CN111275216B - Hierarchical collaborative optimization inspection method for high-voltage transmission full-line - Google Patents
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Abstract
The invention discloses a high-voltage transmission full-line layering collaborative optimization inspection method, which comprises the following steps of: step one, determining that the inspection mode is regular inspection, special inspection or fault inspection; and step two, selecting content inspection according to engineering practice. And thirdly, establishing comprehensive evaluation indexes of the cost, the efficiency and the quality of the inspection system, and dividing priority levels according to the quality, the cost and the efficiency. And step four, constructing a multi-objective optimization problem mathematical model for the objective function. Step five, determining a first layer optimization target, and performing first layer optimization by adopting a hierarchical collaborative optimization method. Step six, determining a second layer optimization target, and performing second layer optimization by adopting a hierarchical collaborative optimization method. And step seven, determining a third layer optimization target, and performing third layer optimization by adopting a hierarchical collaborative optimization method. According to the invention, the comprehensive evaluation indexes are adopted to carry out optimization grading on different inspection modes, resources are reasonably allocated, the inspection cost is reduced, the inspection quality and efficiency are improved, and the resources are effectively utilized to the greatest extent.
Description
Technical Field
The invention relates to the technical field of high-voltage transmission inspection, in particular to a high-voltage transmission full-line layering collaborative optimization inspection method.
Background
Along with the rapid development of Chinese economy, the electricity demand is also continuously increased, and the distribution of the high-voltage and ultra-high-voltage transmission lines is wider and wider. Once the power failure accident occurs, not only economic losses are brought to power and industrial enterprises, but also serious influences are brought to people's life and the whole society. Therefore, it is important to ensure safe operation of the high-voltage transmission line, and in order to maintain the power line to prevent occurrence of power accidents, daily inspection work is required to be performed on the line. However, the high-voltage line inspection is a job task with high labor intensity and wide involved area, and it is important how to effectively perform the line inspection with high efficiency, high quality and low cost.
The transmission line inspection method mainly comprises the following steps: (1) According to the ground visual inspection method, a ground inspection person carries instruments and equipment, the inspection is carried out on a hiking line, the identification and judgment are carried out manually, the mountain is required to be overturned, the labor intensity is high, and the line inspection work is mainly completed; (2) According to the helicopter inspection method, a certain distance is kept between the helicopter and the high-voltage line, inspection is performed along the high-voltage line, the inspection efficiency is high, the helicopter is easily affected by weather, the cost is high, and the line inspection work is mainly completed; (3) According to the unmanned aerial vehicle inspection method, the unmanned aerial vehicle is flexible in maneuvering and can navigate by an autonomous GPS, but has limited carrying capacity and shorter endurance time, and line inspection work is mainly completed; (3) According to the robot inspection method, the robot moves along the high-voltage line, and various devices can be carried on a robot platform, so that line inspection can be performed, and maintenance work such as line deicing, foreign matter cleaning and the like can be realized; (4) The vehicle inspection method is characterized in that under the coordination of vehicle ground traffic work, inspection personnel carry equipment to inspect the line, the vehicle inspection method has the characteristic of strong maneuverability, is easily affected by terrain limitation, and focuses on line maintenance work. In summary, the high-voltage line inspection method has a plurality of inspection modes, each mode has different inspection and overhaul functions, each mode has advantages and disadvantages, inspection discovers the defects of the high-voltage line only by the earlier work of the inspection task, and the purpose of inspection is to discover the defects of the line in time and repair the defects of the line. Therefore, how to cooperatively optimize different inspection modes is a key for guaranteeing the safe power transmission of the high-voltage circuit.
The technical defects existing in the prior art scheme are as follows:
scheme one: the inspection robots proposed in the documents [1-3] are different in structure, but can move along the high-voltage line, so that not only can the crossing of line obstacles be realized, but also the line hardware and damage can be overhauled. Although various tools can be carried on the inspection robot, repair work such as deicing, foreign matter clarity and the like can be finished while line inspection is finished. Because the inspection robot runs on the line, the body is heavy, and the inspection robot is not suitable for inspection under the condition of serious strand breakage.
Scheme II: the high-voltage line unmanned aerial vehicle detection proposed in the literature [4-6] has the characteristics of high flexibility and high inspection speed, and can realize detection and positioning of various defects such as high-voltage line insulators and line foreign matters. The high-voltage line unmanned aerial vehicle detection provided by the scheme II can finish detection and positioning of various defects such as a high-voltage line insulator and line foreign matters, but has the main function of detecting, and is always incapable of repairing the line defects.
Scheme III: document [7] studied a novel high voltage power line detection system consisting of a ground vehicle and an unmanned aircraft. The ground vehicle is used as a mobile platform, the unmanned aerial vehicle can be transmitted and recovered, and the unmanned aerial vehicle can fly over the power line for inspection within a limited endurance range. And optimizing the vehicle path in the road network and the unmanned plane path in the power line network to improve the detection efficiency. The system provided by the third scheme optimizes the vehicle path and the unmanned plane path in the power line network, improves the unmanned plane power line detection efficiency, but has not been mentioned about how to effectively repair the line defects.
Scheme IV: in order to carry out high-voltage line inspection, literature [8] provides an unmanned plane, a helicopter and a manual collaborative inspection mode according to different inspection tasks, geographic environments, voltage levels, inspection contents, inspection periods and the like, and appearance inspection and detail inspection can be effectively realized. According to the unmanned plane, the helicopter and the manual collaborative inspection mode, although the line condition can be effectively inspected, the maintenance conditions such as foreign matter removal and vibration damper reset are not considered.
Scheme five: the unmanned aerial vehicle inspection method is an effective method for inspecting the power line, and in order to efficiently realize the unmanned aerial vehicle line inspection, a cooperative inspection mode matched with a movable airport and a fixed airport is provided in a literature [9], and a fully-automatic and fully-covered intelligent inspection system of the unmanned aerial vehicle is established. The scheme five provides a collaborative inspection mode of combining a mobile airport and a fixed airport, and although the high-voltage line inspection can be realized, the inspection mode is completely carried out by virtue of an unmanned aerial vehicle, and if weather such as strong wind, rain and snow exists, the scheme can not be implemented.
Scheme six: in order to effectively perform high-voltage line inspection, document [10] proposes a multi-robot collaborative inspection scheme which can exert the advantages of a multi-robot system, and perform fault searching and repair operation by using multiple robots. The scheme six provides a multi-robot collaborative inspection scheme. However, the design scheme does not consider the optimal cooperation mode of the multiple robots, and the inspection and maintenance work can be completed at the same time, but the inspection and maintenance of the multiple robots may overlap, which may cause unnecessary economic loss due to the operation of the multiple robots.
In summary, the existing literature focuses on the inspection of high-voltage lines by adopting inspection robots and unmanned aerial vehicles [4-6] alone, and although some research results are obtained in the collaborative inspection aspect, no effective solution has been proposed for how to collaborate with multiple robots to effectively reduce inspection cost, improve inspection efficiency and obtain good inspection effect.
The references to the prior art solutions described above are as follows:
1. wang Jidai, wang Jing and Wei Junying A novel four-arm inspection robot is designed and simulated to analyze obstacle surmounting, and is mechanically driven, 2015.2015 (6) p.103-106.
2、P.-L.Richard,N.P.,F.Morin,M.Lepage,P.Hamelin,M.Lagacé,A.Sartor,G.Lambert and S.Montambault.LineRanger:Analysis and Field Testing of an Innovative Robot for Efficient Assessment of Bundled High-Voltage Powerlines.2019 International Conference on Robotics and Automation(ICRA)Palais des congres de Montreal,Montreal,Canada,May 20-24,2019,2019.1
3、Debenest P,G.M.,Takita K,et al.Expliner-Robot for inspection of transmission lines[C].2008IEEE International Conference on Robotics and Automation.IEEE,2008.,2008.
4、Luque-Vega L F,C.-T.B.,Loukianov A,et al.Power line inspection via an unmanned aerial system based on the quadrotor helicopter[C].MELECON 2014-2014 17th IEEE Mediterranean electrotechnical conference.,2014:p.IEEE,2014:393-397.5、Geraldo José,A.,Long Range Unmanned Aircraft System for Power Line Inspection of Brazilian Electrical System.Journal of Energy and Power Engineering,2014.8(2).
6. Chen Wenhao, yao Lina, li Fengzhe insulator defect detection and localization in unmanned aerial vehicle network inspection computer applications 2019 (S1) 2019.
7、Liu,Y,et al.Two-Layer Routing for High-Voltage Powerline Inspection by Cooperated Ground Vehicle and Drone.Energies,2019.12(7):p.1385.
8. Shang Mingwen, dai Lihao, lin Chaohui, wu Bingying. Electric power transmission line collaborative inspection method, transmission line operation maintenance new technical communication and China electric engineering society transmission line professional committee operation academy 2015, 2015.
9. Dai Yongdong, wang Maofei, song Xulin, mao Feng. Unmanned aerial vehicle intelligent patrol pattern exploration based on mobile and fixed airport cooperations [ C ]. National power transmission and distribution technology cooperated net. EPTC sixth annual meeting collection of power transmission, 2018 (2018): p.288-292.
10. The power line multi-robot collaborative inspection method comprises the following steps of: 201611014251.0;2018-06-19 (publication No. CN 106654987B).
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a hierarchical collaborative optimization inspection method for a high-voltage transmission full line, and solve the problems that the existing inspection mode cannot perform optimization collaboration aiming at a specific inspection mode, the main purpose is ambiguous, the resource waste is serious and the efficiency is low.
In order to achieve the above purpose, the technical solution adopted by the invention is as follows:
the high-voltage transmission full-line layering collaborative optimization inspection method comprises the following steps:
step one, determining the line inspection mode to be regular inspection, special inspection or fault inspection according to the actual line condition.
And secondly, selecting all or part of a high-voltage tower, a line fitting, a wire, a lightning conductor, an insulator and a line channel as content inspection according to engineering practice.
And thirdly, establishing comprehensive evaluation indexes of cost, efficiency and quality of the inspection system, and carrying out optimization grade division according to an inspection mode, wherein the optimization grade division is divided into a periodic inspection optimization grade, a fault inspection optimization grade and a special inspection optimization grade.
And step four, constructing a multi-objective optimization problem mathematical model of the inspection robot by taking comprehensive evaluation indexes of the inspection system as objective functions, taking actual engineering environment, robot cruising ability, manual number and the like into consideration, and taking the model as constraint conditions of the optimization problem of the inspection system.
Step five, determining a first-layer optimization target according to the divided optimization grades, and performing first-layer optimization by adopting a hierarchical collaborative optimization method, wherein the inspection robot, the unmanned plane, the helicopter, the vehicle and the human work according to parallel, interactive and collaborative operations.
In the regular inspection and special inspection modes, the first layer of optimization targets are inspection quality.
In the fault inspection process, the first layer of optimization targets are inspection efficiency.
Step six, determining a second-layer optimization target according to the divided optimization grades, and performing second-layer optimization by adopting a hierarchical collaborative optimization method, wherein the inspection robot, the unmanned plane, the helicopter, the vehicle and the human work according to parallel, interactive and collaborative operations.
In the periodic inspection mode, the second layer of optimization targets are inspection fees.
In a special inspection mode, the second layer optimization target is inspection efficiency.
In the fault inspection process, the second layer optimization target is inspection quality.
And step seven, determining a third-layer optimization target according to the divided optimization grades, and performing third-layer optimization by adopting a hierarchical collaborative optimization method, wherein the inspection robot, the unmanned plane, the helicopter, the vehicle and the human work according to parallel, interactive and collaborative operations to obtain a collaborative optimization scheme.
In the regular inspection process, the third layer optimization target is inspection efficiency.
In the special inspection mode and the fault inspection process, the third layer optimization target is inspection cost.
And step eight, obtaining an optimal decision through the steps, and simultaneously, carrying out regional line segment division again according to the inspection result and the engineering completion condition, and executing the step two to the step seven again to realize dynamic optimization.
In the fourth step, the high-voltage line inspection cost, the inspection efficiency and the inspection quality are used as objective functions, the number of workers, the number of vehicles and the number of robots of each type are used as decision variables, and the environmental conditions, the cruising ability, the number of people, the number of robots, the inspection ability of the robots and the like are used as constraint conditions to construct an inspection robot multi-objective optimization problem mathematical model:
constraint conditions: x is x l_n ≤N l ；x v_n ≤N v ；x h_n ≤N h ；x u_n ≤N u ；
Wherein F is C F is the high-voltage whole-circuit inspection cost E F is the inspection efficiency of the high-voltage whole line Q The inspection quality of the high-voltage whole line is achieved;
x l_n ，x v_n ，x h_n ，x u_n the actual number of workers, the actual number of vehicles, the actual number of helicopters and the actual number of unmanned aerial vehicles are respectively;
is a matrix, which represents the number of various inspection robots, z represents the total type of the inspection robots, 1,2,3, … z is a natural number, < + >>Representing the actual number of z-th robots.
N l ，N v ，N h ，N u ，N R The total number of workers, the total number of vehicles, the total number of helicopters, the total number of unmanned aerial vehicles and the total number of inspection robots are respectively adopted.
N R ＝[R 1 ,R 2 ,R 3 …R z ]Is in combination withThe total number of the inspection robots in the corresponding category is the actual engineering.
Further, the inspection expense not only comprises cost of helicopter, unmanned aerial vehicle and various inspection robot equipment, but also comprises cost of labor, high-voltage tower, wires, lightning conductor, line hardware, insulator, electricity fee and consumable materials generated by inspection of line channel.
The inspection efficiency refers to the workload of workers, vehicles, helicopters, unmanned aerial vehicles and various inspection robots in unit time.
Inspection quality refers to the effects of helicopters, unmanned aerial vehicles, various inspection robots, manual work, vehicle inspection and maintenance.
Further, in regular inspection, the inspection quality is placed before the economic optimization index, the efficiency is placed after the economic optimization index, and the comprehensive evaluation index is graded according to the order of the inspection quality, the cost and the efficiency.
Further, in special inspection, the inspection quality is placed before the efficiency index, the economic optimization index is placed after the efficiency index, and the comprehensive evaluation index is graded according to the order of the inspection quality, the efficiency and the cost.
Further, in the fault inspection process, efficiency is placed before inspection quality indexes, economic optimization indexes are placed after inspection quality, and comprehensive evaluation indexes are classified according to the order of inspection efficiency, quality and cost.
By adopting the technical scheme, the invention has the beneficial technical effects that: the invention realizes the high-voltage line inspection function with high efficiency, low cost and high quality. Compared with the unmanned plane, the helicopter and the manual collaborative inspection mode which are proposed in the scheme IV, the proposed collaborative optimization scheme for the high-voltage line multi-robot can not only effectively inspect the line condition, but also repair the defects of corresponding foreign matters, damper displacement and the like. Compared with a cooperative inspection mode of combining a mobile airport and a fixed airport, the scheme can still be effectively implemented if weather such as strong wind, rain and snow exists. Compared with the scheme six, the scheme six provides the multi-robot collaborative inspection scheme, and the scheme six provides the multi-robot collaborative optimization design scheme which can effectively reduce inspection cost, improve inspection efficiency, ensure inspection quality and effectively and reasonably utilize resources.
Drawings
Fig. 1 is a flow chart of inspection work of the high-voltage transmission full-line layered collaborative optimization inspection method.
Detailed Description
The invention provides a layering collaborative optimization inspection method for a high-voltage transmission full line, which aims to make the purposes, the technical scheme and the effects of the invention clearer and more definite, and is further described in detail below. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Over time, due to the influence of various factors such as product quality, natural environment, construction process, design defects and the like, a large number of defects of power transmission and distribution equipment exist in the high-voltage line inevitably, and how to inspect the high-voltage line, and how to discover the defects in time and overhaul the defects becomes particularly important.
The high-voltage line inspection can be divided into three cases: (1) periodic inspection: the line is inspected according to a preset date, the environment change condition along the line is checked, and the inspection time is periodically carried out, and generally comprises daytime and night inspection; (2) special inspection: in severe weather, such as lightning stroke, storm, etc., fire, river flooding and other special conditions, all or part of the lines are inspected, and the inspection time depends on the weather conditions. And (3) fault inspection: under the condition that the line is abnormal or fails, the important inspection section and the important inspection part are inspected according to the abnormal or failure information, and the inspection time is random. The high-voltage whole line inspection content is numerous, and mainly comprises (1) the condition of a high-voltage tower, and checking whether a high-voltage tower body and a cross arm are corroded, deformed, damaged and the like; (2) The condition of the lead and the lightning conductor is checked to see whether the lead and the lightning conductor are damaged, broken strands, rust corrosion, foreign matter hanging and the like; (3) The state of the line hardware fitting is checked to see whether the hardware fitting is rusted or damaged, whether the damper is rusted, shifted, fallen and the like; (4) Checking the condition of the insulator, and checking whether the insulator has cracks, burn marks, breakage, deflection, falling off and the like; (5) And (5) checking the distance between the building, the tree and the like in the line channel and the line wire. The high-voltage line overhaul corresponds to the high-voltage line inspection, and comprises the overhaul of defects such as a high-voltage tower, a wire, a lightning conductor, a hardware fitting, an insulator, a line channel and the like.
In summary, the high-voltage line relates to a plurality of inspection conditions, modes and contents, so that inspection and maintenance are associated, and the inspection modes of manual work, vehicles, helicopters, unmanned aerial vehicles, inspection robots with different functions and the like are associated. That is, the high-voltage full-line inspection is a complex large system which is mutually related by people, vehicles, helicopters, unmanned aerial vehicles and multiple robots.
The method takes engineering environment, endurance, the number of inspection robots, the number of workers, the number of vehicles and the like as constraint conditions, wherein the constraint generated by the conditions of the engineering environment is the limitation of weather such as strong wind, rain and snow and the like and terrains such as mountains and rivers and the like, so that helicopters, unmanned aerial vehicles and vehicles cannot be used. The method comprises the steps of taking the number of workers, the number of vehicles, the types and the number of inspection robots, the number of unmanned aerial vehicles and the number of helicopters as decision variables, realizing full-line inspection by adopting a collaborative optimization theory on the layered basis according to a mathematical model of an established high-voltage full-line collaborative optimization inspection system and a large-system theory, acquiring optimal dynamic decisions and completing multi-robot collaborative dynamic optimization scheduling.
According to the technical route of the hierarchical collaborative optimization inspection of the high-voltage transmission full line as shown in fig. 1, the hierarchical collaborative optimization inspection method of the high-voltage transmission full line comprises the following steps:
step one, determining the line inspection mode to be regular inspection, special inspection or fault inspection according to the actual line condition. The high-voltage full-line collaborative optimization inspection can be classified according to the three conditions of regular inspection, special inspection and fault inspection, and the high-voltage line inspection area division is performed according to the characteristics of different conditions.
And secondly, selecting all or part of a high-voltage tower, a line fitting, a wire, a lightning conductor, an insulator and a line channel as content inspection according to engineering practice. According to the inspection and maintenance functions of a manual work, a helicopter, an unmanned aerial vehicle inspection robot and a vehicle, the inspection and maintenance functions are implemented on the conditions of a high-voltage tower, the conditions of a wire and a lightning conductor, the conditions of a line fitting, the conditions of an insulator, the conditions of a line channel and the like.
And thirdly, establishing comprehensive evaluation indexes of cost, efficiency and quality of the inspection system, and carrying out optimization grade division according to an inspection mode, wherein the optimization grade division is divided into a periodic inspection optimization grade, a fault inspection optimization grade and a special inspection optimization grade.
The high-voltage line inspection is characterized in that the high-voltage line inspection comprises a plurality of parts, each part forms an effective whole, and the inspection aims at timely repairing the line, so that the inspection and the maintenance are also parts which are difficult to divide, and a comprehensive evaluation index system for high-voltage whole line inspection needs to be established for realizing collaborative optimization of manpower, vehicles, helicopters, unmanned aerial vehicles and various robots. The invention takes the high-voltage whole-circuit inspection cost, efficiency and quality as comprehensive performance indexes. (1) The inspection cost mainly comprises equipment cost such as helicopters, unmanned aerial vehicles, various inspection robots and the like, labor cost, high-voltage towers, wires, lightning wires, line hardware fittings, insulators, electricity cost generated by inspection of line channels, consumable materials and the like; (2) The inspection efficiency refers to the workload of workers, vehicles, helicopters, unmanned aerial vehicles and various inspection robots in unit time; (3) Inspection quality refers to the effects of helicopters, unmanned aerial vehicles, various inspection robots, manual inspection and vehicle inspection and maintenance, for example, the minimum area of broken strands, suspension clamp reset precision, line deicing effect, line rust removal effect and the like can be found, and the performance index is required to be evaluated in a grading manner through an expert system, so that inspection and maintenance quality is quantized.
And fourthly, constructing a multi-objective optimization problem mathematical model of the inspection robot by taking comprehensive evaluation indexes of the inspection system as objective functions, and taking engineering environment, cruising ability, the number of the inspection robots, the number of workers, the number of vehicles and the like as constraint conditions, wherein the constraint generated by the conditions of the engineering environment is weather such as strong wind, rain and snow and the like and topography such as mountains and rivers and the like, so that the helicopter, the unmanned aerial vehicle and the vehicles cannot be used to generate the constraint. The method comprises the steps of taking high-voltage transmission line inspection cost, inspection efficiency and inspection quality as objective functions, taking the number of workers, the number of vehicles, the types and the number of inspection robots, the number of unmanned aerial vehicles and the number of helicopters as decision variables, and taking environmental conditions, cruising ability, the number of people, the number of robots, the inspection ability of robots and the like as constraint conditions to construct an inspection robot multi-objective optimization problem mathematical model:
constraint conditions: x is x l_n ≤N l ；x v_n ≤N v ；x h_n ≤N h ；x u_n ≤N u ；
Wherein F is C F is the high-voltage whole-circuit inspection cost E F is the inspection efficiency of the high-voltage whole line Q The inspection quality of the high-voltage whole line is achieved;
x l_n ，x v_n ，x h_n ，x u_n respectively the actual number of manpower, the actual number of vehicles, the actual number of helicopters and the actual number of unmanned aerial vehiclesNumber of pieces;
is a matrix, which represents the number of various inspection robots, z represents the total type of the inspection robots, 1,2,3, … z is a natural number, < + >>Representing the actual number of z-th robots;
N l ，N v ，N h ，N u ，N R the total number of workers, the total number of vehicles, the total number of helicopters, the total number of unmanned aerial vehicles and the total number of inspection robots are respectively;
N R ＝[R 1 ,R 2 ,R 3 …R z ]is in combination withThe total number of the inspection robots in the corresponding category is the actual engineering.
According to the established mathematical model of the high-voltage transmission full-line collaborative optimization inspection system, according to the large system theory, on the layered basis, the full-line inspection is realized by adopting the collaborative optimization theory, the optimal dynamic decision is obtained, and the multi-robot collaborative dynamic optimization scheduling is completed. And establishing a comprehensive performance index of the high-voltage line multi-robot inspection system and a multi-robot layered collaborative optimization mechanism.
The comprehensive performance index of the high-voltage line comprises three aspects of inspection cost, inspection efficiency and inspection quality, and the optimization grades of the performance indexes are different according to the inspection modes. In regular inspection and special inspection, the main concept is "preventing and curing, although some tiny damages may occur in the high-voltage line, the normal operation of the line is not affected, in order to discover the damages, the line is repaired in time, the loss is avoided, and the inspection quality is at a primary position. In regular inspection, because the inspection is performed regularly every month, the inspection frequency is relatively high, the cost optimization index is reasonable after the efficiency is put, and the comprehensive evaluation index can be divided according to three priority levels of inspection quality, cost and efficiency.
In special inspection, inspection is often performed under special weather and other conditions, and the environment change is large, so that the optimization index of inspection efficiency is placed before the cost optimization index, and the comprehensive index is optimized according to three priority levels of inspection quality, efficiency and cost. In the fault inspection process, because the line has failed, the damaged position needs to be quickly found and repaired to restore the power supply, so that the inspection efficiency is put at the first place, and the comprehensive index thereof is optimized by taking the inspection efficiency, quality and cost as priority. According to different performance index optimization grades, hierarchical sequences are adopted for gradual optimization, and each layer of optimization is the collaborative optimization of manpower, vehicles, helicopters, unmanned planes and various inspection robots.
Step five, determining a first-layer optimization target according to the divided optimization grades, and performing first-layer optimization by adopting a hierarchical collaborative optimization method, wherein the inspection robots, the unmanned aerial vehicles, the helicopters, the vehicles and the manpower work according to the parallel, interactive and collaborative operations of the inspection robots, the unmanned aerial vehicles, the helicopters, the vehicles and the manpower to obtain a collaborative optimization scheme. It should be noted that in the regular inspection and special inspection modes, the first layer of optimization targets are inspection quality. In the fault inspection process, the first layer of optimization targets are inspection efficiency.
Step six, determining a second-layer optimization target according to the divided optimization grades, and performing second-layer optimization by adopting a hierarchical collaborative optimization method, wherein the inspection robots, unmanned aerial vehicles, helicopters, vehicles and people work in parallel, interactively and cooperatively to obtain a collaborative optimization scheme. It should be noted that in the periodic inspection mode, the second layer of optimization targets are inspection fees. In a special inspection mode, the second layer of optimization targets are inspection efficiency. In the fault inspection process, the second layer optimization target is inspection quality.
And step seven, determining a third-layer optimization target according to the divided optimization grades, and carrying out parallel, interactive and cooperative work on the inspection robot, the unmanned plane, the helicopter, the vehicle and the manpower to obtain a cooperative optimization scheme. It should be noted that the third layer optimization objective is inspection efficiency during periodic inspection. In the special inspection mode and the fault inspection process, the third layer optimization target is inspection cost.
The design concept of the hierarchical sequence optimization is that the second layer optimization is further optimized in the result of the first layer optimization, and the third layer optimization is further optimized in the result of the second layer optimization. In engineering practice, in order to avoid interruption of the optimization of the subsequent layer caused by the unique solution of the optimization of the previous layer, the optimization is performed by adopting a tolerant hierarchical sequence method, namely, the optimization is performed in a certain range near the optimal value of the objective function of the previous layer. The method can avoid interruption of subsequent layer optimization in the layering optimization process, and simultaneously can avoid the conditions that some performance indexes of engineering actual high-voltage transmission line inspection efficiency, cost and quality are optimal and other indexes are too low.
And step eight, continuously adjusting a scheme according to the inspection result and the actual engineering condition to realize dynamic optimization.
The high-voltage transmission full-line inspection collaborative optimization problem relates to professional knowledge of various subjects such as system science, energy economy, environmental engineering, statistics and the like, and has great difficulty in optimizing design and solving, and the environment condition, the robot cruising ability, the inspection ability and the like of the high-voltage line are required to be comprehensively analyzed. The hierarchical collaborative optimization design thought is shown in fig. 1, and a large system decomposition technology is adopted to decompose each regional line into a patrol and overhaul sub-optimization system (a first-stage optimization subsystem), wherein the patrol sub-optimization system comprises a manual, vehicle, helicopter, unmanned plane and various patrol robot sub-optimization patrol systems (a second-stage optimization subsystem), and the overhaul sub-optimization system comprises a manual, vehicle and various patrol robot overhaul sub-optimization systems (a second-stage optimization subsystem). Each sub-inspection optimization problem is solved independently to a certain extent, the inspection and maintenance subsystem is optimized cooperatively on the basis of sub-subsystem optimization, and the integral optimal design of the inspection system is realized under the influence of a coordination strategy. Specifically, for the same-level optimization system, when optimizing each sub-optimization problem, the results of other sub-optimization problems are comprehensively considered, so that the optimization results among the sub-optimization problems can be consistent, and the sub-optimization problem results are unified with the whole-process optimization problem results. The high-voltage line inspection technology optimization problem is decomposed into a plurality of sub-optimization problems, and the decomposition modeling and parallel solving strategy is adopted, so that the method has the advantages of low modeling difficulty, high solving efficiency, good model independence, suitability for distributed computation and the like, and the collaborative optimization is an effective method for solving the high-voltage line inspection complex engineering optimization problem related to multiple disciplines, so that the coordination and unification of subsystem parameter optimization and whole process parameter optimization can be realized.
And step eight, obtaining an optimal decision through the steps, and simultaneously, carrying out regional line segment division again according to the inspection result and the engineering completion condition, and executing the step two to the step seven again to realize dynamic optimization.
The invention realizes the high-voltage line inspection function with high inspection efficiency, low cost and high quality. Compared with the unmanned plane, the helicopter and the manual collaborative inspection mode which are proposed in the scheme IV, the proposed collaborative optimization scheme for the high-voltage line multi-robot can not only effectively inspect the line condition, but also repair the defects of corresponding foreign matters, damper displacement and the like. Compared with a cooperative inspection mode of combining a mobile airport and a fixed airport, the scheme can still be effectively implemented if weather such as strong wind, rain and snow exists. Compared with the scheme six, the scheme six provides the multi-robot collaborative inspection scheme, and the scheme six can effectively reduce inspection cost, improve inspection efficiency and ensure inspection quality.
The parts not described in the invention can be realized by adopting or referring to the prior art.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The foregoing description is, of course, merely illustrative of preferred embodiments of the present invention, and it should be understood that the present invention is not limited to the above-described embodiments, but is intended to cover all modifications, equivalents and alternatives falling within the spirit and scope of the present invention as defined by the appended claims.
Claims (5)
1. The high-voltage transmission full-line layering collaborative optimization inspection method is characterized by comprising the following steps of:
step one, determining a line inspection mode to be regular inspection, special inspection or fault inspection according to the actual condition of the line;
step two, according to engineering practice, selecting all or part of a high-voltage tower, a line fitting, a wire, a lightning conductor, an insulator and a line channel as content inspection;
establishing comprehensive evaluation indexes of cost, efficiency and quality of the inspection system, and carrying out optimization grade division according to an inspection mode, wherein the optimization grade division is divided into a periodic inspection optimization grade, a fault inspection optimization grade and a special inspection optimization grade;
constructing a multi-objective optimization problem mathematical model of the inspection robot by taking comprehensive evaluation indexes of the inspection system as objective functions, taking actual engineering environment, the cruising ability of the robot and the number of workers into consideration, and taking the model as constraint conditions of the optimization problem of the inspection system;
step five, determining a first-layer optimization target according to the divided optimization grades, and performing first-layer optimization by adopting a hierarchical collaborative optimization method, wherein the inspection robot, the unmanned plane, the helicopter, the vehicle and the human work according to parallel, interactive and collaborative operations;
in the regular inspection and special inspection modes, the first layer of optimization targets are inspection quality;
in the fault inspection process, the first layer of optimization targets are inspection efficiency;
step six, determining a second-layer optimization target according to the divided optimization grades, and performing second-layer optimization by adopting a hierarchical collaborative optimization method, wherein the inspection robot, the unmanned plane, the helicopter, the vehicle and the human work according to parallel, interactive and collaborative operations;
in a periodic inspection mode, the second layer of optimization targets are inspection fees;
in a special inspection mode, the second layer optimization target is inspection efficiency;
in the fault inspection process, the second layer optimization target is inspection quality;
step seven, determining a third-layer optimization target according to the divided optimization grades, and performing third-layer optimization by adopting a hierarchical collaborative optimization method, wherein a patrol robot, an unmanned plane, a helicopter, a vehicle and a person work according to parallel, interactive and collaborative operations to obtain a collaborative optimization scheme;
in the regular inspection process, the third layer optimization target is inspection efficiency;
in the special inspection mode and the fault inspection process, the third layer optimization target is inspection cost;
step eight, obtaining an optimal decision through the steps, and simultaneously, re-dividing the regional line section according to the inspection result and the engineering completion condition, and executing the step two to the step seven again to realize dynamic optimization;
in the fourth step, the high-voltage line inspection cost, the inspection efficiency and the inspection quality are used as objective functions, the number of workers, the number of vehicles and the number of robots of each type are used as decision variables, and the environmental conditions, the cruising ability, the number of workers, the number of robots and the inspection ability of the robots are used as constraint conditions to construct an inspection robot multi-objective optimization problem mathematical model:
constraint conditions: x is x l_n ≤N l ；x v_n ≤N v ；x h_n ≤N h ；x u_n ≤N u ；
Wherein F is C F is the high-voltage whole-circuit inspection cost E F is the inspection efficiency of the high-voltage whole line Q The inspection quality of the high-voltage whole line is achieved;
x l_n ，x v_n ，x h_n ，x u_n the actual number of workers, the actual number of vehicles, the actual number of helicopters and the actual number of unmanned aerial vehicles are respectively;
is a matrix, which represents the number of various inspection robots, z represents the total type of the inspection robots, 1,2,3, … z is a natural number, < + >>Representing the actual number of z-th robots;
N l ，N v ，N h ，N u ，N R the total number of workers, the total number of vehicles, the total number of helicopters, the total number of unmanned aerial vehicles and the total number of inspection robots are respectively;
N R ＝[R 1 ,R 2 ,R 3 …R z ]is in combination withThe total number of the inspection robots in the corresponding category is the actual engineering.
2. The method for the hierarchical collaborative optimization inspection of the high-voltage transmission full line according to claim 1, which is characterized in that the inspection cost not only comprises the cost of equipment of helicopters, unmanned aerial vehicles and various inspection robots, but also comprises the labor cost, the high-voltage tower, wires and lightning conductors, line fittings, insulators and consumable materials cost generated by the inspection of a line channel;
the inspection efficiency refers to the workload of workers, vehicles, helicopters, unmanned aerial vehicles and various inspection robots in unit time;
inspection quality refers to the effects of helicopters, unmanned aerial vehicles, various inspection robots, manual work, vehicle inspection and maintenance.
3. The method for hierarchical collaborative optimization inspection of a high-voltage transmission line according to claim 1, wherein in regular inspection, inspection quality is placed before an economic optimization index, efficiency is placed after the economic optimization index, and comprehensive evaluation indexes are ranked according to the order of inspection quality, cost and efficiency.
4. The method for hierarchical collaborative optimization inspection of a high-voltage transmission line according to claim 1, wherein in special inspection, inspection quality is placed before efficiency indexes, economic optimization indexes are placed after efficiency, and comprehensive evaluation indexes are ranked according to the order of inspection quality, efficiency and cost.
5. The method for hierarchical collaborative optimization inspection of a high-voltage transmission line according to claim 1, wherein in the fault inspection process, efficiency is placed before inspection quality indexes, economic optimization indexes are placed after inspection quality, and comprehensive evaluation indexes are graded according to the order of inspection efficiency, quality and cost.
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