CN109359789B - Transformer substation operation and maintenance path planning navigation system and navigation method based on Beidou positioning - Google Patents
Transformer substation operation and maintenance path planning navigation system and navigation method based on Beidou positioning Download PDFInfo
- Publication number
- CN109359789B CN109359789B CN201811555259.7A CN201811555259A CN109359789B CN 109359789 B CN109359789 B CN 109359789B CN 201811555259 A CN201811555259 A CN 201811555259A CN 109359789 B CN109359789 B CN 109359789B
- Authority
- CN
- China
- Prior art keywords
- equipment
- module
- transformer substation
- path
- navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012423 maintenance Methods 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000000926 separation method Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 5
- 238000005457 optimization Methods 0.000 claims description 5
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 4
- 238000002372 labelling Methods 0.000 claims description 4
- 239000003990 capacitor Substances 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 3
- 239000012212 insulator Substances 0.000 claims description 3
- 239000000284 extract Substances 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000002922 simulated annealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/06—Energy or water supply
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- Economics (AREA)
- Strategic Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- Tourism & Hospitality (AREA)
- Health & Medical Sciences (AREA)
- Marketing (AREA)
- General Business, Economics & Management (AREA)
- Computer Networks & Wireless Communication (AREA)
- Public Health (AREA)
- Primary Health Care (AREA)
- Quality & Reliability (AREA)
- Water Supply & Treatment (AREA)
- Development Economics (AREA)
- Game Theory and Decision Science (AREA)
- Entrepreneurship & Innovation (AREA)
- Operations Research (AREA)
- General Health & Medical Sciences (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Navigation (AREA)
Abstract
The invention discloses a transformer substation operation and maintenance path planning navigation system and a transformer substation operation and maintenance path planning navigation method based on Beidou positioning, and the navigation method comprises the following steps: the Beidou positioning module is respectively connected with the path planning module and the path navigation module; the operation and maintenance task receiving and analyzing module is connected with the path planning module; the database module is respectively connected with the path planning module and the path navigation module; the path planning module is connected with the path navigation module; the path navigation module: the Beidou positioning module is used for acquiring the real-time position of a user, and the optimal path calculated by the path planning module is matched to provide voice prompts in four advancing directions of advancing, backing, turning left and turning right for the user; the problem of transformer substation operation and maintenance personnel because of walking wrong interval, mistake income live region and cause electric power system accident and personal accident is solved.
Description
Technical Field
The invention belongs to the field of transformer substation equipment positioning and path navigation, and particularly relates to a transformer substation operation and maintenance path planning navigation system and a transformer substation operation and maintenance path planning navigation method based on Beidou positioning.
Background
A large amount of electrical equipment is arranged in a transformer substation, and due to the long-term influence of electric, thermal and mechanical loads and the environment, different types and different degrees of aging or faults can be gradually caused, and the quick, safe and accurate overhauling and maintenance of the faults are of great importance to the safe and stable operation of a power grid.
With the development of digitalization and intellectualization of the transformer substation, the transformer substation gradually forms a regulation and control integrated mode of 'unified platform, centralized control, centralized monitoring, subarea maintenance inspection and step-by-step implementation', under the mode, the transformer substation basically realizes unattended operation, and a group of operation and maintenance personnel are responsible for the maintenance work of a plurality of transformer substations simultaneously. The intelligent monitoring system issues a maintenance task to operation and maintenance personnel after finding that a certain device of a certain transformer substation has a problem, and the operation and maintenance personnel go to the device of the transformer substation immediately to carry out maintenance work. The complicated structure in the transformer substation brings difficulty for operation and maintenance personnel to timely and quickly reach fault equipment, and meanwhile, electric power system accidents and personal accidents caused by wrong intervals, wrong rod positions and wrong entering of electrified areas frequently occur in the maintenance process.
Although the transformer substation is continuously developed towards intellectualization, at present, no relevant research and measures are provided for how operation and maintenance personnel quickly, safely and accurately reach a destination, no relevant method is provided for path navigation and route guidance of the operation and maintenance personnel in the transformer substation and avoiding of a live area, and if the operation and maintenance personnel go wrong or mistakenly enter the live area, huge risks are brought to power grid safety and personal safety.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the transformer substation operation and maintenance path planning navigation system and the transformer substation operation and maintenance path planning navigation method based on Beidou positioning are provided, operation and maintenance personnel can conveniently and visually acquire position information of fault equipment, the system can automatically plan an optimal path according to the position of the fault equipment in an operation and maintenance task, all electrified dangerous areas are highlighted in an electronic map, real-time navigation is carried out on the operation and maintenance personnel, and the operation and maintenance personnel are guided to quickly, safely and accurately reach the position of the fault equipment.
The technical scheme of the invention is as follows:
the utility model provides a transformer substation operation and maintenance route planning navigation based on big dipper location, it includes:
big dipper orientation module: the Beidou positioning technology-based method comprises the following steps of extracting current position information of a system user as a starting place and transmitting the current position information to a path planning module, wherein the Beidou positioning module is respectively connected with the path planning module and a path navigation module;
the operation and maintenance task receiving and analyzing module comprises: receiving an operation and maintenance task issued by a scheduling center, analyzing and extracting fault equipment position information and fault information in the task, transmitting the fault equipment position information serving as a destination to a path planning module, and connecting an operation and maintenance task receiving and analyzing module with the path planning module;
a database module: storing an electronic map of a transformer substation, attribute information of equipment in the transformer substation and information of a charged area in the transformer substation; the database module is respectively connected with the path planning module and the path navigation module;
a path planning module: according to the information of the starting place and the destination, which is transmitted by the operation and maintenance task receiving and analyzing module and the Beidou positioning module, and the electronic map of the transformer substation, the attribute information of equipment in the transformer substation and the electrified area in the transformer substation, which are stored in the database, the shortest distance path with the least electrified area from the starting place to the destination is calculated through a path planning algorithm to serve as an optimal path; the path planning module is connected with the path navigation module;
the path navigation module: the Beidou positioning module is used for acquiring the real-time position of a user, the optimal path calculated by the path planning module is matched, voice prompts in four advancing directions of advancing, backing, turning left and turning right are provided for the user, and the path navigation module sends out a voice warning prompt when an electrified region or an approach electrified region exists in 50 meters around the user to guide the user to safely advance.
The transformer substation electronic map is information content related to roads in the transformer substation, the equipment attribute information comprises manufacturers, models, production dates, equipment function attributes and equipment working environment states, and the in-station electrified region information comprises position range information of live intervals running in the transformer substation.
Guide of transformer substation operation and maintenance path planning navigation system based on Beidou positioning
The navigation method comprises the following steps:
step 1, establishing a substation electronic map; acquiring original vector data of a transformer substation from a power department, sequentially performing warehousing, data processing, layer hierarchical grouping, attribute table processing, symbolization, map labeling and map matching optimization processing on the original vector data through ArcGIS software, and finally issuing an electronic map of the transformer substation;
step 2, dividing the electrified region of the transformer substation: according to the functions and the operation conditions of the substation equipment, dividing and marking an electrified area in a substation electronic map; the live zone is a live interval in operation in the transformer substation and comprises a main transformer interval, an incoming line interval, an outgoing line interval, a PT interval, a station transformer interval, a capacitor interval, a subsection interval, a reactor interval and a bypass interval;
step 3, marking attribute information of the main equipment of the transformer substation: marking attribute information of equipment in an electronic map of the transformer substation, and displaying the attribute information above the equipment when a user clicks certain equipment in the electronic map; the equipment comprises a transformer, a high-voltage switch electric appliance, a high-voltage insulator, a mutual inductor, a compensation device, a protection electric appliance, relay protection, an electric main wiring and a power distribution device, wherein the attribute information comprises a manufacturer, a model, a production date, equipment functional attributes and an equipment working environment state;
step 4, establishing a topological relation among main equipment of the transformer substation: in the spatial relationship, substation equipment belongs to a point target, a substation road belongs to a line target, and the topological relationship among the substation equipment comprises the relationship between points and lines;
step 5, identifying the position of the fault equipment; the background equipment monitoring system analyzes the equipment state monitoring data, acquires the position information of the fault equipment through the Beidou positioning facility after acquiring the identification result of the fault equipment, generates an operation and maintenance task and sends the operation and maintenance task to the operation and maintenance personnel handheld terminal;
step 6, receiving and analyzing the operation and maintenance tasks of the transformer substation: the terminal is used for extracting the position information and the fault information of the equipment to be overhauled and associating the position information and the fault information to a transformer substation electronic map in the system;
step 7, planning an optimal path to the equipment to be overhauled; taking the position information of the fault equipment in the step 5 as a destination, obtaining the current position information of operation and maintenance personnel through Beidou positioning as a starting place, and calculating a shortest distance path on the premise of the least path electrified area through a path planning algorithm;
and 8, performing real-time path navigation and voice prompt on the operation and maintenance personnel.
Step 4, the method for establishing the topological relation among the main equipment of the transformer substation comprises the following steps:
step 4.1, establishing a relation between points;
judging the coincidence and separation relations between the points according to the distance between the points;
(1) superposing: for point p1(x1,y1),p2(x2,y2) If there is x1＝x2And has y1＝y2If so, the two points are considered to be overlapped;
(2) separation: determining to be separate for two points not satisfying (1);
step 4.2, establishing a relation between points and lines;
the basic relations between points and lines are three types of connection, inclusion and separation;
(1) the following steps are: the point is superposed with one of two end points of the straight line segment;
(2) comprises the following steps: if the distance d from the point to the line is 0 and the point coordinate of the point is located between the two end points according to the monotonicity of the line, the inclusion relationship is formed, namely the line includes the point;
(3) separation: the point-to-line distance is not equal to 0.
Step 8, the method for real-time path navigation and voice prompt for operation and maintenance personnel comprises the following steps: and (6) after the optimal path is calculated through the step 6, providing real-time path navigation and voice prompt for operation and maintenance personnel, wherein the real-time path navigation and voice prompt specifically comprises four advancing direction prompts of advancing, retreating, left turning and right turning, and a path electrified region prompt and a surrounding electrified region prompt within 50 meters.
The invention has the beneficial effects that:
the invention is based on the Beidou positioning technology and the mobile geographic information technology, develops the fault point position visualization and the line navigation based on the substation electronic map service, is convenient for operation and maintenance personnel to rapidly and visually acquire the position information of fault equipment, automatically plans an optimal path according to the position of the fault equipment in an operation and maintenance task, highlights all electrified dangerous areas in an electronic map, performs real-time navigation for the operation and maintenance personnel, and guides the operation and maintenance personnel to rapidly, safely and accurately reach the position of the fault equipment; the problem that operation and maintenance personnel of the transformer substation mistakenly walk into an interval and mistakenly enter an electrified area is effectively solved, so that electric power system accidents and personal accidents caused by the operation and maintenance personnel are avoided, the safe and stable operation of the transformer substation and even the whole power grid is guaranteed, and the practical value and the practical significance are high.
Drawings
FIG. 1 is a flow chart of a navigation method of the present invention;
fig. 2 is a schematic diagram of the system framework of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples, it being understood that these examples are intended to illustrate the invention and are not intended to limit the scope of the invention, which is defined in the claims appended hereto, as modifications of various equivalent forms by those skilled in the art upon reading the present disclosure.
Fig. 1 shows a flowchart of a transformer substation operation and maintenance path planning navigation method based on Beidou positioning, which is provided by an embodiment of the present invention, and the method includes the following steps:
step 1, establishing a substation electronic map;
the method comprises the steps of obtaining original vector data of a transformer substation from a power department, sequentially carrying out processes of original data warehousing, data processing, layer hierarchical grouping, attribute table processing, symbolization, map labeling, map matching optimization and the like through ArcGIS software, and finally issuing an electronic map to complete the establishment of the electronic map of the transformer substation.
Step 2, dividing the electrified region of the transformer substation;
and dividing and marking the electrified area in the electronic map of the transformer substation according to the functions and the operation conditions of the equipment of the transformer substation. The live zone is mainly a live interval in the transformer substation, which comprises a main transformer interval, an incoming line (outgoing line) interval, a PT interval, a station transformer interval, a capacitor interval, a subsection (bus connection and bridge) interval, a reactor interval and a bypass interval.
Step 3, marking attribute information of main equipment of the transformer substation;
the attribute information of main equipment is marked in the electronic map of the transformer substation, and when a user clicks certain equipment in the electronic map, the attribute information of the equipment is displayed above the equipment. The main equipment comprises a transformer, a high-voltage switch electric appliance, a high-voltage insulator, a mutual inductor, a compensation device, a protection electric appliance, relay protection, an electric main wiring and a power distribution device, wherein the attribute information comprises a manufacturer, a model, a production date, equipment functional attributes and an equipment working environment state.
Step 4, establishing a topological relation among main equipment of the transformer substation;
in the spatial relationship, substation equipment belongs to a point target, a substation road belongs to a line target, the topological relationship between main equipment of the substation comprises the relationship between points and the relationship between lines, and the establishment method comprises the following steps:
step 4.1, establishing a relation between points;
and judging the coincidence and separation relations between the points according to the distances between the points.
(1) Superposing: for point p1(x1,y1),p2(x2,y2) If there is x1＝x2And has y1＝y2Then the two points are considered to coincide.
(2) Separation: two points that are not met are considered separate.
Step 4.2, establishing a relation between points and lines;
the basic relations between points and lines are three types of connection, inclusion and separation.
(1) The following steps are: the point coincides with one of the two ends of the straight line segment.
(2) Comprises the following steps: if the distance d from a point to a line is 0 and the coordinates of this point are between the two end points according to the monotonicity of the line, this is an inclusion relationship, i.e. the line contains points.
(3) Separation: the point-to-line distance is not equal to 0.
Step 5, identifying the position of the fault equipment;
the background equipment monitoring system analyzes the equipment state monitoring data by adopting a big data analysis algorithm, acquires the position information of the fault equipment according to a Beidou positioning facility arranged on the equipment after obtaining the identification result of the fault equipment, generates an operation and maintenance task and sends the operation and maintenance task to the handheld terminal of the operation and maintenance personnel.
Step 6, receiving and analyzing the operation and maintenance tasks of the transformer substation;
and the terminal system automatically analyzes the operation and maintenance task, extracts the position information and the fault information of the equipment to be overhauled and automatically associates the position information and the fault information to an electronic map in the system.
Step 7, planning an optimal path to the equipment to be overhauled;
and (5) taking the position information of the fault equipment analyzed and extracted in the step (5) as a destination, obtaining the current position information of the operation and maintenance personnel through Beidou positioning as a starting place, and calculating a shortest distance path on the premise of minimum path electrified regions through a path planning algorithm.
The path planning algorithm adopts an artificial potential field method, a fuzzy rule method, a genetic algorithm, a neural network, a simulated annealing algorithm or an ant colony optimization algorithm and the like in the prior art.
Step 8, performing real-time path navigation and voice prompt on the operation and maintenance personnel;
and (6) after the optimal path is calculated through the step 6, providing real-time path navigation and voice prompt for operation and maintenance personnel, wherein the real-time path navigation and voice prompt specifically comprises four advancing direction prompts of advancing, retreating, left turning and right turning, and a path electrified region prompt and a surrounding electrified region prompt within 50 meters.
Fig. 2 shows a structural block diagram of a transformer substation operation and maintenance path planning navigation system based on Beidou positioning according to an embodiment of the present invention, which specifically includes the following components:
the system comprises an information receiving and analyzing module, a Beidou positioning module, a database, a path planning module and a path navigation module. When the route planning navigation system executes, the information receiving and analyzing module receives operation and maintenance tasks issued by the scheduling center, automatically analyzes and extracts fault equipment position information and fault information in the tasks, transmits the position information to the route planning module as a destination, and extracts current position information of a system user as a starting place based on the Beidou positioning technology and transmits the current position information to the route planning module.
The database module stores a substation electronic map, in-station main equipment attribute information and in-station electrified region information, the substation electronic map is information content related to roads in the substation, the main equipment attribute information comprises manufacturers, models, production dates, equipment function attributes and equipment working environment states, and the electrified region information comprises position range information of live intervals running in the substation.
The path planning module is used for calculating a shortest distance path with the minimum path electrified region from the starting place to the destination as an optimal path through a path planning algorithm according to the starting place and the destination transmitted by the information receiving and analyzing module and the Beidou positioning module and by matching with a substation electronic map, in-station main equipment attribute information and in-station electrified regions stored in the database.
The path navigation module acquires the real-time position of a user through the positioning module, provides voice prompts in four advancing directions of advancing, backing, turning left and turning right for the user by matching with the optimal path calculated by the path planning module, and sends out voice warning prompts when an electrified region or an electrified region is in the surrounding of the user within 50 meters to guide the user to safely advance.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the present disclosure should be covered within the scope of the present invention claimed in the appended claims.
Claims (5)
1. The utility model provides a transformer substation operation and maintenance route planning navigation based on big dipper location, it includes:
big dipper orientation module: the Beidou positioning technology-based method comprises the following steps of extracting current position information of a system user as a starting place and transmitting the current position information to a path planning module, wherein the Beidou positioning module is respectively connected with the path planning module and a path navigation module;
the operation and maintenance task receiving and analyzing module comprises: receiving an operation and maintenance task issued by a scheduling center, analyzing and extracting fault equipment position information and fault information in the task, transmitting the fault equipment position information serving as a destination to a path planning module, and connecting an operation and maintenance task receiving and analyzing module with the path planning module;
a database module: storing an electronic map of a transformer substation, attribute information of equipment in the transformer substation and information of a charged area in the transformer substation; the database module is respectively connected with the path planning module and the path navigation module;
the electronic map of the transformer substation is as follows: acquiring original vector data of a transformer substation from a power department, sequentially performing warehousing, data processing, layer hierarchical grouping, attribute table processing, symbolization, map labeling and map matching optimization processing on the original data through ArcGIS software, and finally issuing an electronic map of the transformer substation;
the equipment attribute information comprises a manufacturer, a model, a production date, equipment function attributes and an equipment working environment state;
the in-station electrified region information comprises position range information of an electrified interval which is running in the transformer substation;
a path planning module: according to the information of the starting place and the destination, which is transmitted by the operation and maintenance task receiving and analyzing module and the Beidou positioning module, and the electronic map of the transformer substation, the attribute information of equipment in the transformer substation and the electrified area in the transformer substation, which are stored in the database, the shortest distance route with the least electrified area passing from the starting place to the destination is calculated through a route planning algorithm to serve as an optimal route; the path planning module is connected with the path navigation module;
the path navigation module: the Beidou positioning module is used for acquiring the real-time position of a user, the optimal path calculated by the path planning module is matched, the voice prompts in four advancing directions of advancing, retreating, left turning and right turning are provided for the user, and the path navigation module sends out a voice warning prompt when an electrified area exists or passes through the electrified area within 50 meters around the user so as to guide the user to safely advance.
2. The transformer substation operation and maintenance path planning navigation system based on Beidou positioning according to claim 1 is characterized in that: the substation electronic map is information content related to roads in the substation.
3. The navigation method of the transformer substation operation and maintenance path planning navigation system based on Beidou positioning according to claim 1, comprising the following steps:
step 1, establishing a substation electronic map; acquiring original vector data of a transformer substation from a power department, sequentially performing warehousing, data processing, layer hierarchical grouping, attribute table processing, symbolization, map labeling and map matching optimization processing on the original vector data through ArcGIS software, and finally issuing an electronic map of the transformer substation;
step 2, dividing the electrified region of the transformer substation: according to the functions and the operation conditions of the substation equipment, dividing and marking an electrified area in a substation electronic map; the live zone is a live interval in operation in the transformer substation and comprises a main transformer interval, an incoming line interval, an outgoing line interval, a PT interval, a station transformer interval, a capacitor interval, a subsection interval, a reactor interval and a bypass interval;
step 3, marking attribute information of the main equipment of the transformer substation: marking attribute information of equipment in an electronic map of the transformer substation, and displaying the attribute information above the equipment when a user clicks certain equipment in the electronic map; the equipment comprises a transformer, a high-voltage switch electric appliance, a high-voltage insulator, a mutual inductor, a compensation device, a protection electric appliance, relay protection, an electric main wiring and a power distribution device, wherein the attribute information comprises a manufacturer, a model, a production date, equipment functional attributes and an equipment working environment state;
step 4, establishing a topological relation among main equipment of the transformer substation: in the spatial relationship, substation equipment belongs to a point target, a substation road belongs to a line target, and the topological relationship among the substation equipment comprises the relationship between points and lines;
step 5, identifying the position of the fault equipment; the background equipment monitoring system analyzes the equipment state monitoring data, acquires the position information of the fault equipment through the Beidou positioning facility after acquiring the identification result of the fault equipment, generates an operation and maintenance task and sends the operation and maintenance task to the operation and maintenance personnel handheld terminal;
step 6, receiving and analyzing the operation and maintenance tasks of the transformer substation: the terminal is used for extracting the position information and the fault information of the equipment to be overhauled and associating the position information and the fault information to a transformer substation electronic map in the system;
step 7, planning an optimal path to the equipment to be overhauled; taking the position information of the fault equipment in the step 5 as a destination, obtaining the current position information of operation and maintenance personnel as an initial place through Beidou positioning, and calculating a shortest distance path on the premise of passing through an electrified area at least through a path planning algorithm;
and 8, performing real-time path navigation and voice prompt on the operation and maintenance personnel.
4. The navigation method according to claim 3, characterized in that: step 4, the method for establishing the topological relation among the main equipment of the transformer substation comprises the following steps:
step 4.1, establishing a relation between points;
judging the coincidence and separation relations between the points according to the distance between the points;
(1) superposing: for point p1（x1,y1）,p2(x2,y2) If there is x1=x2And has y1=y2If so, the two points are considered to be overlapped;
(2) separation: determining to be separate for two points not satisfying (1);
step 4.2, establishing a relation between points and lines;
the basic relations between points and lines are three types of connection, inclusion and separation;
(1) the following steps are: the point is superposed with one of two end points of the straight line segment;
(2) comprises the following steps: if the distance d from the point to the line is 0 and the point coordinate of the point is located between the two end points according to the monotonicity of the line, the inclusion relationship is formed, namely the line includes the point;
(3) separation: the point-to-line distance is not equal to 0.
5. The navigation method according to claim 3, characterized in that: step 8, the method for real-time path navigation and voice prompt for operation and maintenance personnel comprises the following steps: and 6, after the optimal path is calculated through the step 6, providing real-time path navigation and voice prompt for operation and maintenance personnel, wherein the real-time path navigation and voice prompt specifically comprises four advancing direction prompts of advancing, retreating, left turning and right turning, and a live area prompt of a passing route and a live area prompt of a surrounding 50 meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811555259.7A CN109359789B (en) | 2018-12-19 | 2018-12-19 | Transformer substation operation and maintenance path planning navigation system and navigation method based on Beidou positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811555259.7A CN109359789B (en) | 2018-12-19 | 2018-12-19 | Transformer substation operation and maintenance path planning navigation system and navigation method based on Beidou positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109359789A CN109359789A (en) | 2019-02-19 |
| CN109359789B true CN109359789B (en) | 2021-11-02 |
Family
ID=65329154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811555259.7A Active CN109359789B (en) | 2018-12-19 | 2018-12-19 | Transformer substation operation and maintenance path planning navigation system and navigation method based on Beidou positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109359789B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110031006A (en) * | 2019-03-20 | 2019-07-19 | 云南电网有限责任公司文山供电局 | Converter station/substation safety channel environmental modeling method |
| CN110060442A (en) * | 2019-03-20 | 2019-07-26 | 云南电网有限责任公司文山供电局 | Personnel are anti-in station based on UWB is strayed into region modeling method |
| CN112393727B (en) * | 2019-08-16 | 2024-04-12 | 广东电网有限责任公司广州供电局 | Power distribution room navigation method and device, electronic equipment and computer readable storage medium |
| CN112556693A (en) * | 2019-09-25 | 2021-03-26 | 北京天诚同创电气有限公司 | Navigation method and device for operation and maintenance path of photovoltaic power station |
| CN111045055A (en) * | 2019-11-15 | 2020-04-21 | 国网河南省电力公司驻马店供电公司 | Beidou positioning-based 10kV and below electric power asset position navigation system |
| CN111641263A (en) * | 2020-05-20 | 2020-09-08 | 国网河北省电力有限公司电力科学研究院 | Secondary equipment intelligent operation and maintenance system and method based on three-dimensional navigation |
| CN113096366B (en) * | 2021-03-25 | 2022-10-14 | 国网河北省电力有限公司沧州供电分公司 | Electrified interval false-entry-prevention method and device and terminal equipment |
| CN114050963B (en) * | 2021-10-28 | 2024-05-17 | 上海市安装工程集团有限公司 | On-spot location finding system of data center equipment operation and maintenance management |
| CN114325229B (en) * | 2021-12-27 | 2024-07-12 | 深圳供电局有限公司 | Beidou-based power transmission line fault point positioning method and system |
| CN115426668A (en) * | 2022-07-11 | 2022-12-02 | 浪潮通信信息***有限公司 | Intelligent operation and maintenance system of base station |
| CN115146879B (en) * | 2022-09-05 | 2022-12-06 | 国网山西省电力公司超高压变电分公司 | Optimization method for safety measure arrangement path of relay protection room of transformer substation |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09145387A (en) * | 1995-11-28 | 1997-06-06 | Kokusai Electric Co Ltd | Operation assisting method for mobile |
| CN204188171U (en) * | 2014-08-12 | 2015-03-04 | 国家电网公司 | A kind of station route guidance system |
| CN104390652A (en) * | 2014-12-02 | 2015-03-04 | 国网上海市电力公司 | Intelligent navigation system for addresses of substations |
| CN105467276B (en) * | 2016-01-13 | 2018-09-21 | 国网浙江省电力公司 | A kind of line fault monitoring method and system |
| CN108053608A (en) * | 2017-11-08 | 2018-05-18 | 全球能源互联网研究院有限公司 | A kind of alarming in short range of electric power method, apparatus and alarming in short range of electric power intelligent helmet |
| CN108320451A (en) * | 2018-01-30 | 2018-07-24 | 上海电力学院 | A kind of virtual fence early warning system for line maintenance security protection |
-
2018
- 2018-12-19 CN CN201811555259.7A patent/CN109359789B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109359789A (en) | 2019-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109359789B (en) | Transformer substation operation and maintenance path planning navigation system and navigation method based on Beidou positioning | |
| CN111091609A (en) | Transformer substation field operation management and control system and method based on three-dimensional dynamic modeling | |
| CN111478324B (en) | Power station alarm analysis system | |
| CN201478883U (en) | Intelligent patrolling device for high-voltage transmission line | |
| CN105245001A (en) | Event-driven intelligent alarm processing method and device for transformer station accidents | |
| CN104951865A (en) | Material allocation tracking method and material allocation tracking system based on power grid GIS (geographic information system) | |
| CN104539047A (en) | Intelligent substation fault diagnosing and positioning method based on multi-factor comparison visualization | |
| CN104965854A (en) | Automatic plotting method and system for material allocation based on electrical network GIS | |
| CN105184522A (en) | Substation polling offside warning system and warning method | |
| CN115686014A (en) | Subway inspection robot based on BIM model | |
| CN113553486A (en) | Power transmission line running state visualization method, device, equipment and storage medium | |
| CN107202938B (en) | Transmission line fault positioning and display system | |
| CN105655920A (en) | Multifunctional air-ground dual-purpose electric unmanned aerial vehicle | |
| CN104950351A (en) | Meteorology-based multi-meteorological-element composite horizontal display method and system thereof | |
| CN103023152A (en) | N-1 Cut-off scanning on-line computing system capable of considering autotomy cooperation | |
| CN102542122B (en) | Rendering method and device for power failure area | |
| CN104166941B (en) | A kind of warning information method for visualizing and its system for electric network current diagram | |
| CN103630781A (en) | Composite energy supply non-contact on-line monitoring system for active electronic current transformer | |
| CN117313969A (en) | Substation robot inspection path optimization method and device | |
| CN116664763A (en) | Automatic generation method of indication map of forbidden limit area of power construction site of three-dimensional point cloud | |
| CN116014893A (en) | Remote visual intelligent inspection system for transformer substation | |
| CN103149548B (en) | A kind of method for information display based on electric power meter and device | |
| CN110310048A (en) | A kind of distribution planning overall process appraisal procedure and device | |
| CN210428558U (en) | Intelligent auxiliary system for power optical cable inspection line | |
| CN113836248A (en) | Communication line emergency repair method and equipment based on Internet of things and computer readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |