CN-121982840-A - External damage prevention early warning system for three-dimensional operation crane of transformer substation

CN121982840ACN 121982840 ACN121982840 ACN 121982840ACN-121982840-A

Abstract

The invention relates to the technical field of monitoring and early warning of power equipment, and particularly discloses an external damage prevention early warning system of a three-dimensional operation crane of a transformer substation. The invention adopts a mode of fusing various sensor data, ensures that the system can accurately sense the surrounding environment in a three-dimensional space and make a reaction, particularly in the complex and narrow-space environment such as a transformer substation, the sensor fusion can obviously improve the comprehensiveness and precision of environment sensing, the system can make danger prediction and intelligent decision, and the system can make a reaction in real time and can also perform self-learning and optimization according to historical data and environmental changes, thereby providing an optimal early warning strategy under different operation conditions.

Inventors

WANG XUE
ZHANG YING
SHEN JUANPING
WANG GUOZHONG
LIN SHUGUANG
LI MEI
SHAO YING
GUO YANJUN

Assignees

云南电网有限责任公司文山供电局

Dates

Publication Date: 20260505
Application Date: 20251218

Claims (10)

1. The external damage prevention early warning system for the three-dimensional operation crane of the transformer substation is characterized by comprising an environment sensing module, a dynamic early warning and collision prevention module, a data fusion and decision module, a man-machine interaction operation module and a system self-diagnosis and maintenance module; The system comprises an environment sensing module, a dynamic early warning and anti-collision module, a data fusion and decision module, a man-machine interaction operation module, a system self-diagnosis and maintenance module and a control module, wherein the environment sensing module is in charge of sensing the surrounding environment of a crane and collecting and analyzing surrounding obstacle information; the operation process of the dynamic early warning and anti-collision module comprises the following steps: Based on various environmental sensors in the environmental perception module, collecting surrounding environmental data in real time, and transmitting the collected data to the data fusion and decision module; Based on the information obtained by the analysis and processing of the data fusion and decision module, the system generates a real-time three-dimensional environment map around the crane, marks the position, shape and distance of each obstacle, identifies and classifies the obstacle by using computer vision, image processing or deep learning algorithm, and transmits the generated information to the dynamic early warning and anti-collision module; Based on the three-dimensional environment map and the obstacle information generated by the system, the dynamic early warning and anti-collision module evaluates collision risks according to the current position, speed and motion track of the crane and the relative positions of surrounding obstacles, judges whether potential collision risks exist, allocates a risk level for each potential collision event according to evaluation results, and determines corresponding response strategies.
2. The substation three-dimensional stereo operation crane external damage prevention early warning system according to claim 1, wherein the dynamic early warning and collision prevention module generates a real-time risk assessment curve according to the current position, speed, movement track of the crane and the relative position of surrounding obstacles, and assesses risk level according to the following collision risk function: Wherein the method comprises the steps of Is the maximum speed of the crane and prevents infinite risk value, a The maximum acceleration of the crane is used for normalizing the influence of the acceleration; The smaller the expression distance, the higher the risk; The higher the relative speed is, the higher the risk is, and the maximum speed ratio is normalized; the influence of acceleration is represented, and larger acceleration represents that the crane is rapidly adjusted, so that the risk of avoiding or braking is increased.
3. The anti-external-damage early warning system of the three-dimensional operation crane of the transformer substation is characterized in that the environment sensing module comprises a laser radar, an ultrasonic sensor, a high-definition camera, a vision processing system and an infrared sensor, wherein the laser radar can provide high-precision point cloud data of a three-dimensional space for sensing the distance and the position of surrounding obstacles, the ultrasonic sensor is used for measuring the distance between the crane and surrounding objects, the high-definition camera acquires real-time images of the surroundings, the position information of the obstacles, personnel and equipment can be identified by combining with a computer vision technology, and the infrared sensor is used for helping the crane to sense the temperature difference of the surrounding invisible obstacles or objects in low-light environment or during night operation.
4. The system for preventing external damage of a three-dimensional working crane of a transformer substation according to claim 1, wherein the dynamic early warning and anti-collision system combines laser radar and vision sensor data, calculates a movement path of the crane, dynamically adjusts the movement path, automatically adjusts a crane driving path if the system detects that an obstacle is about to approach the working path of the crane, avoids the obstacle, and analyzes whether the crane collides with the obstacle in real time according to the sensor data.
5. The anti-external-damage early warning system of the three-dimensional operation crane of the transformer substation according to claim 1, wherein the man-machine interaction operation module is used for helping an operator to view environmental data around the crane in real time through a vehicle-mounted display screen or a mobile terminal through a visual interface and real-time data display, and the system can display a three-dimensional map, alarm information and suggestion operation according to environmental changes; when the crane approaches a dangerous area, the system alerts the operator through an audible alarm or vibration feedback.
6. The substation three-dimensional stereo operation crane external damage prevention early warning system according to claim 1, wherein the system self-diagnosis and maintenance module can automatically detect the working states of each sensor and each control system, and the real-time feedback system is in fault or failure.
7. The substation three-dimensional stereo operation crane external damage prevention early warning system according to claim 1, wherein the maintenance module supports remote diagnosis and technical support, and can check and repair problems in real time through remote connection by technical teams when the problems occur in the system.
8. The system for preventing external damage and early warning of a three-dimensional operation crane of a transformer substation according to claim 1, wherein risk ratings and corresponding decisions are transmitted to the man-machine interaction operation module, the module triggers early warning of different levels according to the risk grades, an operator receives early warning information through a display screen, an audible alarm or a vibration feedback mode, and measures are immediately taken to avoid collision.
9. The system of claim 8, wherein the anti-collision module initiates an automatic obstacle avoidance mechanism to automatically adjust the travel path or position of the crane to ensure a safe distance from the obstacle when a high risk condition is encountered.
10. The system for early warning the external damage prevention of the three-dimensional operation crane of the transformer substation according to claim 1, wherein all early warning events and system decisions are recorded based on the system self-diagnosis and maintenance module so as to facilitate subsequent analysis and optimization, the system can continuously learn and optimize a collision prediction model based on actual operation data, the early warning accuracy and response speed are improved, the self-diagnosis module can periodically check the working states of a sensor and an execution system of the system so as to ensure the healthy operation of the system, and when faults or sensor precision deviations occur, the system can automatically inform maintenance personnel to check and repair so as to avoid unstable operation of the system.

Description

External damage prevention early warning system for three-dimensional operation crane of transformer substation Technical Field The invention relates to the technical field of monitoring and early warning of power equipment, in particular to an external damage prevention early warning system of a three-dimensional operation crane of a transformer substation. Background The transformer substation is an important component in the power system, and mainly aims to convert high-voltage electric energy into low-voltage electric energy for users to use, and the transformer substation is used for completing conversion and distribution of the electric energy through equipment such as a transformer, a circuit breaker and switching equipment and is usually used in different stages in the power transmission process, so that the electric energy can be efficiently and stably conveyed to various areas. Because the transformer substation is usually dense in facilities and limited in space, and many devices are located in the high altitude or underground, the three-dimensional operation crane can accurately hoist in the limited space, and is suitable for the works such as installation, overhaul and maintenance of power equipment. The working environment in the transformer substation is complex, equipment is dense, crane operation needs to be accurate, and in the process of power equipment installation, overhaul or maintenance, the crane is only detected through monitoring and radar at present, so that the fault tolerance is low, technical experience of operators is examined, and fine operation errors easily cause external damage to surrounding facilities, equipment or environments, so that power accidents are caused. Therefore, the invention provides an external damage prevention early warning system for a three-dimensional operation crane of a transformer substation, which aims to solve the problems in the background technology. Disclosure of Invention The invention aims to solve the defects in the prior art, and provides an external damage prevention early warning system for a three-dimensional operation crane of a transformer substation. In order to achieve the above purpose, the present invention adopts the following technical scheme: a three-dimensional operation crane external damage prevention early warning system of a transformer substation comprises an environment sensing module, a dynamic early warning and collision prevention module, a data fusion and decision module, a man-machine interaction operation module and a system self-diagnosis and maintenance module; The system comprises an environment sensing module, a dynamic early warning and anti-collision module, a data fusion and decision module, a man-machine interaction operation module, a system self-diagnosis and maintenance module and a control module, wherein the environment sensing module is in charge of sensing the surrounding environment of a crane and collecting and analyzing surrounding obstacle information; the operation process of the dynamic early warning and anti-collision module comprises the following steps: Based on various environmental sensors in the environmental perception module, collecting surrounding environmental data in real time, and transmitting the collected data to the data fusion and decision module; Based on the information obtained by the analysis and processing of the data fusion and decision module, the system generates a real-time three-dimensional environment map around the crane, marks the position, shape and distance of each obstacle, identifies and classifies the obstacle by using computer vision, image processing or deep learning algorithm, and transmits the generated information to the dynamic early warning and anti-collision module; Based on the three-dimensional environment map and the obstacle information generated by the system, the dynamic early warning and anti-collision module evaluates collision risks according to the current position, speed and motion track of the crane and the relative positions of surrounding obstacles, judges whether potential collision risks exist, allocates a risk level for each potential collision event according to evaluation results, and determines corresponding response strategies. Preferably, the dynamic early warning and anti-collision module generates a real-time risk assessment curve according to the current position, speed, motion track of the crane and the relative position of surrounding obstacles, and assesses the risk level according to the following collision risk function: Wherein the method comprises the steps of Is the maximum speed of the crane and prevents infinite risk value, aThe maximum acceleration of the crane is used for normalizing the influence of the acceleration; The smaller the expression distance, the higher the risk; The higher the relative speed is, the higher the risk is, and the maximum speed ratio is normalized; the influence of acceleration is represen