Overhead distribution line drainage operation control method and system based on comprehensive risk assessment

Abstract

The invention belongs to the technical field of overhead distribution line drainage operation, and provides an overhead distribution line drainage operation control method and system based on comprehensive risk assessment, and the method comprises the steps: firstly collecting a plurality of parameters: the intensity value of an electric field around a drainage point, the real-time wind speed of an operation environment, the surface temperature of a drainage cable, the type of an obstacle, and the distance between adjacent phase lines; then, according to the multiple parameters, a fuzzy comprehensive evaluation method is utilized, a risk comprehensive value is determined according to the weight of each parameter in the related data, and risks are graded according to the risk comprehensive value; and finally, according to a risk assessment result, a corresponding control strategy is determined, comprehensive analysis and assessment of risks by multiple factors are realized, the control strategy is flexible, and the field adaptability and safety of the automation equipment are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of overhead distribution line diversion operation, and particularly relates to an overhead distribution line diversion operation control method and system based on comprehensive risk assessment. BACKGROUND

[0002] The live working of distribution network covers core scenes such as the construction of diversion lines, fault repair, equipment operation and maintenance, and load adjustment, and the operation quality directly determines the power supply reliability, power utilization safety and power grid operation efficiency. Compared with the early work that completely relied on workers to climb, the current overhead distribution line diversion operation partly uses automatic equipment (such as a mechanical arm and a drone).

[0003] During the execution of the overhead distribution line diversion operation by the automatic equipment, the automatic equipment is affected by environmental factors such as electric field intensity and wind speed, cable characteristics such as cable temperature, and multiple obstacle types, and thus risks exist. The current control strategy of the automatic equipment for the overhead distribution line diversion operation does not comprehensively analyze the risks caused by multiple factors, and thus the control strategy is relatively single, and the field adaptability of the automatic equipment is poor. SUMMARY

[0004] To solve the above problems, the application provides an overhead distribution line diversion operation control method and system based on comprehensive risk assessment. The application first collects multiple parameters such as the electric field intensity value around a diversion point, the real-time wind speed of an operation environment, the surface temperature of a diversion cable, the obstacle type and the distance of adjacent phase lines, then determines a risk comprehensive value according to the weights of the parameters in the related data by using a fuzzy comprehensive evaluation method, and classifies the risks according to the risk comprehensive value, and finally determines the corresponding control strategy according to the risk assessment result, so as to comprehensively analyze and evaluate the risks caused by multiple factors, make the control strategy flexible, and improve the field adaptability and safety of the automatic equipment.

[0005] To achieve the above purpose, the application is implemented by the following technical solutions: In a first aspect, the application provides an overhead distribution line diversion operation control method based on comprehensive risk assessment, which includes the following steps: Obtaining related data of an overhead distribution line diversion operation scene; wherein the related data includes the electric field intensity value around a diversion point, the real-time wind speed of an operation environment, the surface temperature of a diversion cable, the obstacle type and the distance of adjacent phase lines; Obtaining a risk assessment result according to the related data and a preset diversion operation risk assessment model; wherein the diversion operation risk assessment model is a fuzzy comprehensive evaluation method, a risk comprehensive value is determined according to the weights of the parameters in the related data, and the risks are classified according to the risk comprehensive value; Determining the corresponding control strategy according to the risk assessment result.

[0006] Further, the analytic hierarchy process is used to quantify the influence degree of each related data on the safety of the drainage operation, to obtain the weight of each parameter; by pairwise comparison of each related data, a judgment matrix is constructed according to the scale method; by the largest eigenvalue of the judgment matrix and the corresponding eigenvector, the weight of each parameter is obtained after the eigenvector is normalized.

[0007] Further, the weight of each parameter is: ; Among them, The element in the judgment matrix represents the ith row and the jth column of the judgment matrix.

[0008] Further, the risk comprehensive value is : ; Among them, is the score corresponding to each parameter.

[0009] Further, when the risk comprehensive value is not greater than the first preset value, it is low risk; when the risk comprehensive value is greater than the first preset value and not greater than the second preset value, it is medium risk; when the risk comprehensive value is greater than the second preset value, it is high risk.

[0010] Further, in the low-risk scenario, the preset drainage operation process is executed autonomously; in the medium-risk scenario, if the risk is caused by branches close to the line, the current stripping and wiring operation is suspended, the mechanical arm is used to remove the obstacles, after the obstacles are removed, the obstacle parameters are collected again, and the risk level is reduced to low risk, and then the original operation process is restored; if the risk is caused by wind speed, the holding module is controlled to increase the holding force, the shaking amplitude is monitored in real time, if the shaking amplitude is less than a set threshold, the operation is continued; if the shaking amplitude is greater than the set threshold, the operation is suspended until the wind speed decreases; in the high-risk scenario, all operations are suspended.

[0011] In a second aspect, the present application also provides an overhead distribution line drainage operation control system based on comprehensive risk assessment, comprising: The data acquisition module is configured to: acquire related data of the overhead distribution line drainage operation scene; wherein the related data includes the electric field intensity value around the drainage point, the real-time wind speed of the operation environment, the surface temperature of the drainage cable, the obstacle type and the distance of the adjacent phase line; The risk level determination module is configured to: obtain a risk assessment result according to the related data and a preset drainage operation risk assessment model; wherein the drainage operation risk assessment model is a fuzzy comprehensive evaluation method, a risk comprehensive value is determined according to the weight of each parameter in the related data, and the risk is graded according to the risk comprehensive value; The control module is configured to: determine a corresponding control strategy according to the risk assessment result.

[0012] In a third aspect, the present application also provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the steps of the overhead distribution line grounding operation control method based on comprehensive risk assessment according to the first aspect.

[0013] In a fourth aspect, the present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the overhead distribution line grounding operation control method based on comprehensive risk assessment according to the first aspect when executing the program.

[0014] In a fifth aspect, the present application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the overhead distribution line grounding operation control method based on comprehensive risk assessment according to the first aspect.

[0015] Compared with the prior art, the present application has the following beneficial effects: The present application first collects multiple parameters such as the electric field intensity value around the grounding point, the real-time wind speed of the operation environment, the surface temperature of the grounding cable, the obstacle type, and the distance of the adjacent phase line, then determines a risk comprehensive value according to the weights of each parameter in the relevant data by using the fuzzy comprehensive evaluation method, and classifies the risk according to the risk comprehensive value; finally, determines the corresponding control strategy according to the risk assessment result, realizes the comprehensive analysis and evaluation of the risk of multiple factors, and improves the field adaptability and safety of the automatic equipment. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which form a part of this implementation, are used to provide further understanding of this implementation, and the schematic embodiments of this implementation and the description thereof are used to explain this implementation, and do not constitute an improper limitation on this implementation.

[0017] Figure 1 It is an automatic equipment schematic diagram of the embodiment 1 of the present application; Figure 2 It is a method flow block diagram of the embodiment 1 of the present application; 1, main body support unit; 2, wire stripping module; 3, hoisting module; 4, camera; 5, wiring module; 6, wire cutting and clamping module; 7, mechanical arm. DETAILED DESCRIPTION

[0018] The present application will be further described below in combination with the drawings and embodiments.

[0019] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0020] Embodiment 1: The embodiment provides a control method for overhead distribution line drainage operation based on comprehensive risk assessment. First, parameters such as electric field strength (judging leakage risk), wind speed (influencing platform stability), cable temperature (judging overload risk), and obstacle type (branches / metallic foreign matter) are comprehensively considered to establish a drainage operation risk assessment model, and low-risk, medium-risk, and high-risk evaluation results are obtained according to the drainage operation risk assessment model. Then, corresponding decisions are given according to the risk assessment results. Specifically, in the case of low risk (such as light wind and no obstacles), the drainage operation is automatically performed according to the planned process; in the case of medium risk (such as branches close to the drainage point), the obstacle removal module is automatically triggered for priority operation, and the original process is restored after obstacle removal; in the case of high risk (such as sudden strong wind, cable leakage, and proximity to other phase lines (through infrared proximity / electromagnetic sensors)), the operation is automatically suspended, the automatic equipment is moved to the nearest tower safe position, and a warning signal is sent to the background.

[0021] As shown in Figure 1 , the embodiment provides an automatic equipment for drainage operation, which includes a main body support unit 1, a stripping module 2, a hoisting module 3, a camera 4, a wiring module 5, a wire cutting and holding module 6, and a mechanical arm 7, etc. As shown in Figure 2 , the embodiment method specifically includes: S1, collection of risk parameters: Optionally, a high-frequency electric field sensor (integrated on the lifting support of the main body support unit 1, close to the drainage point) is used to collect the electric field strength value E (unit: kV / m) around the drainage point, which is used to judge the leakage risk. A miniature ultrasonic wind speed sensor (installed on the top of the main body support unit 1) is used to collect the real-time wind speed v (unit: m / s) of the working environment, which is used to evaluate the platform stability. An infrared temperature sensor (integrated at the end of the mechanical arm 7) is used to collect the surface temperature T (unit: ℃) of the drainage cable, which is used to judge the cable overload risk. The image recognition algorithm (such as YOLOv8) of the camera 4 (vision) and the infrared proximity / electromagnetic sensor (installed outside the wire cutting and holding module 6) are used to identify the obstacle type (branches / metallic foreign matter) and the distance d (unit: cm) from the adjacent phase line, which is used to judge the collision or inter-phase short circuit risk. The walking module encoder and the holding module pressure sensor of the main body support unit 1 are used to collect the platform walking speed and holding force, which are used to evaluate the platform's own running state.

[0022] S2, risk assessment: S2.1, parameter quantization and weight distribution: The analytic hierarchy process (AHP) is used to quantify the influence degree of risk parameters on the safety of drainage operation, and finally the weight of each parameter is obtained. The influence degree of each parameter on safety risk is analyzed, as shown in Table 1: Table 1 Influence degree of each parameter on safety risk

[0023] By comparing the above five parameters two by two, a judgment matrix A is constructed according to the scale method, as shown in Table 2: Table 2 Construction of judgment matrix

[0024] By solving the maximum eigenvalue of the judgment matrix A and the corresponding eigenvector, the weight of each parameter is obtained after normalization of the eigenvector.

[0025]

[0026] wherein, represents the element of the i-th row and the j-th column of the judgment matrix.

[0027] S2.2, risk level calculation and determination: The fuzzy comprehensive evaluation method is used to calculate the risk comprehensive value : ; wherein, is the score corresponding to each parameter, 1 for low risk, 3 for medium risk, and 5 for high risk.

[0028] Optional risk level division: risk comprehensive value ≤1.8, no core risk parameter exceeds the standard, which is low risk; risk comprehensive value 1.8< risk comprehensive value >3.5, any 1 core parameter exceeds the standard (such as electric leakage, strong wind, close distance phase line), which is high risk.

[0029] S3, decision determination: Based on the risk level matrix output, it is linked with the automatic equipment (stripping, wiring, cutting, mechanical arm, walking / hugging unit) to execute the following decision logic: S3.1, low risk scene decision (R≤1.8): ​Autonomous execution of preset drainage operation process, the host module (main support unit 1) controls the walking module to move to the drainage point, and the holding module fixes the platform; the mechanical arm 7 adjusts the wire cutting and holding module 6 to position and hold the drainage cable; the wire stripping module 2 is close to the cable, and the insulating skin is stripped according to the preset depth (the camera 4 monitors the wire stripping effect in real time); the wiring module 5 sleeves the bare wire segment into the wire clamp, and the mechanical arm 7 assists in tightening the bolt; the wire cutting and holding module 6 cuts off the excess cable, and after the operation is completed, the platform moves to a safe position.

[0030] S3.2, medium risk scene decision (1.8 < R < 3.5): Risk preprocessing is preferred, and the operation process is restored, specifically including: if the risk is caused by "branches close to (obstacle type medium risk)", the host module suspends the current wire stripping / wiring operation, and triggers the mechanical arm 7 to switch to the obstacle removal mode; the camera 4 locates the position of the branches, and the mechanical arm 7 drives the obstacle removal mechanism to cut off the branches close to the drainage point; after removing the obstacles, the obstacle parameters are collected again, and after the risk level is reduced to low risk, the original operation process is restored. If the risk is caused by "wind speed 3-8 m / s (medium risk)": the host module controls the holding module to increase the holding force (the pressure sensor feedback pressure value > preset threshold); the camera 4 monitors the platform shaking amplitude (through imu / image recognition cable offset) in real time, if the shaking is less than the set threshold, continue the operation; if the shaking is greater than the set threshold, suspend the operation until the wind speed decreases.

[0031] S3.3, high risk scene decision (R > 3.5): The core strategy is emergency avoidance + early warning linkage, specifically including: instantaneously suspending all operations, the host module cuts off the wire stripping / wiring / mechanical arm power, and the holding module maintains the current holding state (to prevent the platform from falling); the host module sends an early warning signal to the background monitoring center through the 4G / 5G communication module (integrated in the main support unit 1), the signal includes the risk type (such as "cable leakage"), the operation position (latitude and longitude), the real-time parameter (E=18kV / m, T=85℃), and the platform state (has been transferred to #3 tower); the platform can restart the operation process only after the high risk is removed and the background manual confirmation.

[0032] Embodiment 2: On the basis of embodiment 1, the embodiment provides an overhead distribution line drainage operation control method based on comprehensive risk assessment, which is used for low risk scene operation (10kV overhead distribution line drainage operation).

[0033] The electric field intensity E=3kV / m, the wind speed v=2m / s, the cable temperature T=65℃, the adjacent phase line distance d=40cm, and there is no obstacle, and the risk comprehensive value R=1.2 (low risk).

[0034] The walking module of the main body support unit 1 moves to the drainage point (GPS positioning accuracy ± 5 cm), and the holding module holds the cable (the pressure sensor feedback pressure = 500 N, which meets the fixing requirement); the mechanical arm 7 (6 degrees of freedom, repeat positioning accuracy ± 0.1 mm) drives the wire cutting and holding module 6 to hold the cable (diameter 120 mm); the wire stripping module 2 (knife blade material high-speed steel) strips the insulation skin at a preset depth of 15 mm, the camera 4 (resolution 4K, frame rate 30 fps) transmits the wire stripping effect in real time, and confirms that there is no bare wire damage; the wiring module 5 puts the parallel groove clamp (model JBL-120) into the bare wire segment, and the mechanical arm 7 assists in tightening the bolt (torque 50 N m); the wire cutting and holding module 6 cuts off the excess cable (length 10 cm), and after the operation is completed, the platform moves to the next drainage point (distance 50 m), and the whole process takes 8 min (traditional manual operation needs 30 min).

[0035] Example 3 On the basis of example 1, the embodiment provides an overhead distribution line drainage operation control method based on comprehensive risk assessment, which is used for medium risk scene operation (tree branches close to the drainage point): Collect the electric field intensity E = 4 kV / m, the wind speed v = 4 m / s, the cable temperature T = 68℃, the distance between adjacent phase lines d = 35 cm, and the distance between the tree branches and the drainage point 30 cm (obstacle type medium risk), and the risk comprehensive value R = 2.5 (medium risk); the main control module suspends the wire stripping operation (at this time, the wire stripping module 2 has approached the cable, and the knife blade has not been started); the mechanical arm 7 switches to the obstacle removal mode (the end is equipped with a φ100 mm obstacle removal saw blade, and the rotating speed is 3000 r / min); the camera 4 locates the position of the tree branches (diameter 5 cm, distance from the drainage point 30 cm) through image recognition; the mechanical arm 7 drives the saw blade to cut off the tree branches (cutting length 20 cm), and after the obstacle removal, the obstacle parameters are collected again (the distance between the tree branches and the drainage point is greater than or equal to 60 cm), and the risk comprehensive value R = 1.3 (low risk); the wire stripping-wiring-wire cutting process is restored, and the operation is completed in 12 min (including 3 min for obstacle removal).

[0036] Example 4 On the basis of example 1, the embodiment provides an overhead distribution line drainage operation control method based on comprehensive risk assessment, which is used for high risk scene operation (sudden strong wind): In the work, a strong wind suddenly occurs, the wind speed sensor collects v=10 m / s (high risk), other parameters are normal, the risk comprehensive value R=4.0 (high risk); the main control module temporarily suspends all work (cuts off the power of the mechanical arm and the wire stripping module), and the holding module increases the holding force to 800 N (to prevent the platform from shaking); the main control module locates the nearest tower (15 m away from the current position) through GPS, controls the walking module to move at a speed of 0.3 m / s, and the camera 4 monitors the path in real time (no obstacles); after the platform reaches the tower, the main control module sends a warning signal to the background (“sudden strong wind v=10 m / s, has shifted to #5 tower”); 30 min later, the wind speed decreases to 2 m / s (the background confirms safety), the platform moves to the drainage point again, and the work process is restored.

[0037] Embodiment 5: The embodiment provides a control method for overhead distribution line drainage work based on comprehensive risk assessment, comprising the following steps: The data acquisition module is configured to: acquire relevant data of the overhead distribution line drainage work scene; wherein the relevant data comprises an electric field intensity value around the drainage point, a real-time wind speed of the work environment, a surface temperature of the drainage cable, an obstacle type, and a distance of an adjacent phase line; The risk level determination module is configured to: obtain a risk assessment result according to the relevant data and a preset drainage work risk assessment model; wherein the drainage work risk assessment model is a fuzzy comprehensive evaluation method, a risk comprehensive value is determined according to the weight of each parameter in the relevant data, and the risk is graded according to the risk comprehensive value; The control module is configured to: determine a corresponding control strategy according to the risk assessment result.

[0038] The working method of the system is the same as the control method for overhead distribution line drainage work based on comprehensive risk assessment in Embodiment 1, and details are not repeated here.

[0039] Embodiment 6: The embodiment provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize the steps of the control method for overhead distribution line drainage work based on comprehensive risk assessment in Embodiment 1.

[0040] Embodiment 7: The embodiment provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor realizes the steps of the control method for overhead distribution line drainage work based on comprehensive risk assessment in Embodiment 1 when executing the program.

[0041] Embodiment 8: The embodiment provides a computer program product, which comprises a computer program, and when the computer program is executed by a processor, steps of the overhead distribution line diversion operation control method based on comprehensive risk assessment described in the embodiment 1 are realized.

[0042] The above merely provides the preferred embodiment of the embodiment, and is not intended to limit the embodiment. For those skilled in the art, the embodiment can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiment shall be included in the protection scope of the embodiment.

Claims

1. A control method for overhead power distribution line diversion operations based on comprehensive risk assessment, characterized in that, include: Acquire relevant data for overhead power distribution line diversion operation scenarios; including electric field strength values ​​around the diversion point, real-time wind speed in the operation environment, surface temperature of the diversion cable, obstacle type, and distance to adjacent phase lines; Based on relevant data and a pre-set risk assessment model for lead generation operations, risk assessment results are obtained. The risk assessment model for lead generation operations is a fuzzy comprehensive evaluation method, which determines the comprehensive risk value based on the weight of each parameter in the relevant data, and classifies the risk according to the comprehensive risk value. Based on the risk assessment results, determine the corresponding control strategies.

2. The overhead power distribution line diversion operation control method based on comprehensive risk assessment as described in claim 1 uses the analytic hierarchy process (AHP) to quantify the impact of each relevant data on the safety of the diversion operation and obtain the weight of each parameter; by comparing each relevant data pairwise, a judgment matrix is ​​constructed according to the scaling method; by using the largest eigenvalue of the judgment matrix and its corresponding eigenvector, the eigenvector is normalized to obtain the weight of each parameter.

3. The overhead power distribution line diversion operation control method based on comprehensive risk assessment as described in claim 2, characterized in that, The weights of each parameter are: ； in, The judgment matrix represents the element in the i-th row and j-th column of the judgment matrix.

4. The overhead power distribution line diversion operation control method based on comprehensive risk assessment as described in claim 3, characterized in that, The overall risk value is : ； in, The score corresponds to each parameter.

5. The overhead power distribution line diversion operation control method based on comprehensive risk assessment as described in claim 1, characterized in that, A risk level is considered low if the overall risk value is not greater than the first preset value; medium if the overall risk value is greater than the first preset value but not greater than the second preset value; and high if the overall risk value is greater than the second preset value.

6. The overhead power distribution line diversion operation control method based on comprehensive risk assessment as described in claim 5, characterized in that, In low-risk scenarios, the system can autonomously execute pre-defined lead generation processes. In medium-risk scenarios, if the risk originates from tree branches approaching, the current wire stripping and wiring operations are suspended, and the obstacle is cleared using a robotic arm. After the obstacle is cleared, the obstacle parameters are re-collected, and once the risk level is reduced to low risk, the original operation process is resumed. If the risk originates from wind speed, the clamping module increases the clamping force and monitors the swaying amplitude in real time. If the swaying is less than the set threshold, the operation continues; if the swaying is greater than the set threshold, the operation is suspended until the wind speed decreases; all operations are suspended in high-risk scenarios.

7. A control method for overhead power distribution line diversion operations based on comprehensive risk assessment, characterized in that, include: The data acquisition module is configured to acquire relevant data for overhead power distribution line diversion operation scenarios. The relevant data includes the electric field strength value around the diversion point, the real-time wind speed of the operation environment, the surface temperature of the diversion cable, the type of obstacle, and the distance between adjacent phase lines. The risk level determination module is configured to: obtain risk assessment results based on relevant data and a preset risk assessment model for lead generation operations; wherein, the risk assessment model for lead generation operations is a fuzzy comprehensive evaluation method, which determines the comprehensive risk value based on the weight of each parameter in the relevant data, and classifies the risk based on the comprehensive risk value; The control module is configured to determine the corresponding control strategy based on the risk assessment results.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the overhead power distribution line diversion operation control method based on comprehensive risk assessment as described in any one of claims 1-6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that, When the processor executes the program, it implements the steps of the overhead power distribution line diversion operation control method based on comprehensive risk assessment as described in any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the overhead power distribution line diversion operation control method based on comprehensive risk assessment as described in any one of claims 1-6.

Images