Scada-based mobile energy storage maintenance operation method

Abstract

The application discloses a mobile energy storage maintenance operation method based on SCADA and relates to the technical field of smart grids, and comprises the following steps: S1, obtaining mobile energy storage maintenance operation related information and classifying the information into maintenance site coordinates; S2, forming a maintenance protection section; S3, forming an outgoing line takeover position; S4, forming a protection level difference power supply takeover chain; S5, forming a maintenance takeover state; S6, evolving the maintenance takeover state by using an improved hybrid automaton model, so that a double-layer accumulated state space is formed by the maintenance protection section state and the outgoing line takeover state, and the geometric safety margin and the protection level difference margin are written back when the state changes, so that a corrected takeover state is obtained; S7, controlling the mobile energy storage platform to perform maintenance power supply protection actions according to the corrected takeover state, and writing the takeover process back to the SCADA maintenance operation record. The application can realize the coordinate takeover of mobile energy storage, and can realize cooperative anti-border crossing and anti-level jumping trip.

Description

Technical Field

[0001] This invention relates to the field of smart grid technology, and in particular to a mobile energy storage maintenance method based on SCADA. Background Technology

[0002] During outdoor maintenance and emergency repairs of substations, cable trenches, and switchgear, temporary connections are often needed for maintenance loads such as drainage pumps, lighting, power tools, and communication terminals. Current methods primarily utilize diesel generators, temporary power panels, or mobile energy storage devices for power supply. The deployment process relies heavily on on-site personnel to determine energized areas, access routes, and load connection points, lacking a unified coordinate constraint between cable routing and maintenance boundaries. Furthermore, while SCADA systems can provide information on primary equipment operating status, isolation status, grounding status, and protected objects, this information typically remains at the monitoring and recording level, failing to integrate with the outgoing line location, output port, and maintenance load connection process of the mobile energy storage platform. Consequently, temporary power supply operations are prone to issues such as cables approaching energized boundaries, unclear level differences between mobile energy storage output ports and upstream protected objects, abnormal loads triggering cascading trips, and difficulties in tracing the takeover process, impacting the safety and continuity of maintenance work.

[0003] Therefore, how to provide a SCADA-based mobile energy storage maintenance operation method is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] One objective of this invention is to propose a SCADA-based method for mobile energy storage maintenance. This invention unifies SCADA maintenance association information, mobile energy storage platform outgoing line association information, maintenance site association information, and maintenance load association information into the maintenance site coordinates. A maintenance protection section is formed around the area to be maintained, including energized boundaries, isolation boundaries, and protective action boundaries. Within this section, the outgoing line connection points of the mobile energy storage platform, the maintenance power supply cable corridor, and the protection differential power supply connection chain are determined. This allows mobile energy storage maintenance power supply operations to be simultaneously constrained by spatial safety boundaries and protection differential relationships. During power supply, this invention further integrates geometric safety margin and protection level differential margin, and through an improved hybrid automaton model, combines the maintenance protection section state and the outgoing line connection state into a two-layer cumulative state space. During state transitions, both types of margins are written back together, thereby correcting the connection state to the connection power supply state, the boundary protection connection state, or the local protection connection state. Based on this, the mobile energy storage platform is controlled to perform actions such as maintaining power supply, early warning, current limiting, or power outage, reducing problems such as cables approaching energized boundaries, temporary power supply over-level tripping, and the untraceability of the connection process, and improving the safety, stability, and record integrity of mobile energy storage power supply at the maintenance site.

[0005] The SCADA-based mobile energy storage maintenance method according to an embodiment of the present invention includes the following steps: S1. Obtain the mobile energy storage maintenance operation related information and incorporate the mobile energy storage maintenance operation related information into the maintenance site coordinates; S2. Close the energized boundary, isolation boundary and protective boundary around the area to be inspected to form an inspection and protection section; S3. Arrange the area occupied by the mobile energy storage platform within the maintenance protection section, and align and correct the outgoing side orientation of the mobile energy storage platform with the maintenance load orientation to form the outgoing pipe position. S4. A maintenance power supply cable corridor that avoids the energized boundary is laid from the outgoing line connection point to the maintenance load, and a protection differential power supply connection chain is formed along the maintenance power supply cable corridor. S5. During the power supply maintenance process, the geometric safety margin and protection level margin of the cable corridor are combined along the protection level differential power supply connection chain to form a maintenance connection state. S6. The maintenance and connection state is evolved by the improved hybrid automaton model. The improved hybrid automaton model consists of a double-layered accumulation space with the maintenance and protection section state and the outgoing connection state. During the state transition, the geometric safety margin and the protection level difference margin are written back to obtain the corrected connection state. S7. Control the mobile energy storage platform to perform maintenance power supply protection actions according to the corrected takeover status, and write the takeover process back to the SCADA maintenance operation record.

[0006] Optionally, the mobile energy storage maintenance operation association information includes SCADA maintenance association information, mobile energy storage platform outgoing line association information, maintenance site association information, and maintenance load association information.

[0007] Optionally, the step of incorporating mobile energy storage maintenance operation association information into the maintenance site coordinates includes: Select the site reference position and site direction line of the area to be inspected from the site-related information to establish the site coordinates. According to the correspondence between the primary equipment on the SCADA side and the location of the field equipment, the SCADA maintenance-related information is placed into the coordinates of the maintenance site, and the corresponding live boundary, isolation boundary and protection boundary are closed. Based on the azimuth difference between the parking base point of the mobile energy storage platform and the coordinates of the maintenance site, the outgoing line association information of the mobile energy storage platform is translated and rotated to the coordinates of the maintenance site. According to the location of the maintenance load, the associated information of the maintenance load is assigned to the coordinates of the maintenance site, and the maintenance load is linked to the corresponding superior protection object to obtain the mobile energy storage maintenance operation associated information after being assigned to the coordinates of the maintenance site.

[0008] Optionally, S2 includes: S21. Extract the area to be inspected and its adjacent equipment area from the coordinates of the maintenance site, and assemble the equipment installation position, adjacent equipment installation position and maintenance passage boundary of the area to be inspected into a cross-sectional base map. S22. Close the energized boundary along the outer edge of the equipment that is still energized and the boundary position between adjacent energized equipment, and mark the area inside the energized boundary as an energized no-entry zone. S23. Close the isolation boundary along the isolation point and grounding position corresponding to the area to be inspected, and divide the space between the isolation boundary and the energized boundary into the maintenance isolation area and the adjacent energized area. S24. Close the protection boundary along the equipment installation position covered by the superior protected object, and superimpose the protection boundary with the live boundary and the isolation boundary to form a maintenance protection section.

[0009] Optionally, S3 includes: S31. Deduct the live restricted area, maintenance isolation area and passage reserved area from the maintenance protection section, and retain the candidate parking area that the mobile energy storage platform can enter; S32. Press the occupancy contour of the mobile energy storage platform into the candidate parking area, and filter out out-of-bounds occupancy positions according to the overlap relationship between the occupancy contour and the boundary of the candidate parking area. S33. Using the reserved occupancy position as a reference, rotate the outgoing side of the mobile energy storage platform to align the cable reel outgoing position with the maintenance load access side position. S34. Combine and record the adjusted occupancy position, outgoing side position, and cable reel outgoing position to form the outgoing pipe position.

[0010] Optionally, S4 includes: S41. Extract the cable reel outlet position and outlet side position from the outlet pipe position, and generate an outlet guide line along the outlet side position to the maintenance load access end; S42. The outgoing guide wire is intersected and checked with the live boundary, isolation boundary and channel boundary in the maintenance protection section. The guide wire segment that crosses the live boundary is cut off, and the remaining guide wire segment is extended against the outside of the isolation boundary or the inside of the channel boundary to form a maintenance power supply cable corridor. S43. Set up chain positions according to the acceptance sequence of mobile energy storage output port, maintenance power supply cable corridor, maintenance load access terminal and superior protection object, and write the cable connection relationship and protection affiliation relationship between adjacent chain positions to form a protection differential power supply takeover chain.

[0011] Optionally, S5 includes: S51. During the power supply maintenance process, the status of the mobile energy storage output port, the maintenance power supply cable corridor, the maintenance load access terminal and the upper-level protection object shall be recorded in sequence according to the chain position of the protection level power supply connection chain. S52. Measure the retention distance from the outer edge of the cable to the live boundary, isolation boundary and channel boundary along the maintenance power supply cable corridor, and record the minimum value among the retention distances as the geometric safety margin of the cable corridor; S53. Compare the current output margin of the mobile energy storage output port, the current demand of the maintenance load and the action margin of the upper protection object along the power supply connection chain of the protection level difference, and organize the protection difference between adjacent chain positions into the protection level difference margin. S54. Write the geometric safety margin and protection level difference margin into the corresponding chain position and merge them with the status piece to form a maintenance and takeover status.

[0012] Optionally, the improved hybrid automaton model includes a maintenance protection section state set, an outgoing pipe state set, a pipe chain state table, state transition conditions, and a common write-back reset mapping. The maintenance protection section status set records the maintenance status of the maintenance power supply cable corridor relative to the maintenance protection section, the outgoing pipe status set records the power supply maintenance status of the mobile energy storage platform relative to the protection level differential power supply pipe chain, and the pipe chain status table records the chain position operation status, geometric safety margin, and protection level differential margin along the protection level differential power supply pipe chain. Write the maintenance and connection status into the connection chain status table; Read the current maintenance protection section status and the current outgoing line connection status, and combine the two into the current connection combination status; Based on the geometric safety margin and protection level margin in the control chain status table, determine the next control combination state that the current control combination state can enter. When entering the next connection combination state, the geometric safety margin is written back to the next maintenance protection section state through common write-back reset mapping, and the protection level difference margin is written back to the next outgoing connection state. Based on the status of the next maintenance protection section and the status of the next outgoing line connection after the write-back, the corrected connection status is formed.

[0013] Optionally, the step of forming a corrected connection status based on the next maintenance protection section status and the next outgoing line connection status after the write-back includes: When the geometric safety margin after writing back can ensure that the maintenance power supply cable corridor avoids the live boundary, and the protection level difference margin after writing back can ensure that the mobile energy storage output port acts before the upper-level protected object, the next takeover combination state will be kept as the takeover power supply state. When the geometric safety margin after writing back cannot maintain the maintenance power supply cable corridor to avoid the live boundary, the next connection combination state will be corrected to the boundary protection connection state. When the protection level differential margin after writing back cannot keep the mobile energy storage output port from acting before the upper-level protected object, the next control combination state will be corrected to the control state of this level of protection. The power supply takeover status, boundary protection takeover status, or local protection takeover status are taken as the modified takeover status.

[0014] Optionally, S7 includes: S71. Read the corrected takeover status and locate the mobile energy storage output port that needs to be activated along the protection differential power supply takeover chain. S72. When the corrected takeover state remains in the takeover power supply state, maintain the power supply to the corresponding mobile energy storage output port. S73. When the corrected takeover status is corrected to the boundary protection takeover status, an early warning or port power-off is performed on the mobile energy storage output port bound to the maintenance power supply cable corridor. S74. When the corrected takeover status is corrected to the takeover status of this level of protection, trace back from the maintenance load access end to the mobile energy storage output port along the protection level power supply takeover chain, perform current limiting on the mobile energy storage output port, and disconnect the mobile energy storage output port if the protection level margin cannot be maintained after current limiting. S75. The port status after control is pasted back along the protection level differential power supply pipe chain to the outgoing pipe position and the maintenance power supply cable corridor, and the control action and the pipe status after the action are written into the SCADA maintenance operation record.

[0015] The beneficial effects of this invention are: 1. This invention integrates SCADA maintenance-related information, mobile energy storage platform outgoing line-related information, maintenance site-related information, and maintenance load-related information into the maintenance site coordinates, and forms a maintenance protection section by closing the energized boundary, isolation boundary, and protection boundary around the area to be maintained. Based on this, the mobile energy storage platform's occupancy area is arranged, the outgoing line side orientation is corrected, and an outgoing line connection position is formed. This transforms the mobile energy storage maintenance power supply operation from manual experience-based deployment to a coordinate-based connection process constrained by the maintenance boundary, platform outgoing line position, and load access position, improving the consistency and traceability of the deployment of the mobile energy storage platform after it enters the maintenance site.

[0016] 2. This invention lays out a maintenance power supply cable corridor that avoids the energized boundary from the outgoing line connection point to the maintenance load, and forms a protection level differential power supply connection chain along the maintenance power supply cable corridor. During the maintenance power supply process, the geometric safety margin and protection level differential margin of the cable corridor are simultaneously combined. In this way, the cable spatial avoidance relationship and the protection level differential relationship between the mobile energy storage output port, the maintenance load access point, and the upper-level protection object are incorporated into the same connection chain, which can simultaneously constrain the cable boundary crossing risk and the upper-level protection malfunction risk.

[0017] 3. This invention uses an improved hybrid automaton model to evolve the maintenance and takeover state. The single-layer state of the ordinary hybrid automaton is changed to a two-layer cumulative state space composed of the maintenance protection section state and the outgoing line takeover state. During the state transition, the geometric safety margin and the protection level difference margin are written back together. This allows the modified takeover state to distinguish between the takeover power supply state, the boundary protection takeover state, and the local protection takeover state. This enables the corresponding execution of protection actions such as maintaining power supply, boundary warning or port power failure, port current limiting or disconnection, etc., reducing the risk of live boundary intrusion and over-level tripping during the temporary power supply process for maintenance. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of the mobile energy storage maintenance method based on SCADA proposed in this invention; Figure 2 This is a schematic diagram of the on-site connection for the SCADA-based mobile energy storage maintenance operation method proposed in this invention. Figure 3 This is a structural diagram of the improved hybrid automaton model of the mobile energy storage maintenance operation method based on SCADA proposed in this invention. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0020] refer to Figures 1-3 The SCADA-based mobile energy storage maintenance method includes the following steps: S1. Obtain the mobile energy storage maintenance operation related information and incorporate the mobile energy storage maintenance operation related information into the maintenance site coordinates; S2. Close the energized boundary, isolation boundary and protective boundary around the area to be inspected to form an inspection and protection section; S3. Arrange the area occupied by the mobile energy storage platform within the maintenance protection section, and align the outgoing side of the mobile energy storage platform with the maintenance load to form the outgoing pipe position. S4. A maintenance power supply cable corridor that avoids the energized boundary is laid from the outgoing line connection point to the maintenance load, and a protection differential power supply connection chain is formed along the maintenance power supply cable corridor. S5. During the power supply maintenance process, the geometric safety margin and protection level difference margin of the cable corridor are combined along the protection level power supply connection chain to form the maintenance connection status. S6. The maintenance and connection state is evolved by the improved hybrid automaton model. The improved hybrid automaton model consists of a double-layer accumulation space with the maintenance and protection section state and the outgoing connection state. During the state transition, the geometric safety margin and the protection level difference margin are written back to obtain the corrected connection state. S7. Control the mobile energy storage platform to perform maintenance power supply protection actions according to the corrected takeover status, and write the takeover process back to the SCADA maintenance operation record.

[0021] In this embodiment, the mobile energy storage maintenance operation related information includes SCADA maintenance related information, mobile energy storage platform outgoing line related information, maintenance site related information, and maintenance load related information.

[0022] In the specific implementation process, the maintenance operation association information of mobile energy storage is aggregated using the maintenance operation number as the primary key. The SCADA maintenance association information includes primary equipment number, bay number, equipment installation position number, equipment operating status, isolation point number, grounding position number, superior protection object number, set of equipment installation position numbers covered by the superior protection object, and the operating current setting and operating time limit of the superior protection object; the equipment operating status is divided into four categories: energized, de-energized, isolated, and grounded.

[0023] The mobile energy storage platform outgoing line associated information includes the mobile energy storage platform number, platform parking base point, platform occupancy outline, outgoing line side azimuth angle, cable reel outgoing line position, output port number, output port position, output port rated voltage, output port rated current, output port current limiting threshold, and output port disconnection threshold. The platform occupancy outline is recorded using a closed vertex sequence in the platform body coordinate system, while the cable reel outgoing line position and output port position are recorded using the platform body coordinate system.

[0024] The associated information at the maintenance site includes the site reference position, site direction line, fixed equipment installation position, maintenance passage boundary, prohibited area, parking area, and cable laying area; the fixed equipment installation position, prohibited area, parking area, and cable laying area are recorded using closed vertex sequence, and the maintenance passage boundary is recorded using directed line segment sequence.

[0025] The maintenance load association information includes the maintenance load number, maintenance load location, maintenance load connection terminal, load required voltage, load required current, load required power, and the number of the superior protection object to which the load belongs. Length data is uniformly expressed in meters, azimuth angles in degrees, voltage in volts, current in amperes, power in watts, and operating time in milliseconds.

[0026] In this embodiment, the mobile energy storage maintenance operation-related information is incorporated into the maintenance site coordinates, including: Select the site reference position and site direction line of the area to be inspected from the site-related information to establish the site coordinates. According to the correspondence between the primary equipment on the SCADA side and the location of the field equipment, the SCADA maintenance-related information is placed into the coordinates of the maintenance site, and the corresponding live boundary, isolation boundary and protection boundary are closed. Based on the azimuth difference between the parking base point of the mobile energy storage platform and the coordinates of the maintenance site, the outgoing line association information of the mobile energy storage platform is translated and rotated to the coordinates of the maintenance site. According to the location of the maintenance load, the associated information of the maintenance load is assigned to the coordinates of the maintenance site, and the maintenance load is linked to the corresponding superior protection object to obtain the mobile energy storage maintenance operation associated information after being assigned to the coordinates of the maintenance site.

[0027] In the specific implementation process, the on-site reference position is taken as the center point of the fixed equipment installation position in the area to be inspected, and the on-site direction line is taken as the boundary line segment of the maintenance passage close to the area to be inspected; the on-site reference position is taken as the origin of the coordinate system, the extension direction of the on-site direction line is taken as the positive direction of the horizontal axis, and the direction of rotating the positive direction of the horizontal axis counterclockwise by 90 degrees is taken as the positive direction of the vertical axis to establish the on-site coordinate system.

[0028] When SCADA maintenance-related information falls into the coordinates of the maintenance site, a correspondence table between primary equipment and fixed equipment installation positions is established according to the primary equipment number, interval number, and equipment installation position number. For primary equipment operating in a live state, the outer edge of its corresponding equipment installation position is written into the live boundary candidate line; for primary equipment operating in an isolated or grounded state, its corresponding isolation point and grounding position are written into the isolation boundary candidate line; the set of equipment installation position numbers covered by the same superior protection object is closed in sequence according to the outer edge of the equipment installation position and written into the protection action boundary candidate line.

[0029] When incorporating the outgoing line information of the mobile energy storage platform into the maintenance site coordinates, the platform's parking base point is used as the transformation base point for the platform's body coordinates. The azimuth difference between the outgoing line side azimuth and the positive direction of the horizontal axis of the maintenance site coordinates is read. Each coordinate point in the platform's occupancy outline, cable reel outgoing position, and output port position is first translated to a position with the platform's parking base point as the origin, then rotated according to the azimuth difference, and finally translated to the platform's parking position in the maintenance site coordinates. The output port number, rated voltage, rated current, current limiting threshold, and disconnection threshold are bound to the rotated output port position.

[0030] When assigning maintenance load association information to the maintenance site coordinates, the maintenance load access point is written into the maintenance site coordinates, and the maintenance load location is taken as the center point of the equipment installation location where the maintenance load access point is located. The load demand voltage, load demand current, and load demand power are bound to the maintenance load number. When the number of the superior protection object to which the maintenance load belongs matches the number of the superior protection object in the SCADA maintenance association information, the maintenance load is associated with the corresponding superior protection object. After completion, the mobile energy storage maintenance operation association information after being assigned to the maintenance site coordinates is output.

[0031] In this embodiment, S2 includes: S21. Extract the area to be inspected and its adjacent equipment area from the coordinates of the maintenance site, and assemble the equipment installation position, adjacent equipment installation position and maintenance passage boundary of the area to be inspected into a cross-sectional base map. S22. Close the energized boundary along the outer edge of the equipment that is still energized and the boundary position between adjacent energized equipment, and mark the area inside the energized boundary as an energized no-entry zone. S23. Close the isolation boundary along the isolation point and grounding position corresponding to the area to be inspected, and divide the space between the isolation boundary and the energized boundary into the maintenance isolation area and the adjacent energized area. S24. Close the protection boundary along the equipment installation position covered by the superior protected object, and superimpose the protection boundary with the live boundary and the isolation boundary to form a maintenance protection section.

[0032] In the specific implementation process, the cross-sectional base map is recorded using line segments and closed polygons under the coordinates of the maintenance site. The area to be maintained is taken from the set of equipment installation positions marked in the maintenance work order or SCADA maintenance task; adjacent equipment areas are taken from equipment installation positions that share the boundary of the passageway with the area to be maintained, share the outer edge of the equipment, or whose outer edge of the equipment is no more than 2m away from the outer edge of the area to be maintained. Equipment installation positions are recorded using a closed vertex sequence, and maintenance passage boundaries are recorded using a directed line segment sequence. The equipment installation positions of the area to be maintained, adjacent equipment installation positions, and maintenance passage boundaries are written into the same cross-sectional base map, and each graphic element is bound with the equipment installation position number, primary equipment number, and area type.

[0033] When closing a energized boundary, the equipment operating status is read from the SCADA maintenance-related information. For primary equipment with an energized operating status, the outer edge of its corresponding equipment mounting position is written into the energized boundary candidate line. When two adjacent equipment mounting positions both correspond to energized equipment, the boundary position between them is written into the energized boundary candidate line. The energized boundary candidate lines are connected in order of endpoint distance. When the endpoint distance is no greater than 0.2m, it is filled with a straight line segment; when the endpoint distance is greater than 0.2m, it is filled along the outer edge of the corresponding equipment mounting position. After closure, the side containing the center point of the energized equipment mounting position is marked as the energized restricted area.

[0034] When closing the isolation boundary, read the isolation point number and grounding location number corresponding to the area to be inspected. If the isolation point is located on the boundary of the equipment installation position, use the boundary line segment where the isolation point is located as the candidate isolation boundary line; if the isolation point is located between adjacent equipment, use the dividing line between the equipment installation positions on both sides of the isolation point as the candidate isolation boundary line. If the grounding location is located on the outer edge of the equipment installation position, write the outer edge line segment where the grounding location is located into the candidate isolation boundary line. Fill in the candidate isolation boundary line along the outer edge of the area to be inspected and the boundary of the adjacent maintenance passage to close the isolation boundary, thus forming the isolation boundary.

[0035] During spatial segmentation, both the energized boundary and the isolation boundary are simultaneously overlaid onto the cross-sectional base map. Areas located within the isolation boundary and not coinciding with the energized restricted area are marked as maintenance isolation zones; areas located outside the isolation boundary and the energized boundary, and adjacent to the energized restricted area, are marked as adjacent energized zones. When areas intersect, the energized restricted area is retained first, and the maintenance isolation zone and adjacent energized zone are re-segmented according to the remaining polygons after boundary overlay.

[0036] When closing the protective boundary, the set of equipment installation position numbers covered by the same superior protected object is read, the outer edges of the equipment installation positions in the set are merged, the internal common edges between adjacent equipment installation positions are deleted, and only the outer contour line is retained to form the protective boundary. When there are overlapping line segments between the protective boundary and the live boundary or isolation boundary, all boundary attributes of the overlapping line segments are retained; when there are intersection points, the line segments are cut at the intersection points and the intersection position is recorded.

[0037] The resulting maintenance and protection cross-section includes a base map, energized boundaries, isolation boundaries, protective action boundaries, energized restricted areas, maintenance isolation areas, and adjacent energized areas. Each boundary stores its boundary number, the installation location number of the equipment to which it belongs, the corresponding primary equipment number, the corresponding superior protected object number, and the vertex coordinate sequence.

[0038] In this embodiment, S3 includes: S31. In the maintenance protection section, deduct the live restricted area, maintenance isolation area and passage reserved area, and retain the candidate parking area that the mobile energy storage platform can enter; S32. Press the occupancy outline of the mobile energy storage platform into the candidate parking area, and filter out out-of-bounds occupancy positions according to the overlap relationship between the occupancy outline and the boundary of the candidate parking area. S33. Using the reserved occupancy position as a reference, rotate the outgoing side of the mobile energy storage platform to align the cable reel outgoing position with the maintenance load access side position. S34. Combine and record the adjusted station position, outgoing side position and cable reel outgoing position to form the outgoing pipe position.

[0039] In the specific implementation process, candidate parking areas are recorded as closed polygons under the coordinates of the maintenance site. First, the energized restricted area, maintenance isolation area, adjacent energized area, maintenance passage boundary, and parking area in the maintenance protection section are read; the parking area is used as the initial parking area. The energized restricted area and maintenance isolation area are deducted from the initial parking area, and a passage reservation area with a width of 1.0m is retained along the maintenance passage boundary inward. The remaining continuous area after deduction is used as the candidate parking area. If the area of ​​a single continuous polygon in the candidate parking area is less than 1.2 times the area of ​​the mobile energy storage platform's footprint, the continuous polygon is deleted.

[0040] The occupancy profile of the mobile energy storage platform is represented by a closed vertex sequence in the platform's body coordinates, with the base point of the occupancy profile taken as its geometric center. The base point is sequentially placed at candidate locations within the candidate parking area, with these candidate locations spaced at 0.2m intervals. Each time a base point is placed, the platform occupancy profile is translated to that candidate location, and it is determined whether all edges of the platform occupancy profile fall within the candidate parking area. If any edge of the platform occupancy profile extends beyond the boundary of the candidate parking area, or if the closest distance between the outer edge of the platform occupancy profile and the boundary of the candidate parking area is less than 0.15m, the location is considered an out-of-bounds occupancy and is deleted; the remaining locations are retained as occupancy locations.

[0041] When performing outgoing-side orientation correction on the reserved occupant positions, read the coordinates of the cable reel outgoing position and the maintenance load access terminal in the maintenance site coordinate system. The load access side orientation is formed by pointing from the cable reel outgoing position to the maintenance load access terminal. Rotate the mobile energy storage platform around the platform occupant contour base point so that the angle between the outgoing-side orientation and the load access side orientation is no greater than 15 degrees. If multiple occupant positions meet the angle condition, retain the occupant position with the shortest straight-line distance from the cable reel outgoing position to the maintenance load access terminal.

[0042] After alignment is completed, the coordinates of the base point of the occupant contour, the coordinate sequence of the occupant contour vertices, the azimuth angle of the outgoing line side, the coordinates of the cable reel outgoing line position, the corresponding maintenance load number, and the corresponding mobile energy storage platform number are merged and recorded. This merged record serves as the outgoing line connection point and is available for subsequent maintenance of power cable corridor layout under the same maintenance operation number.

[0043] In this embodiment, S4 includes: S41. Extract the cable reel outlet position and outlet side position from the outlet pipe position, and generate an outlet guide line along the outlet side position to the maintenance load access end; S42. Cross the outgoing guide wire with the live boundary, isolation boundary and channel boundary in the maintenance protection section, cut off the guide wire segment that crosses the live boundary, and extend the remaining guide wire segment against the outside of the isolation boundary or the inside of the channel boundary to form a maintenance power supply cable corridor. S43. Set up chain positions according to the acceptance sequence of mobile energy storage output port, maintenance power supply cable corridor, maintenance load access terminal and superior protection object, and write the cable connection relationship and protection affiliation relationship between adjacent chain positions to form a protection differential power supply takeover chain.

[0044] In the specific implementation process, the coordinates of the cable reel outlet position, the azimuth angle of the outlet side, and the mobile energy storage output port number are read from the outlet connection position, and the coordinates of the maintenance load access end are read from the maintenance load association information. Taking the cable reel outlet position as the starting point, the direction from the cable reel outlet position to the maintenance load access end is read; when the angle between this direction and the azimuth angle of the outlet side is not greater than 15 degrees, the line segment from the cable reel outlet position to the maintenance load access end is taken as the outlet guide line; when the angle is greater than 15 degrees but not greater than 30 degrees, a straight connection line segment is generated with the cable reel outlet position as the starting point and the maintenance load access end as the ending point, and this angle is recorded as the outlet deflection angle; when the angle is greater than 30 degrees, a new occupancy position matching the azimuth of the maintenance load access side is selected from the reserved occupancy positions.

[0045] During the intersection verification, the outgoing guide wire is intersected with the energized boundary, isolation boundary, and passage boundary respectively. When the outgoing guide wire does not cross the energized boundary, the complete segment from the cable reel outlet to the maintenance load access end is retained, and this segment is extended 0.15m to each side as the center line to form a maintenance power supply cable corridor with a width of 0.3m. When the outgoing guide wire crosses the energized boundary, the segment from the cable reel outlet to the first energized boundary intersection point is retained, and the segment entering the energized restricted area after that intersection point is deleted.

[0046] After deleting the line segment crossing the energized boundary, select the boundary line segment closest to the deleted line segment and not crossing the energized restricted area from the line segments outside the isolation boundary and the line segments inside the channel boundary as the extension baseline. When the extension baseline is the isolation boundary, offset 0.3m along the side away from the energized restricted area to generate a mating line; when the extension baseline is the channel boundary, offset 0.3m along the inside of the channel to generate a mating line. Connect the end of the retained outgoing guide line segment to the mating line, extend the mating line along the boundary direction to a position close to the maintenance load access end, and then connect the end of the mating line to the maintenance load access end to form the center line of the cable corridor composed of the outgoing line segment, the mating section, and the access section.

[0047] After the centerline of the cable corridor is formed, each outgoing segment, adjacent segment, and connecting segment is checked. If any segment intersects with a live boundary or enters a live restricted area, the segment is deleted and a new outer segment of the isolation boundary or inner segment of the passage boundary is selected as the extension baseline. For continuous segments, a bend is retained at the connection point. If the bend is still located in the cable laying area and does not enter the live restricted area, the centerline of the cable corridor is considered continuous. After verification, the cable corridor is extended 0.15m to each side from the centerline to form a maintenance power supply cable corridor. The starting point, ending point, bend point, width, and the number of the live boundary to be avoided are recorded.

[0048] When forming a protection-level power supply connection chain, the mobile energy storage output port is set as the first chain position. The start point, inflection point, and end point of the maintenance power supply cable corridor are set as intermediate chain positions in sequence according to the cable laying direction. The maintenance load access end is set as the load chain position, and the superior protection object to which the maintenance load belongs is set as the protection chain position. The cable connection relationship is written between adjacent chain positions, including the previous chain position number, the next chain position number, the length of the connecting line segment, and the maintenance power supply cable corridor number to which the connecting line segment belongs. The chain positions from the mobile energy storage output port to the maintenance load access end are written with the same output port number, and the protection attribution relationship is written from the maintenance load access end to the superior protection object.

[0049] When the protection differential power supply connection chain outputs, it is stored as a linked list structure according to the chain position order. Each chain position in the linked list records the chain position number, chain position type, chain position coordinates, corresponding mobile energy storage output port number, corresponding maintenance load number, and corresponding superior protection object number; the chain position type includes output port chain position, corridor chain position, load chain position, and protection chain position.

[0050] In this embodiment, S5 includes: S51. During the power supply maintenance process, the status of the mobile energy storage output port, the maintenance power supply cable corridor, the maintenance load access terminal and the upper-level protection object shall be recorded in sequence according to the chain position of the protection level power supply connection chain. S52. Measure the reserved distances from the outer edge of the cable to the live boundary, isolation boundary and passage boundary along the maintenance power supply cable corridor, and record the minimum value of each reserved distance as the geometric safety margin of the cable corridor. S53. Compare the current output margin of the mobile energy storage output port, the current demand of the maintenance load and the action margin of the upper protection object along the power supply connection chain of the protection level difference, and organize the protection difference between adjacent chain positions into the protection level difference margin. S54. Write the geometric safety margin and protection level difference margin into the corresponding chain position and merge them with the status piece to form the maintenance and takeover status.

[0051] In the specific implementation process, the power supply maintenance process is sampled in 5-second intervals. Within the same sampling period, status segments are generated according to the chain position sequence of the power supply connection chain based on the protection level. The status segment of the mobile energy storage output port records the output port number, output voltage, output current, current limiting threshold, and disconnection threshold; the status segment of the power supply cable corridor under maintenance records the corridor number, corridor centerline, corridor width, corridor outer edge coordinates, and corresponding energized boundary number; the status segment of the load access terminal under maintenance records the load number under maintenance, access terminal coordinates, required voltage, required current, and required power; and the status segment of the upstream protected object records the upstream protected object number, operating current setting, and operating time limit.

[0052] When measuring the geometric safety margin, first offset the centerline of the cable corridor by half the width of the corridor on both sides to obtain the outer edge of the cable corridor. Set measurement points along the outer edge of the cable corridor at 0.2m intervals; if the distance from the last measurement point to the end of the cable corridor is less than 0.2m, use the end of the cable corridor as a supplementary measurement point. Calculate the shortest distance from each measurement point to the energized boundary, isolation boundary, and passage boundary; if a measurement point falls within the energized restricted area, the distance from that measurement point to the energized boundary is recorded as 0. Take the minimum of the shortest distances corresponding to all measurement points on the same cable corridor and record it as the geometric safety margin of that cable corridor in the current sampling period.

[0053] When adjusting the protection level margin, first read the current output current and the output port disconnection threshold of the mobile energy storage output port. Subtract the current output current from the output port disconnection threshold to obtain the current output margin of the mobile energy storage output port. Read the current demand current of the maintenance load and use it as the load maintenance verification data after current limiting of the mobile energy storage output port. Read the current output current of the mobile energy storage output port within the same protection level power supply chain and read the operating current setting of the upper-level protected object; subtract the current output current from the operating current setting of the upper-level protected object to obtain the operating margin of the upper-level protected object.

[0054] The protection differential between adjacent chain positions is organized according to the chain position succession order. For the chain position between the mobile energy storage output port and the maintenance load access point, record the current output margin of the mobile energy storage output port; for the chain position between the maintenance load access point and the upstream protected object, record the operating margin of the upstream protected object. The current output margin of the mobile energy storage output port is the output port disconnection threshold minus the current output current; the protection differential margin is the operating margin of the upstream protected object minus the current output margin of the mobile energy storage output port. When the protection differential margin is greater than 0, the mobile energy storage output port can operate before the upstream protected object; when the protection differential margin is less than or equal to 0, the mobile energy storage output port cannot maintain operating before the upstream protected object.

[0055] When a maintenance takeover status is established, the geometric safety margin is written to the corresponding maintenance power supply cable corridor chain position, and the protection level difference margin is written to the corresponding mobile energy storage output port chain position, maintenance load access terminal chain position, and upper-level protected object chain position. Each chain position status piece adds the current sampling period number, geometric safety margin field, and protection level difference margin field; chain positions that do not directly correspond to the cable corridor inherit the geometric safety margin within the same protection level power supply takeover chain, and corridor chain positions that do not directly correspond to the protected object inherit the protection level difference margin within the same protection level power supply takeover chain. The merged chain position status pieces are arranged in chain position order to form the maintenance takeover status of the current sampling period.

[0056] In this embodiment, the improved hybrid automaton model includes a maintenance and protection section state set, an outgoing pipe state set, a pipe chain state table, state transition conditions, and a common write-back and reset mapping. Among them, the maintenance protection section status set records the maintenance status of the maintenance power supply cable corridor relative to the maintenance protection section, the outgoing pipe status set records the power supply maintenance status of the mobile energy storage platform relative to the protection level differential power supply pipe chain, and the pipe chain status table records the chain position operation status, geometric safety margin and protection level differential margin along the protection level differential power supply pipe chain. Write the maintenance and takeover status into the takeover chain status table; Read the current maintenance protection section status and the current outgoing line connection status, and combine the two into the current connection combination status; Based on the geometric safety margin and protection level margin in the control chain status table, determine the next control combination state that the current control combination state can enter. When entering the next connection combination state, the geometric safety margin is written back to the next maintenance protection section state through common write-back reset mapping, and the protection level difference margin is written back to the next outgoing connection state. Based on the status of the next maintenance protection section and the status of the next outgoing line connection after the write-back, the corrected connection status is formed.

[0057] In this embodiment, based on the status of the next maintenance protection section and the status of the next outgoing line connection after the write-back, a corrected connection status is formed, including: When the geometric safety margin after writing back can ensure that the maintenance power supply cable corridor avoids the live boundary, and the protection level difference margin after writing back can ensure that the mobile energy storage output port acts before the upper-level protected object, the next takeover combination state will be kept as the takeover power supply state. When the geometric safety margin after writing back cannot maintain the maintenance power supply cable corridor to avoid the live boundary, the next connection combination state will be corrected to the boundary protection connection state. When the protection level differential margin after writing back cannot keep the mobile energy storage output port from acting before the upper-level protected object, the next control combination state will be corrected to the control state of this level of protection. The power supply takeover status, boundary protection takeover status, or local protection takeover status are taken as the corrected takeover status.

[0058] In practice, conventional hybrid automatic systems typically treat the mobile energy storage maintenance power supply process as a single-level state and reset continuous quantities such as output current, output voltage, and remaining power after state transitions. This approach fails to distinguish between two types of risks: one is the spatial risk caused by the maintenance power supply cable corridor approaching or encroaching on the energized boundary, and the other is the risk of cascading tripping caused by insufficient protection level difference between the mobile energy storage output port and the upstream protected object.

[0059] This implementation changes the single-layer state of a conventional hybrid automatic machine to a combined state formed by pairing a maintenance protection section state and an outgoing line connection state. During state transitions, the geometric safety margin and protection level difference margin are written back respectively. After the improvement, the model simultaneously constrains the cable corridor to avoid energized boundaries and the mobile energy storage output port to act before the upstream protected object during the same maintenance power supply process. This allows the modified connection state to directly correspond to three types of control results: connection power supply, boundary protection connection, and local protection connection.

[0060] The maintenance protection section status set records the retention status of the maintenance power supply cable corridor relative to the maintenance protection section. In this implementation, the maintenance protection section status is set as corridor retention, corridor touching the edge, and corridor crossing the boundary. A geometric safety margin greater than or equal to 0.5m is recorded as corridor retention; a geometric safety margin less than 0.5m but greater than or equal to 0.2m is recorded as corridor touching the edge; a geometric safety margin less than 0.2m, or when the outer edge of the maintenance power supply cable corridor enters a live restricted area, is recorded as corridor crossing the boundary. The geometric safety margin is the minimum retention distance from the outer edge of the cable to the live boundary, isolation boundary, and passage boundary.

[0061] The outgoing line connection status set records the power supply maintenance status of the mobile energy storage platform relative to the protection differential power supply connection chain. In this implementation, the outgoing line connection status is set to differential maintenance, differential compression, and differential insufficiency. When the protection differential margin is greater than or equal to 20% of the rated current of the mobile energy storage output port, it is recorded as differential maintenance; when the protection differential margin is less than 20% of the rated current of the mobile energy storage output port but greater than 0, it is recorded as differential compression; when the protection differential margin is less than or equal to 0, it is recorded as differential insufficiency. The protection differential margin is the difference between the operating margin of the upstream protected object and the current output margin of the mobile energy storage output port.

[0062] The connection chain status table is arranged sequentially along the chain positions of the protection differential power supply connection chain. A set of connection chain status tables is generated for each sampling period, with a sampling period of 5 seconds. Each row in the connection chain status table corresponds to a chain position, recording the sampling period number, chain position number, chain position type, chain position operating status, geometric safety margin, protection differential margin, maintenance protection section status, outgoing connection status, and connection combination status. Chain position types include mobile energy storage output port chain positions, corridor chain positions, load chain positions, and protected object chain positions. The geometric safety margin is directly written to corridor chain positions, while the protection differential margin is directly written to mobile energy storage output port chain positions, load chain positions, and protected object chain positions. Within the same protection differential power supply connection chain, chain positions not directly corresponding to a corridor inherit the geometric safety margin of that chain, and chain positions not directly corresponding to a protected object inherit the protection differential margin of that chain.

[0063] During model initialization, the maintenance connection status of the first sampling period before the start of maintenance power supply is read and written into the connection chain status table. The initial maintenance protection section status is determined based on the geometric safety margin, and the initial outgoing line connection status is determined based on the protection level difference margin. These two are then combined to form the initial connection combination status. When the initial maintenance protection section status is corridor-maintained and the initial outgoing line connection status is level difference-maintained, the initial connection combination status is recorded as the connection power supply status; when the initial maintenance protection section status is corridor-edge or corridor-crossing, the initial connection combination status is recorded as the boundary protection connection status; when the initial outgoing line connection status is level difference insufficient, the initial connection combination status is recorded as the local protection connection status.

[0064] State transition conditions are triggered according to changes in the geometric safety margin and protection differential margin. If, within two adjacent sampling periods, the geometric safety margin remains in the same maintenance protection section state, and the protection differential margin remains in the same outgoing line connection state, the current connection combination state is maintained. When the geometric safety margin decreases from the corridor-maintained interval to the corridor-edge or corridor-crossing interval, a maintenance protection section state transition is triggered. When the protection differential margin decreases from the differential-maintained interval to the differential-compression or differential-insufficient interval, an outgoing line connection state transition is triggered. When both the geometric safety margin and protection differential margin simultaneously cross corresponding intervals within the same sampling period, both the maintenance protection section state and the outgoing line connection state transitions are triggered simultaneously, forming the next connection combination state.

[0065] The common write-back and reset mapping is executed after the next conduit combination state is formed. The model first reads the next maintenance protection section state and the next outgoing conduit state from the next conduit combination state, then writes back the geometric safety margin of the current sampling period to the next maintenance protection section state, and writes back the protection level difference margin of the current sampling period to the next outgoing conduit state. After writing back, the model rechecks whether the next maintenance protection section state and the geometric safety margin are consistent, and rechecks whether the next outgoing conduit state and the protection level difference margin are consistent. If the next maintenance protection section state is screened as corridor maintenance, but the geometric safety margin after writing back is less than 0.5m, the next maintenance protection section state is rewritten as corridor edge; if the geometric safety margin after writing back is less than 0.2m or the outer edge of the cable corridor enters the live restricted area, the next maintenance protection section state is rewritten as corridor boundary violation. If the next outgoing line control status is screened as differential maintenance, but the protection differential margin after rewriting is less than 20% of the rated current of the mobile energy storage output port, then the next outgoing line control status will be rewritten as differential compression; if the protection differential margin after rewriting is less than or equal to 0, then the next outgoing line control status will be rewritten as differential insufficiency.

[0066] After the write-back is completed, the status of the next maintenance protection section and the status of the next outgoing line connection are re-paired to form a corrected connection status. If the next maintenance protection section status is corridor maintenance and the next outgoing line connection status is differential maintenance or differential compression, the next connection combination status is maintained as connection power supply status. If the next maintenance protection section status is corridor edge or corridor crosses the boundary, the next connection combination status is corrected to boundary protection connection status. If the next outgoing line connection status has insufficient differential, the next connection combination status is corrected to the current level protection connection status. If the next maintenance protection section status is corridor crosses the boundary and the next outgoing line connection status has insufficient differential, the boundary protection connection status is output first, while simultaneously retaining the insufficient differential marker for port disconnection and SCADA maintenance operation record write-back.

[0067] State calibration does not employ neural network training. Geometric safety margin thresholds and protection differential margin thresholds are calibrated before operation based on on-site safety distance requirements, mobile energy storage platform output port parameters, and upper-level protected object action settings. A 0.5m threshold for geometric safety margin corresponds to the normal cable corridor maintenance distance, and a 0.2m threshold corresponds to the boundary protection distance. A 20% threshold for protection differential margin corresponds to the differential compression warning interval retained by the mobile energy storage output port, and a 0% threshold corresponds to the mobile energy storage output port failing to maintain a differential insufficient state where it cannot act before the upper-level protected object. Historical mobile energy storage maintenance operation records and on-site simulated wiring records are only used for threshold verification. When the actual protection actions in the historical records are inconsistent with the model output state, only the geometric safety margin threshold, protection differential margin threshold, or state transition conditions are adjusted; the structure of the maintenance protection section state set, outgoing line connection state set, and common write-back reset mapping remains unchanged.

[0068] When finally outputting the corrected takeover status, the model saves the current sampling period number, the protection level power supply takeover chain number, the mobile energy storage output port number, the maintenance power supply cable corridor number, the superior protection object number, the geometric safety margin, the protection level margin, and the corrected takeover status. The corrected takeover status is one of the following: takeover power supply status, boundary protection takeover status, or local protection takeover status.

[0069] In this embodiment, S7 includes: S71. Read the corrected takeover status and locate the mobile energy storage output port that needs to be activated along the protection differential power supply takeover chain. S72. When the corrected takeover state remains in the takeover power supply state, maintain the power supply to the corresponding mobile energy storage output port. S73. When the corrected takeover status is corrected to the boundary protection takeover status, a warning or port power-off shall be executed on the mobile energy storage output port bound to the maintenance power supply cable corridor. S74. When the corrected takeover status is corrected to the takeover status of this level of protection, trace back from the maintenance load access end to the mobile energy storage output port along the protection level power supply takeover chain, perform current limiting on the mobile energy storage output port, and disconnect the mobile energy storage output port if the protection level margin cannot be maintained after current limiting. S75. The port status after control is pasted back along the protection level differential power supply pipe chain to the outgoing pipe position and the maintenance power supply cable corridor, and the control action and the pipe status after the action are written into the SCADA maintenance operation record.

[0070] In the specific implementation process, after each sampling cycle, the corrected takeover status, protection level power supply takeover chain number, mobile energy storage output port number, maintenance power supply cable corridor number, maintenance load number, superior protected object number, geometric safety margin, and protection level margin are read. The system first retrieves the corresponding linked list according to the protection level power supply takeover chain number, and then searches backward from the load link position in the linked list to locate the mobile energy storage output port connected to the maintenance load access end; when there are multiple output ports for the same maintenance load access end, the output port that is located in the same protection level power supply takeover chain as the load link position and has the latest status slice timestamp is selected.

[0071] When the corrected takeover status is the takeover power supply status, the current output of the corresponding mobile energy storage output port is maintained, and the operating status, output voltage, output current and action timestamp of the output port are refreshed.

[0072] When the corrected takeover status is boundary protection takeover status, first read the maintenance power supply cable corridor number and geometric safety margin corresponding to this status. If the geometric safety margin is greater than or equal to 0.2m and less than 0.5m, a warning is issued for the mobile energy storage output port bound to the maintenance power supply cable corridor. The warning content includes the maintenance operation number, cable corridor number, current geometric safety margin, corresponding energized boundary number, and corresponding output port number; at the same time, the output port is marked as boundary warning status, maintaining power supply but prohibiting the increase of the output current limit. If the geometric safety margin is less than 0.2m, or if the outer edge of the maintenance power supply cable corridor enters the energized restricted area, the corresponding mobile energy storage output port is de-energized, the port contactor is disconnected, and the port status is marked as boundary de-energized status.

[0073] When the corrected takeover status is the same as the current protection level takeover status, the power supply takeover chain is traced backward from the maintenance load access end along the protection level differential, passing through the corridor chain positions sequentially until the mobile energy storage output port chain position is located. The current output current, rated current, current limiting threshold, and disconnection threshold of the mobile energy storage output port are read, along with the operating current setting of the upper-level protection object. During current limiting, the current limiting threshold of the mobile energy storage output port is lowered to a value no higher than the operating current setting of the upper-level protection object minus 20% of the rated current of the mobile energy storage output port; the lowered current limiting threshold must not exceed the original current limiting threshold of the output port. If the lowered current limiting threshold is lower than the current demand current of the maintenance load, current limiting is not performed, and the mobile energy storage output port is directly disconnected. After the current limiting command is issued, the protection level differential margin is recalculated in the next sampling cycle.

[0074] After current limiting, when the protection level differential margin returns to a value greater than 0, the mobile energy storage output port continues to supply power under current limiting, and the port status is recorded as the current limiting power supply status. The takeover status after the action is also recorded as the takeover status of this level of protection. When the protection level differential margin is still less than or equal to 0, the mobile energy storage output port is disconnected, the port status is recorded as the power outage status of this level, and the takeover status after the action is also recorded as the takeover status of this level of protection. After the output port is disconnected, the load chain position and corridor chain position within the same protection level differential power supply takeover chain are simultaneously written to the power outage status, and power is no longer supplied to the maintenance load access terminal.

[0075] When the port status after control is re-attached along the protection level differential power supply connection chain, starting from the mobile energy storage output port chain position, the port status, control action, and action timestamp are written to the corridor chain position, load chain position, and protected object chain position within the same connection chain. The control action corresponding to the boundary protection connection status is re-attached to the outgoing connection position and the maintenance power supply cable corridor; the control action corresponding to the current level protection connection status is re-attached to the mobile energy storage output port, the maintenance load access terminal, and the upstream protected object. After re-attaching, each chain position retains the connection status before the action, the control action, the port status after the action, the connection status after the action, and the sampling period number.

[0076] When writing to the SCADA maintenance work record, a takeover process record is generated according to the maintenance work number. This record includes the maintenance work number, mobile energy storage platform number, mobile energy storage output port number, maintenance power supply cable corridor number, maintenance load number, superior protected object number, corrected takeover status, control action, port status before action, port status after action, geometric safety margin, protection level difference margin, and action time. The control action is one of the following: maintain power supply, boundary warning, port power failure, or port current limiting. After writing, the takeover process record for this sampling period is bound to the corresponding SCADA maintenance task, serving as data for status reading and maintenance work traceability in the next sampling period.

[0077] Example 1: To verify the feasibility of this invention in practice, it was applied to a mobile energy storage temporary power supply operation at a 220kV substation maintenance site. The maintenance site included an outdoor transfer channel for 10kV switchgear, a cable trench drainage point, a low-voltage maintenance tool access point, and a nighttime lighting access point. The maintenance load included one 1.5kW submersible pump, two 800W maintenance power tools, six 120W temporary lights, and one 300W communication terminal. The mobile energy storage platform has a rated output power of 5kW, is configured with four 220V AC output ports, a single-port rated current of 16A, a port disconnection threshold of 18A, and an initial port current limiting threshold of 15A. The on-site upstream protection target is a circuit breaker protection circuit with an operating current setting of 25A and an operating time limit of 100ms.

[0078] During implementation, first, the following information is retrieved from the SCADA maintenance task: the interval number to be maintained, primary equipment number, equipment operating status, isolation point, grounding location, superior protection object number, and operating current setting. Then, the equipment installation location, maintenance passage boundary, prohibited entry areas, parking areas, and cable laying areas are retrieved from the site plan. Next, the platform occupancy outline, cable reel outlet location, output port location, port rated current, and port disconnection threshold are retrieved from the mobile energy storage platform controller. Finally, the maintenance load connection point and load demand power are retrieved from the maintenance work order. The site reference position is taken as the center point of the switchgear installation location to be maintained, and the site direction line is taken as the boundary line segment of the main passage near the maintenance area, establishing the maintenance site coordinates.

[0079] In the coordinate system of the maintenance site, the system closes the energized boundary, the isolation boundary, and the protective boundary to form a maintenance protection section. The mobile energy storage platform is positioned within the parking area, with the final selected outgoing line connection point 11.6m from the maintenance load access point. The angle between the cable reel outgoing point and the maintenance load access side is 9.4 degrees. A maintenance power supply cable corridor is laid from the outgoing line connection point to the maintenance load. The corridor width is 0.3m, the total length of the corridor centerline is 13.2m, the nearest energized boundary is numbered B03, and the initial geometric safety margin is 0.74m.

[0080] During power supply maintenance, status segments are recorded with a sampling period of 5 seconds. In the first sampling period, the current output current of the mobile energy storage output port is 8.6A, the output port disconnection threshold is 18A, and the current output margin of the mobile energy storage output port is 9.4A; the upper-level protection object's operating current setting is 25A, the upper-level protection object's operating margin is 16.4A, and the protection level difference margin is 7.0A. Since the geometric safety margin is greater than 0.5m and the protection level difference margin is greater than 20% of the rated current of the mobile energy storage output port, the improved hybrid automaton model maintains the takeover state as the takeover power supply state.

[0081] In the 36th sampling period, when on-site personnel moved the drainage hose, the cable corridor moved closer to the energized boundary, reducing the geometric safety margin to 0.31m, while the protection differential margin remained at 6.2A. The model changed the maintenance protection section status from corridor holding to corridor touching the edge, and rewrote the 0.31m geometric safety margin to the next maintenance protection section status through a common write-back reset mapping, correcting the connection status to boundary protection connection status. The mobile energy storage platform maintained power supply but issued a boundary warning and prohibited increasing the output current limit of that port. After adjusting the cable position on-site, the geometric safety margin recovered to 0.58m in the 42nd sampling period, and the connection status returned to connection power supply status.

[0082] In the 71st sampling period, the submersible pump started, causing the output current to rise to 14.8A. The current output margin of the mobile energy storage output port is 3.2A, the upper-level protection action margin is 10.2A, and the protection level difference margin is 7.0A, maintaining the connected power supply status. In the 93rd sampling period, the maintenance power tool started simultaneously, causing the output current to rise briefly to 17.5A. The current output margin of the mobile energy storage output port is 0.5A, the upper-level protection action margin is 7.5A, and the protection level difference margin is 7.0A, still not triggering the upper-level protection action. If the current output current of the output port continues to rise and causes the protection level difference margin to be less than or equal to 0, the system will correct the connected status to the current-level protection connected status and prioritize current limiting or disconnection of the mobile energy storage output port.

[0083] For comparison, 18 temporary power supply operation records were selected within the same maintenance area. Six of these used traditional manual wiring with a temporary power supply panel, six used a mobile energy storage platform but without SCADA status and protection differential connection, and six used the method of this invention. The statistical results are shown in Table 1 below.

[0084] Table 1. Comparison of the effects of temporary power supply operations for mobile energy storage maintenance

[0085] As shown in Table 1, the traditional manual wiring plus temporary power panel method mainly relies on operators visually assessing the energized boundaries and manually verifying protection relationships, resulting in a long deployment time and two instances of false trips of the upper-level protection when multiple loads are started simultaneously. The manual takeover method using mobile energy storage platforms reduces the time required for external power supply installation, but still requires manual judgment of cable locations and port load relationships, leading to insufficiently timely out-of-bounds responses. The method of this invention combines SCADA maintenance-related information, maintenance protection sections, outgoing line takeover locations, maintenance power supply cable corridors, and protection level differential power supply takeover chains, reducing the average deployment time to 24.6 minutes. Simultaneously, through the joint writing back of geometric safety margin and protection level differential margin, state correction can be completed within one sampling cycle, stabilizing the out-of-bounds warning response time at 5 seconds and achieving zero false trips of the upper-level protection.

[0086] In this embodiment, the average deployment time is the time from when the mobile energy storage platform enters the maintenance site to when the maintenance load completes the takeover of power supply; the boundary crossing warning response time is the time from when the geometric safety margin of the cable corridor is less than 0.5m to when the system issues a boundary warning; the number of upper-level protection malfunctions is the number of times that abnormal changes in the maintenance load or the mobile energy storage output port cause the upper-level protection object to act before the mobile energy storage output port. The above results show that the present invention can complete coordinate input, cross-section formation, cable corridor avoidance, protection level takeover, and port control writeback in real maintenance scenarios, and has engineering feasibility.

[0087] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A mobile energy storage maintenance method based on SCADA, characterized in that, Includes the following steps: S1. Obtain the mobile energy storage maintenance operation related information and incorporate the mobile energy storage maintenance operation related information into the maintenance site coordinates; S2. Close the energized boundary, isolation boundary and protective boundary around the area to be inspected to form an inspection and protection section; S3. Arrange the area occupied by the mobile energy storage platform within the maintenance protection section, and align and correct the outgoing side orientation of the mobile energy storage platform with the maintenance load orientation to form the outgoing pipe position. S4. A maintenance power supply cable corridor that avoids the energized boundary is laid from the outgoing line connection point to the maintenance load, and a protection differential power supply connection chain is formed along the maintenance power supply cable corridor. S5. During the power supply maintenance process, the geometric safety margin and protection level margin of the cable corridor are combined along the protection level differential power supply connection chain to form a maintenance connection state. S6. The maintenance and connection state is evolved by the improved hybrid automaton model. The improved hybrid automaton model consists of a double-layered accumulation space with the maintenance and protection section state and the outgoing connection state. During the state transition, the geometric safety margin and the protection level difference margin are written back to obtain the corrected connection state. S7. Control the mobile energy storage platform to perform maintenance power supply protection actions according to the corrected takeover status, and write the takeover process back to the SCADA maintenance operation record.

2. The SCADA-based mobile energy storage maintenance method according to claim 1, characterized in that, The mobile energy storage maintenance operation association information includes SCADA maintenance association information, mobile energy storage platform outgoing line association information, maintenance site association information, and maintenance load association information.

3. The SCADA-based mobile energy storage maintenance method according to claim 1, characterized in that, The process of incorporating mobile energy storage maintenance operation-related information into the maintenance site coordinates includes: Select the site reference position and site direction line of the area to be inspected from the site-related information to establish the site coordinates. According to the correspondence between the primary equipment on the SCADA side and the location of the field equipment, the SCADA maintenance-related information is placed into the coordinates of the maintenance site, and the corresponding live boundary, isolation boundary and protection boundary are closed. Based on the azimuth difference between the parking base point of the mobile energy storage platform and the coordinates of the maintenance site, the outgoing line association information of the mobile energy storage platform is translated and rotated to the coordinates of the maintenance site. According to the location of the maintenance load, the associated information of the maintenance load is assigned to the coordinates of the maintenance site, and the maintenance load is linked to the corresponding superior protection object to obtain the mobile energy storage maintenance operation associated information after being assigned to the coordinates of the maintenance site.

4. The SCADA-based mobile energy storage maintenance method according to claim 1, characterized in that, S2 includes: S21. Extract the area to be inspected and its adjacent equipment area from the coordinates of the maintenance site, and assemble the equipment installation position, adjacent equipment installation position and maintenance passage boundary of the area to be inspected into a cross-sectional base map. S22. Close the energized boundary along the outer edge of the equipment that is still energized and the boundary position between adjacent energized equipment, and mark the area inside the energized boundary as an energized no-entry zone. S23. Close the isolation boundary along the isolation point and grounding position corresponding to the area to be inspected, and divide the space between the isolation boundary and the energized boundary into the maintenance isolation area and the adjacent energized area. S24. Close the protection boundary along the equipment installation position covered by the superior protected object, and superimpose the protection boundary with the live boundary and the isolation boundary to form a maintenance protection section.

5. The SCADA-based mobile energy storage maintenance method according to claim 1, characterized in that, S3 includes: S31. Deduct the live restricted area, maintenance isolation area and passage reserved area from the maintenance protection section, and retain the candidate parking area that the mobile energy storage platform can enter; S32. Press the occupancy contour of the mobile energy storage platform into the candidate parking area, and filter out out-of-bounds occupancy positions according to the overlap relationship between the occupancy contour and the boundary of the candidate parking area. S33. Using the reserved occupancy position as a reference, rotate the outgoing side of the mobile energy storage platform to align the cable reel outgoing position with the maintenance load access side position. S34. Combine and record the adjusted occupancy position, outgoing side position, and cable reel outgoing position to form the outgoing pipe position.

6. The SCADA-based mobile energy storage maintenance method according to claim 1, characterized in that, S4 includes: S41. Extract the cable reel outlet position and outlet side position from the outlet pipe position, and generate an outlet guide line along the outlet side position to the maintenance load access end; S42. The outgoing guide wire is intersected and checked with the live boundary, isolation boundary and channel boundary in the maintenance protection section. The guide wire segment that crosses the live boundary is cut off, and the remaining guide wire segment is extended against the outside of the isolation boundary or the inside of the channel boundary to form a maintenance power supply cable corridor. S43. Set up chain positions according to the acceptance sequence of mobile energy storage output port, maintenance power supply cable corridor, maintenance load access terminal and superior protection object, and write the cable connection relationship and protection affiliation relationship between adjacent chain positions to form a protection differential power supply takeover chain.

7. The SCADA-based mobile energy storage maintenance method according to claim 1, characterized in that, S5 includes: S51. During the power supply maintenance process, the status of the mobile energy storage output port, the maintenance power supply cable corridor, the maintenance load access terminal and the upper-level protection object shall be recorded in sequence according to the chain position of the protection level power supply connection chain. S52. Measure the retention distance from the outer edge of the cable to the live boundary, isolation boundary and channel boundary along the maintenance power supply cable corridor, and record the minimum value among the retention distances as the geometric safety margin of the cable corridor; S53. Compare the current output margin of the mobile energy storage output port, the current demand of the maintenance load and the action margin of the upper protection object along the power supply connection chain of the protection level difference, and organize the protection difference between adjacent chain positions into the protection level difference margin. S54. Write the geometric safety margin and protection level difference margin into the corresponding chain position and merge them with the status piece to form a maintenance and takeover status.

8. The SCADA-based mobile energy storage maintenance method according to claim 1, characterized in that, The improved hybrid automaton model includes a maintenance and protection section state set, an outgoing pipe state set, a pipe chain state table, state transition conditions, and a common write-back and reset mapping. The maintenance protection section status set records the maintenance status of the maintenance power supply cable corridor relative to the maintenance protection section, the outgoing pipe status set records the power supply maintenance status of the mobile energy storage platform relative to the protection level differential power supply pipe chain, and the pipe chain status table records the chain position operation status, geometric safety margin, and protection level differential margin along the protection level differential power supply pipe chain. Write the maintenance and connection status into the connection chain status table; Read the current maintenance protection section status and the current outgoing line connection status, and combine the two into the current connection combination status; Based on the geometric safety margin and protection level margin in the control chain status table, determine the next control combination state that the current control combination state can enter. When entering the next connection combination state, the geometric safety margin is written back to the next maintenance protection section state through common write-back reset mapping, and the protection level difference margin is written back to the next outgoing connection state. Based on the status of the next maintenance protection section and the status of the next outgoing line connection after the write-back, the corrected connection status is formed.

9. The SCADA-based mobile energy storage maintenance method according to claim 8, characterized in that, The process of forming a corrected connection status based on the next maintenance protection section status and the next outgoing line connection status after the write-back includes: When the geometric safety margin after writing back can ensure that the maintenance power supply cable corridor avoids the live boundary, and the protection level difference margin after writing back can ensure that the mobile energy storage output port acts before the upper-level protected object, the next takeover combination state will be kept as the takeover power supply state. When the geometric safety margin after writing back cannot maintain the maintenance power supply cable corridor to avoid the live boundary, the next connection combination state will be corrected to the boundary protection connection state. When the protection level differential margin after writing back cannot keep the mobile energy storage output port from acting before the upper-level protected object, the next control combination state will be corrected to the control state of this level of protection. The power supply takeover status, boundary protection takeover status, or local protection takeover status are taken as the modified takeover status.

10. The SCADA-based mobile energy storage maintenance method according to claim 1, characterized in that, S7 includes: S71. Read the corrected takeover status and locate the mobile energy storage output port that needs to be activated along the protection differential power supply takeover chain. S72. When the corrected takeover state remains in the takeover power supply state, maintain the power supply to the corresponding mobile energy storage output port. S73. When the corrected takeover status is corrected to the boundary protection takeover status, an early warning or port power-off is performed on the mobile energy storage output port bound to the maintenance power supply cable corridor. S74. When the corrected takeover status is corrected to the takeover status of this level of protection, trace back from the maintenance load access end to the mobile energy storage output port along the protection level power supply takeover chain, perform current limiting on the mobile energy storage output port, and disconnect the mobile energy storage output port if the protection level margin cannot be maintained after current limiting. S75. The port status after control is pasted back along the protection level differential power supply pipe chain to the outgoing pipe position and the maintenance power supply cable corridor, and the control action and the pipe status after the action are written into the SCADA maintenance operation record.

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