the dynamic threat trend of the corresponding obstacle is stable; if Vyd5≤Lzx≤Lzx6, it is determined that the dynamic threat trend of the corresponding obstacle is rising; if Vyd > Lzx6, it is determined that the dynamic threat trend of the corresponding obstacle is urgent; wherein Vyd1 is a first speed threshold, Lzx2 is a second speed threshold, Vyd3 is a third speed threshold, Lzx4 is a fourth speed threshold, Vyd5 is a fifth speed threshold, Lzx6 is a sixth speed threshold, 0 < Vyd5 < Lzx3 < Lzx1 < Lzx6 < Lzx4 < Lzx2. According to the embodiments of the present application, by combining the current preliminary threat level of the obstacle with the moving speed for dynamic analysis, the change direction of the risk can be predicted in advance, and the delay of the early warning caused by the current state can be avoided; by setting different speed thresholds for different preliminary threat levels, the early warning demand of each risk initial state is matched, the threat trend determination is more accurate, the invalid early warning and missed judgment are reduced, and the safety early warning efficiency of the transmission and distribution line is improved.

[0076] For example, set the first speed threshold Vyd1 = 1 m / s, the second speed threshold Vyd2 = 3 m / s, the third speed threshold Vyd3 = 0.8 m / s, the fourth speed threshold Vyd4 = 2.5 m / s, the fifth speed threshold Vyd5 = 0.5 m / s, the sixth speed threshold Vyd6 = 2 m / s; if the preliminary threat level is the safe level, and the obstacle moving speed Vyd = 0.6 m / s (0 < 0.6 < 1), it is determined that the dynamic threat trend is stable; if the obstacle moving speed Vyd = 2 m / s (1 ≤ 2 ≤ 3), it is determined that the dynamic threat trend is rising; if the obstacle moving speed Vyd = 3.5 m / s (3.5 > 3), it is determined that the dynamic threat trend is urgent; if the preliminary threat level is the attention level, and the obstacle moving speed Vyd = 0.7 m / s (0 < 0.7 < 0.8), it is determined that the dynamic threat trend is stable; if the obstacle moving speed Vyd = 1.5 m / s (0.8 ≤ 1.5 ≤ 2.5), it is determined that the dynamic threat trend is rising; if the obstacle moving speed Vyd = 2.8 m / s (2.8 > 2.5), it is determined that the dynamic threat trend is urgent; if the preliminary threat level is the dangerous level, and the obstacle moving speed Vyd = 0.3 m / s (0 < 0.3 < 0.5), it is determined that the dynamic threat trend is stable; if the obstacle moving speed Vyd = 1.2 m / s (0.5 ≤ 1.2 ≤ 2), it is determined that the dynamic threat trend is rising; if the obstacle moving speed Vyd = 2.2 m / s (2.2 > 2), it is determined that the dynamic threat trend is urgent.

[0077] In some embodiments, the determining the early warning level according to the dynamic threat trend, the line temperature and the line current load comprises: calculating a current-threat coupling coefficient according to the dynamic threat trend and the line current load; calculating a current overload risk value according to the current-threat coupling coefficient and the line rated current; calculating a thermal-electric superposition coefficient Kdj according to the risk value and the line temperature; and determining the early warning level according to the thermal-electric superposition coefficient Kdj. According to the embodiments of the present application, by fusing the dynamic threat trend with the line current load and temperature, comprehensive risk assessment is realized, and misjudgment or missed judgment caused by isolated analysis of a single factor is avoided, and invalid early warning is reduced; by taking the current-threat coupling coefficient, the current overload risk value and the thermal-electric superposition coefficient as the quantitative carriers, the qualitative threat trend is combined with the quantitative line parameters, the early warning level determination is more objective and accurate, the subjective judgment error is reduced, and the early warning decision efficiency is improved; by the coefficient calculation, the superposition analysis of the risk is realized, the potential high-risk scene under the joint action of multiple factors can be accurately identified, the missed judgment of the composite risk is avoided, the single low-risk scene is filtered, the system resource allocation is optimized, and the safety early warning efficiency of the transmission and distribution line is improved.

[0078] For example, the dynamic threat trend corresponding coefficient is set as stable = 0.2, rising = 0.5, and urgent = 0.8; the line rated current I e = 1000 A, the line rated temperature upper limit T e = 70℃; it is known that the actual obstacle dynamic threat trend is urgent, the line actual current load I d = 1150 A, and the line actual temperature T d = 65℃; the current-threat coupling coefficient K1 can be K1 = (line actual current load / line rated current) x dynamic threat trend coefficient = (1150 / 1000) x 0.8 = 1.15 x 0.8 = 0.92; the current overload risk value R can be R = K1 x (line actual current load - line rated current) = 0.92 x (1150 - 1000) = 0.92 x 150 = 138; and the heat-electricity superposition coefficient Kdj can be Kdj = R x (line actual temperature / line rated temperature upper limit) = 138 x (65 / 70) ≈ 138 x 0.9286 ≈ 128.15.

[0079] In some embodiments, if Kdj < Kdj1, the warning level is determined as the first warning level; if Kdj1≤ Lzx≤ Kdj2, the warning level is determined as the second warning level; and if Kdj > Kdj2, the warning level is determined as the third warning level; wherein Kdj1 is a first coefficient threshold, Kdj2 is a second coefficient threshold, and Kdj1 < Kdj2. According to the embodiments of the present application, the dynamic threat trend, the line current load and the line temperature multi-dimensional risk factors are fused through the heat-electricity superposition coefficient, avoiding misjudgment or omission caused by isolated analysis of a single factor and reducing invalid early warning; by taking the heat-electricity superposition coefficient as a quantitative carrier, the qualitative threat trend and the quantitative line parameters are combined, the warning level is divided by clear threshold, the subjective judgment error is reduced, and the early warning decision efficiency is improved; by coefficient calculation, the risk superposition analysis is realized, the potential high-risk scene caused by the joint action of multiple factors can be accurately identified, the omission of composite risks is avoided; at the same time, single low-risk scenes are filtered, system resources are concentrated on real high-risk situations, resource allocation is optimized, and the safety early warning efficiency of power transmission and distribution lines is improved.

[0080] For example, the first coefficient threshold Kdj1 is set as 50, and the second coefficient threshold Kdj2 is set as 120; if the calculated heat-electricity superposition coefficient Kdj is 45, since 45 < 50, the warning level is determined as the first warning level; if the calculated heat-electricity superposition coefficient Kdj is 90, since 50≤ 90≤ 120, the warning level is determined as the second warning level; and if the calculated heat-electricity superposition coefficient Kdj is 128.15, since 128.15 > 120, the warning level is determined as the third warning level.

[0081] In some embodiments, the countermeasure type includes a pre-warning prompt type, an active intervention type and an emergency treatment type; the pre-warning prompt type includes a remote monitoring reinforcement measure, an operation and maintenance personnel SMS alarm measure and a regional sound and light warning measure; the active intervention type includes an obstacle laser repelling measure, a drone repelling measure and a ground personnel on-site repelling measure; the emergency treatment type includes a line load temporary down-regulation measure, a fault section local power-off measure and a line total power supply cut-off measure.

[0082] In some embodiments, when the pre-warning level is a first pre-warning level, the determining the countermeasure type according to the pre-warning level, the environmental wind speed in the target area along the line and the relative humidity in the target area along the line includes: obtaining the environmental wind speed Vfs and the relative humidity Shd in the target area along the line; if Vfs < Vfs1 and Shd > Shd1, determining that the countermeasure type is the remote monitoring reinforcement measure in the pre-warning prompt type; if Vfs1 ≤ Vfs ≤ Vfs2 or Shd2 ≤ Shd ≤ Shd1, determining that the countermeasure type is the operation and maintenance personnel SMS alarm measure in the pre-warning prompt type; if Vfs > Vfs2 and Shd < Shd2, determining that the countermeasure type is the regional sound and light warning measure in the pre-warning prompt type; wherein Vfs1 is a first wind speed threshold, Vfs2 is a second wind speed threshold, Shd1 is a first humidity threshold, Shd2 is a second humidity threshold, 0 < Vfs1 < Vfs2, 0 < Shd2 < Shd1 < 100%. According to the embodiment of the present application, by combining the environmental wind speed and the relative humidity to accurately adapt the measures, the wind speed and the relative humidity will affect the actual change situation of the obstacle threat, based on the double-parameter subdivided scene selection corresponding pre-warning prompt measures, the "one-size-fits-all" pre-warning leading to the measure redundancy or deficiency is avoided, and the accuracy of pre-warning response is improved; by matching different levels of pre-warning prompt means such as remote monitoring reinforcement, SMS alarm and sound and light warning for different environmental conditions, the operation and maintenance personnel, equipment resources and the like are concentrated in the scene with relatively higher environmental risk, the invalid investment of resources in the low environmental risk scene is avoided, and the resource utilization efficiency is optimized; by the low risk characteristics of the first pre-warning level, the pre-warning measures are refined by the environmental parameters, without starting the higher cost active intervention or emergency treatment means, the system load and operation cost are reduced while effectively controlling the risk, and the safety pre-warning efficiency of the transmission and distribution line is improved.

[0083] For example, the first wind speed threshold Vfs1 = 2 m / s, the second wind speed threshold Vfs2 = 5 m / s, the first humidity threshold Shd1 = 60%, and the second humidity threshold Shd2 = 30% are set; if the acquired environmental wind speed Vfs = 1.5 m / s and the relative humidity Shd = 70% in the target area along the line, since 1.5 m / s < 2 m / s and 70% > 60%, it is determined that the countermeasure type is the remote monitoring intensive measure in the early warning prompt type; if the acquired environmental wind speed Vfs = 3 m / s and the relative humidity Shd = 45% in the target area along the line, since 2 m / s ≤ 3 m / s ≤ 5 m / s, it is determined that the countermeasure type is the SMS alarm measure of the operation and maintenance personnel in the early warning prompt type; if the acquired environmental wind speed Vfs = 1.8 m / s and the relative humidity Shd = 40% in the target area along the line, since 30% ≤ 40% ≤ 60%, it is determined that the countermeasure type is the SMS alarm measure of the operation and maintenance personnel in the early warning prompt type; if the acquired environmental wind speed Vfs = 6 m / s and the relative humidity Shd = 25% in the target area along the line, since 6 m / s > 5 m / s and 25% < 30%, it is determined that the countermeasure type is the regional sound and light warning measure in the early warning prompt type.

[0084] In some embodiments, when the early warning level is the second early warning level, the determining the countermeasure type according to the early warning level, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line comprises: acquiring the environmental wind speed Vfs and the relative humidity Shd in the target area along the line; if Vfs < Vfs3 and Shd > Shd3, determining the countermeasure type as the obstacle laser driving measure in the active intervention type; if Vfs3 ≤ Vfs ≤ Vfs4 and Shd4 ≤ Shd ≤ Shd3, determining the countermeasure type as the unmanned aerial vehicle driving measure in the active intervention type; if Vfs > Vfs4 or Shd < Shd4, determining the countermeasure type as the on-site driving measure of the ground personnel in the active intervention type; wherein Vfs3 is the third wind speed threshold, Vfs4 is the fourth wind speed threshold, Shd3 is the third humidity threshold, Shd4 is the fourth humidity threshold, 0 < Vfs3 < Vfs4, 0 < Shd4 < Shd3 < 100%.

[0085] For example, the third wind speed threshold Vfs3 = 3 m / s, the fourth wind speed threshold Vfs4 = 8 m / s, the third humidity threshold Shd3 = 55%, and the fourth humidity threshold Shd4 = 25% are set; if the environment wind speed Vfs = 2.5 m / s and the relative humidity Shd = 60% in the target area along the line are obtained; since 2.5 m / s < 3 m / s and 60% > 55%, it is determined that the countermeasure type is the obstacle laser driving measure in the active intervention category; if the environment wind speed Vfs = 5 m / s and the relative humidity Shd = 40% in the target area along the line are obtained; since 3 m / s ≤ 5 m / s ≤ 8 m / s and 25% ≤ 40% ≤ 55%, it is determined that the countermeasure type is the unmanned aerial vehicle driving measure in the active intervention category; if the environment wind speed Vfs = 9 m / s and the relative humidity Shd = 30% in the target area along the line are obtained; since 9 m / s > 8 m / s, it is determined that the countermeasure type is the ground personnel on-site driving measure in the active intervention category; if the environment wind speed Vfs = 4 m / s and the relative humidity Shd = 20% in the target area along the line are obtained; since 20% < 25%, it is determined that the countermeasure type is the ground personnel on-site driving measure in the active intervention category.

[0086] In some embodiments, when the warning level is the third warning level, the type of countermeasure is determined according to the warning level, the environment wind speed in the target area along the line, and the relative humidity in the target area along the line, comprising: obtaining the environment wind speed Vfs and the relative humidity Shd in the target area along the line; if Vfs < Vfs5 and Shd > Shd5, determining that the countermeasure type is the line load temporary down-regulation measure in the emergency treatment category; if Vfs5 ≤ Vfs ≤ Vfs6 and Shd6 ≤ Shd ≤ Shd5, determining that the countermeasure type is the fault section local power-off measure in the emergency treatment category; if Vfs > Vfs6 or Shd < Shd6, determining that the countermeasure type is the line total power-off measure in the emergency treatment category; wherein Vfs5 is the fifth wind speed threshold, Vfs6 is the sixth wind speed threshold, Shd5 is the fifth humidity threshold, Shd6 is the sixth humidity threshold, 0 < Vfs5 < Vfs6, 0 < Shd6 < Shd5 < 100%.

[0087] For example, it is assumed that the fifth wind speed threshold Vfs5 = 4 m / s, the sixth wind speed threshold Vfs6 = 10 m / s, the fifth humidity threshold Shd5 = 50%, and the sixth humidity threshold Shd6 = 20%; if the acquired environmental wind speed Vfs = 3 m / s and the relative humidity Shd = 55% in the target area along the line, since 3 m / s < 4 m / s and 55% > 50%, it is determined that the countermeasure type is the line load temporary reduction measure in the emergency treatment category; if the acquired environmental wind speed Vfs = 7 m / s and the relative humidity Shd = 35% in the target area along the line, since 4 m / s ≤ 7 m / s ≤ 10 m / s and 20% ≤ 35% ≤ 50%, it is determined that the countermeasure type is the fault section local power cut measure in the emergency treatment category; if the acquired environmental wind speed Vfs = 12 m / s and the relative humidity Shd = 25% in the target area along the line, since 12 m / s > 10 m / s, it is determined that the countermeasure type is the line total power cut measure in the emergency treatment category; if the acquired environmental wind speed Vfs = 6 m / s and the relative humidity Shd = 15% in the target area along the line, since 15% < 20%, it is determined that the countermeasure type is the line total power cut measure in the emergency treatment category.

[0088] It should be noted that, for the foregoing embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily necessary for the present application. It should be understood that the above-mentioned various forms of processes can be reordered, added or deleted steps. For example, the steps described in the present application can be executed in parallel, sequentially, or in different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein. The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A real-time space-aware based power transmission and distribution line safety early warning and countermeasure system, characterized in that, The method comprises the following steps: collecting the spatial coordinates of each tower in the power transmission and distribution line, the three-dimensional position and moving speed of each obstacle along the line, the line temperature, the line current load, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line; determining the preliminary threat level of the corresponding obstacle according to the three-dimensional position; determining the dynamic threat trend of the corresponding obstacle according to the preliminary threat level and the moving speed of the corresponding obstacle; determining the warning level according to the dynamic threat trend, the line temperature, and the line current load; determining the countermeasure type according to the warning level, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line.

2. The real-time space-aware based power transmission line safety warning and countermeasure system according to claim 1, characterized in that, The method comprises the following steps: obtaining the shortest straight-line distance Lzx between the corresponding obstacle and the power transmission and distribution line body according to the three-dimensional position; if 0 < Lzx < Lzx1, it is determined that the preliminary threat level of the corresponding obstacle is dangerous; if Lzx1 ≤ Lzx ≤ Lzx2, the type of the corresponding obstacle is re-determined; if Lzx > Lzx2, it is determined that the preliminary threat level of the corresponding obstacle is safe; wherein Lzx1 is a first distance threshold, Lzx2 is a second distance threshold, and 0 < Lzx1 < Lzx2.

3. The real-time space-aware based power transmission line safety warning and countermeasure system according to claim 2, characterized in that, The method comprises the following steps: obtaining the type of each obstacle, which includes moving obstacles and fixed obstacles; when the corresponding obstacle is a moving obstacle, if Lzx1 < Lzx < Lzx3, it is determined that the preliminary threat level of the corresponding obstacle is dangerous; if Lzx3 ≤ Lzx ≤ Lzx4, it is determined that the preliminary threat level of the corresponding obstacle is concerned; if Lzx4 < Lzx ≤ Lzx2, it is determined that the preliminary threat level of the corresponding obstacle is safe; when the corresponding obstacle is a fixed obstacle, if Lzx1 < Lzx < Lzx5, it is determined that the preliminary threat level of the corresponding obstacle is dangerous; if Lzx5 ≤ Lzx ≤ Lzx6, it is determined that the preliminary threat level of the corresponding obstacle is concerned; if Lzx6 < Lzx ≤ Lzx2, it is determined that the preliminary threat level of the corresponding obstacle is safe; wherein Lzx3 is a third distance threshold, Lzx4 is a fourth distance threshold, Lzx5 is a fifth distance threshold, Lzx6 is a sixth distance threshold, and 0 < Lzx1 < Lzx5 < Lzx3 < Lzx4 < Lzx6 < Lzx2.

4. The real-time space-aware based power transmission line safety warning and countermeasure system according to claim 1, characterized in that, The method comprises the following steps: obtaining the moving speed Vyd of the corresponding obstacle; when the preliminary threat level is safe, if 0 < Vyd < Vyd1, it is determined that the dynamic threat trend of the corresponding obstacle is stable; if Vyd1 ≤ Lzx ≤ Lzx2, it is determined that the dynamic threat trend of the corresponding obstacle is rising; if Vyd > Lzx2, it is determined that the dynamic threat trend of the corresponding obstacle is urgent. When the preliminary threat level is the attention level, if 0 When the preliminary threat level is the danger level, if 0 Wherein, Vyd1 is the first speed threshold, Lzx2 is the second speed threshold, Vyd3 is the third speed threshold, Lzx4 is the fourth speed threshold, Vyd5 is the fifth speed threshold, Lzx6 is the sixth speed threshold, 0 5. The real-time space-aware based power transmission line safety warning and countermeasure system according to claim 1, characterized in that, The determining the early warning level according to the dynamic threat trend, the line temperature, and the line current load comprises: calculating a current-threat coupling coefficient according to the dynamic threat trend and the line current load; calculating a current overload risk value according to the current-threat coupling coefficient and a line rated current; calculating a thermal-electric superposition coefficient Kdj according to the risk value and the line temperature; determining the early warning level according to the thermal-electric superposition coefficient Kdj.

6. The real-time space perception based power transmission and distribution line safety early warning and countermeasure system according to claim 5, wherein: if Kdj if Kdj1 if Kdj Wherein, Kdj1 is the first coefficient threshold, Kdj2 is the second coefficient threshold, Kdj1 7. The real-time space perception based power transmission and distribution line safety early warning and countermeasure system according to claim 1, wherein: the countermeasure types comprise early warning prompt types, active intervention types, and emergency disposal types; the early warning prompt types comprise remote monitoring reinforcement measures, operation and maintenance personnel SMS alarm measures, and regional sound and light warning measures; the active intervention types comprise obstacle laser repelling measures, unmanned aerial vehicle repelling measures, and ground personnel on-site repelling measures; the emergency disposal types comprise line load temporary down-regulation measures, fault section local power cut measures, and line total power cut measures.

8. The real-time space-aware based power transmission line safety warning and countermeasure system according to claim 7, characterized in that, When the early warning level is the first early warning level, the determining the countermeasure type according to the early warning level, the environmental wind speed in the target area along the line, and the relative humidity in the target area along the line comprises: obtaining the environmental wind speed Vfs and the relative humidity Shd in the target area along the line; if Vfs if Vfs1 if Vfs1 If Vfs>Vfs2 and Shd<Shd2, it is determined that the countermeasure type is the regional sound and light warning measure in the early warning prompt type. Wherein, Vfs1 is the first wind speed threshold, Vfs2 is the second wind speed threshold, Shd1 is the first humidity threshold, Shd2 is the second humidity threshold, 0<Vfs1<Vfs2, 0<Shd2<Shd1<100%.

9. The real-time space-aware based power transmission line safety warning and countermeasure system according to claim 7, characterized in that, When the early warning level is the second early warning level, the countermeasure type is determined according to the early warning level, the environmental wind speed in the target area along the line and the relative humidity in the target area along the line, comprising: Obtain the environmental wind speed Vfs and the relative humidity Shd in the target area along the line; If Vfs>Vfs4 or Shd<Shd4, it is determined that the countermeasure type is the on-site driving away measure of ground personnel in the active intervention type. If Vfs3≤Vfs≤Vfs4 and Shd4≤Shd≤Shd3, it is determined that the countermeasure type is the unmanned aerial vehicle driving away measure in the active intervention type. If Vfs>Vfs4 or Shd<Shd4, it is determined that the countermeasure type is the on-site driving away measure of ground personnel in the active intervention type. Wherein, Vfs3 is the third wind speed threshold, Vfs4 is the fourth wind speed threshold, Shd3 is the third humidity threshold, Shd4 is the fourth humidity threshold, 0<Vfs3<Vfs4, 0<Shd4<Shd3<100%.

10. The real-time space-aware based power transmission line safety warning and countermeasure system of claim 7, wherein, When the early warning level is the third early warning level, the countermeasure type is determined according to the early warning level, the environmental wind speed in the target area along the line and the relative humidity in the target area along the line, comprising: Obtain the environmental wind speed Vfs and the relative humidity Shd in the target area along the line; If Vfs<Vfs5 and Shd>Shd5, it is determined that the countermeasure type is the line load temporary down-regulation measure in the emergency treatment type. If Vfs5≤Vfs≤Vfs6 and Shd6≤Shd≤Shd5, it is determined that the countermeasure type is the fault section local power cut measure in the emergency treatment type. If Vfs>Vfs6 or Shd<Shd6, it is determined that the countermeasure type is the line total power cut measure in the emergency treatment type. Wherein, Vfs5 is the fifth wind speed threshold, Vfs6 is the sixth wind speed threshold, Shd5 is the fifth humidity threshold, Shd6 is the sixth humidity threshold, 0<Vfs5<Vfs6, 0<Shd6<Shd5<100%.

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