摘要
【目的】输电线路容易受到外力破坏,如建筑施工和车辆碰撞等。通过准确测量外破隐患空间距离,可以预警并及时采取措施避免故障发生,进而保障输电线路的安全稳定运行。但在输电线路较长的情况下,区域点云密度不均匀性会明显增加,给计算外破隐患空间距离带来困难,同时在噪声点的干扰下,测量误差和转换参数不准确等问题导致故障点与端点之间产生坐标转换误差。为了及时智能化测量输电线路外破故障点与端点之间的距离、快速消除外破故障,提出了一种输电线路外破隐患空间距离三维点云测量方法。【方法】基于点云密度的高程滤波区间,利用kdtree空间结构遍历整幅图像,获取点云数据。对三维点云提取到的输电线路目标图像进行色彩调整、旋转、分辨率调整以及翻转等一系列预处理;当输电线路外破引起不对称短路故障时,结合输电线路的正序电感、电容以及容抗信息,解算目标像素点后的输电线路外破隐患空间距离,分析输电线路两端的正序分量和负序分量,对目标像素点进行解算,消除故障点处不同步相角的影响,构建空间距离测量函数,根据子空间网格点云的最小值和均值之和确定搜索半径,解算目标图像中的像素点,实现对输电线路外破隐患空间距离的精准测量。【结果】所提方法在不同步相角和不同过渡电阻下,测距绝对误差较小,最大值未超过2 m,不存在伪根情况,所测量的空间距离与故障距离最为接近,可实现对输电线路外破隐患精准测距。在恶劣天气或复杂地形条件下,若人员难以到达现场巡检,可通过远程监控点云数据来分析外破隐患空间距离,如果发现某一物体(如正在靠近输电线路的施工机械)与输电线路之间的空间距离逐渐缩小,当达到设定的危险阈值时,系统需要发出预警并及时采取措施避免外破事故的发生。【结论】采用三维点云测量技术对输电线路外破隐患空间距离进行测量,可以实时监测输电线路周围环境,全面准确地掌握输电线路的健康状况。根据实际情况优化巡检策略,重点巡检外破隐患风险较高的区域,减少不必要的巡检工作量,提高运维效率。
[Objective]Transmission lines are easily damaged by external forces,such as construction and vehicle impact.Accurately measuring the space distance of hidden dangers from their external damage helps give early warning,take timely measures to avoid faults,and thereby guarantee the safe and stable operation of transmission lines.However,in the case of long transmission lines,the density and unevenness of point clouds in the area are high,which brings difficulties to calculating the space distance of hidden dangers from external damage.At the same time,under the interference of noise points,measurement errors,inaccurate conversion parameters,and other reasons lead to coordinate conversion errors between the fault points and endpoints.To timely and intelligently measure the distance between the fault points of external damage and endpoints of transmission lines and quickly eliminate external faults,this paper proposed a 3D point cloud measurement method for the space distance of hidden dangers from external damage to transmission lines.[Methods]Based on the elevation filtering interval of point cloud density,this study traversed the entire image by using the kdtree spatial structure to obtain point cloud data.A series of preprocessing was performed such as color adjustment,rotation,resolution adjustment,and flipping on the target image of the transmission line extracted from the 3D point cloud.When an asymmetric short circuit fault was caused by an external damage to a transmission line,the space distance of the hidden danger from the external damage to the transmission line was calculated with the positive-sequence inductance,capacitance,and capacitive reactance information of the transmission line.The positive and negative-sequence components at both ends of the transmission line were analyzed,and the target pixel point was solved to eliminate the influence of asynchronous phase angles at the fault point.A space distance measurement function was constructed,and the search radius was determined according to the sum of the minimum and mean values of the subspace grid point cloud.The pixel points in the target image were solved to achieve accurate measurement of the space distance of the hidden dangers from the external damage to the transmission lines.[Results]The proposed method has a small absolute error in distance measurement under asynchronous phase angles and different transition resistances,with a maximum value of no more than 2 m,and there are no false roots.The measured space distance is closest to the fault distance,which can achieve accurate distance measurement of hidden dangers from external damage to the transmission line.When it is difficult for personnel to reach the site for inspection in adverse weather or complex terrain conditions,remote monitoring of point cloud data can be used to analyze the space distance of hidden dangers from external damage.If it is found that the space distance between an object(such as construction machinery approaching the transmission line)and the transmission line gradually decreases and reaches the set danger threshold,early warning should be issued,and measures should be taken in a timely manner to avoid external damage accidents.[Conclusion]By applying 3D point cloud measurement technology,the space distance of hidden dangers from external damage to transmission lines can be measured,which can monitor the environmental conditions around the transmission lines in real time and provide a more comprehensive and accurate understanding of the health status of the transmission lines.In this way,the inspection strategy can be optimized according to the actual situation,focusing on areas with high risks of hidden dangers from external damage,which can reduce unnecessary inspection workload and improves operation and maintenance efficiency.
作者
廖如超
刘高
汪皓
成国雄
朱凌
LIAO Ruchao;LIU Gao;WANG Hao;CHENG Guoxiong;ZHU Ling(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;Machine Patrol Management Center,Guangdong Power Grid Co.,Ltd.,Guangzhou 510335,Guangdong,China;.Shaoguan Power Supply Bureau,Guangdong Power Grid Co.,Ltd.,Guangzhou 510335,Guangdong,China;Zhongshan Power Supply Bureau,Guangdong Power Grid Co.,Ltd.,Guangzhou 510335,Guangdong,China)
出处
《沈阳工业大学学报》
北大核心
2025年第1期14-20,共7页
Journal of Shenyang University of Technology
基金
国家自然科学基金项目(61803099)
南方电网公司科技项目(GDKJXM20220157)。
关键词
目标像素点
输电线路外破隐患
空间距离
三维点云
测距函数
不同步相角
target pixel
external damage to transmission line
space distance
3D point cloud
ranging function
asynchronous phase angle
