Overhead transmission line pay-off control method and system based on multi-source parameter perception

Abstract

The invention discloses an overhead transmission line pay-off control method and system based on multi-source parameter perception, and the system comprises a sensing subsystem which collects the load and posture of a pay-off pulley, the posture and geographic positioning of a walking board, and the sag of a pay-off segment observation gear lead, and employs the collected data as the parameter induction quantity of a field pay-off process; the network subsystem is used for integrating the parameter induction quantity acquired by the sensing subsystem through a wireless ad hoc network to obtain a multi-device parameter value and transmitting the multi-device parameter value to the execution subsystem; and the execution subsystem is used for judging the obtained multi-device parameter values, and realizing the automatic unwinding of the overhead transmission line conductor based on multi-source parameter perception through automatic output adjustment of the stretching device.

Description

Background Art

[0002] Tension wire laying is a key operation process for laying out conductors of overhead transmission lines. The control of tension wire laying construction process directly affects the quality of conductor laying. The main problems are as follows: 1. The quality of existing tension wire laying construction is easily affected by on-site workers. Manual adjustment of traction force, tension, pre-bias angle of corner tower wire laying pulley, etc. may easily lead to insufficient distance between the conductor and the ground, obstruction of the traction machine by the wire laying pulley, etc., which may cause safety accidents such as conductor wear and cross arm overload damage.

[0003] 2. There are many devices and scattered personnel on site for tensioning and setting off the line, which makes it difficult to adjust and control on site. The tensioning equipment is manually controlled and needs to be staffed by experienced operators. At the same time, in order to dynamically monitor the tensioning and setting off construction process, the construction unit needs to deploy high-altitude workers on each tower in the setting off section to observe the setting off process, which is completely dependent on manpower. Not only does it pose a safety hazard, but it also takes up a lot of manpower.

[0004] 3. The existing visual wire-laying system only provides videos of the tension field and some tower positions during the wire-laying process, and is mainly based on conventional monitoring. It fails to realize the intelligent and unmanned operation of the wire-laying process, and cannot deeply understand the changes in key parameters during the wire-laying process. The collaborative control technology between various equipment has not been realized.

[0005] At present, during the tension wire-laying construction process, there are many devices and personnel on site with scattered positions. Most of the equipment operates independently, and has poor perception of the transmission line construction site environment and operation parameters. Large-scale tensioning equipment relies on manpower for operation. During the wire-laying construction process, there is no self-organizing network communication feedback between the wire-laying pulley, traction machine, tensioning equipment, and conductor sag, and they still need to rely on human communication, failing to realize the intelligent and unmanned operation of the wire-laying process.

[0006] An existing solution is to use the working status parameters of the tensioning equipment as data, and send, transmit and receive the working parameters of the tensioning equipment to the control end through the wireless self-organizing network function, so that the staff of the traction field and the tension field can fully perceive the working status parameters of the tensioning equipment. This is only for the convenience of on-site operators to understand the machine operating parameters and status, and does not realize the interconnection of multiple devices, and there is no corresponding description of the intelligent wire-laying solution.

[0007] Another existing method is to collect the operating parameters of various intelligent tools used in the tensioning site, and provide an intelligent perception monitoring method and system for tensioning and wiring, which is used to intelligently analyze abnormal events and locations that occur during the wiring process and output alarms. Its main functions are to collect construction site data, analyze the intelligence and safety function requirements of the tensioning and wiring process at the power construction site, and define monitoring data items involved in safety management and control. No intelligent wiring control method is mentioned. Summary of the invention

[0008] The technical problem to be solved by the present invention is to provide a method and system for controlling the laying of overhead power lines based on multi-source parameter perception in response to the deficiencies in the above-mentioned prior art, which is used to solve the technical problems that during the tension laying construction process, there are many on-site equipment, many personnel, and scattered stations, and the perception ability of the transmission line construction site environment and operation parameters is poor. Large-scale tensioning equipment relies on manpower for operation, and there is no self-organizing network communication feedback during the laying construction process, which relies on human communication and cannot realize intelligent and unmanned operation of the laying process.

[0009] The present invention adopts the following technical solutions: An overhead transmission line laying control system based on multi-source parameter perception, comprising: The sensor subsystem is used to collect the load and position of the wire-laying block, the position and geographic positioning of the walking board, and the sag of the wire at the observation point of the wire-laying section; The network subsystem is used to integrate the load and position of the wire-laying block, the position and geographic location of the walking board, and the sag of the wire at the observation point of the wire-laying section collected by the sensor subsystem through the wireless ad hoc network to obtain multi-device parameter values, and transmit the multi-device parameter values ​​to the execution subsystem; The execution subsystem is used to obtain the parameter values ​​of multiple devices and adjust the automatic output of the tensioning device to achieve automatic wire payout in the wire payout process.

[0010] Preferably, the sensing subsystem includes a wire-laying pulley, a walking board and an observation gear sag monitoring device, and the wire-laying pulley, the walking board and the observation gear sag monitoring device have wireless data packaging and transmission functions.

[0011] Preferably, the load on the wire-laying pulley is monitored by a tension sensor arranged on the connecting plate, the inclination of the pulley in three dimensions, front and back, left and right, and rotation, is monitored by an attitude monitoring integrated device, and the state of the sub-conductor inside the pulley wheel groove is monitored by video monitoring to obtain the corresponding parameter sensing value; The tension sensor is connected in series between the rear hanging point of the walking board and the rotating connector to monitor the tension of the sub-conductor. The inclination sensor is used to monitor the inclination of the walking board in three dimensions: front, back, left, right, and rotation to achieve posture positioning. The video monitoring module is used to monitor the running posture of the walking board and the state of the pulley to obtain the corresponding parameter sensing quantity. The observation gear sag detection device uses a drone to perform three-dimensional sag imaging to obtain the corresponding parameter sensing quantity.

[0012] Preferably, a GPS positioning chip is integrated on the walking board for locating the position of the walking board in the wire-laying section.

[0013] Preferably, the network subsystem adopts two modes: wireless ad hoc network and 4G public network.

[0014] Preferably, the stretching device comprises: Electric tensioner, used to automatically adjust the pre-bias angle of the pay-off pulley; The traction machine is used to control the start and stop of wire pay-off, wire pay-off speed and traction force; The tension machine is used to control the tension of each sub-conductor, so as to realize the control of the board walking posture and the sag of the observation gear conductor.

[0015] Preferably, the inclination angle value of the wire-paying pulley is used as the sensing quantity, the theoretically calculated value of the inclination angle of the wire-paying pulley is used as the target value, the actual angle value of the pulley is used as the current value, and the difference between the target value and the current value is used as the feedback quantity to control the automatic chain retracting and chain releasing operations of the electric tensioner. When the current value is within the error range of the target value, the electric tensioner is braked to realize automatic and accurate pre-bias control of the inclination angle of the wire-paying pulley.

[0016] In a second aspect, an embodiment of the present invention provides a control method for an overhead transmission line laying control system based on multi-source parameter perception, comprising the following steps: Before the wire laying process, start the tensioning equipment and start the automatic wire laying; When the walking board is in the non-pulley state, the traction speed of the traction machine of the tensioning equipment is maintained to pass normally; When the tensioning device pulls the walking plate through the wire-laying pulley, the wire-laying pulley is visually identified, and the traction machine and tension machine of the tensioning device are controlled to decelerate synchronously; if there is no deflection angle of the wire-laying pulley, the tensioning device keeps the walking plate horizontal and passes through the wire-laying pulley at a uniform speed; When the sub-conductor falls into the wheel groove, the tensioning equipment returns to the normal traction state; at the same time, the GPS positioning of the board is combined with the coordinate system established by the tower and tensioning field parameters to determine the current position of the board in the wire-laying section; A circular judgment method is adopted until the release is completed.

[0017] Preferably, before laying out the wires, the parameters between the towers are input according to the actual erection parameters to establish the XY plane coordinate system of the laying-out section. The actual erection parameters include the tower position number, tower type, the spacing between towers, the height difference between towers, and the location of the tensioning field.

[0018] Preferably, when the walking board is located between two iron towers or between an iron tower and a tensioning field, the walking board is in a non-pulley state.

[0019] Preferably, during the wire-laying process, when the traction board is located between two iron towers or between an iron tower and a tensioning field, the board posture is fed back to the tension machine; the wire-laying speed is determined according to the distance between the board and the pulley, and the tension machine controls the wire-laying speed. The tension machine adjusts the board posture by adjusting the tension of the sub-conductor so that the board is consistent with the pulley deflection angle when passing the pulley; When the board walking posture is normal, the tension machine maintains the current tension of each sub-conductor; When the board is tilted, the tension machine uses the board tilt angle as feedback control quantity to adjust the tension value of each sub-conductor after the board is moved to keep the board's tilt angle consistent with the angle of the pre-biased pulley.

[0020] Preferably, when the tensioning device pulls the walking plate through the wire-paying pulley, if the wire-paying pulley has a deflection angle, its own pre-deflection angle is transmitted to the execution subsystem through the pre-deflected wire-paying pulley, and the walking plate is towed by the traction machine of the tensioning device. At the same time, the current inclination angle of the walking plate is compared with the inclination angle of the pre-deflected wire-paying pulley and used as a feedback control value. The tension machine of the tensioning device adjusts the tension of each sub-conductor based on the feedback control value, so that the inclination angle of the walking plate is consistent with the inclination angle of the pre-deflected wire-paying pulley, and the walking plate is controlled to pass through the pre-deflected wire-paying pulley.

[0021] Preferably, for the observation file, it is selected according to the on-site survey terrain, and whether to enter the observation file is determined by the GPS positioning of the walking board and the position of the observation file, and the line is linked before entering the observation file; When the board passes the observation gear, the linkage control between the conductor sag and the tension machine is established. When the observed sag value of the observation gear is less than the designed sag value, the tension machine of the tensioning equipment increases the sub-conductor tension to improve the current sag value of the conductor. When the observed sag value in the observation file is greater than the designed sag value, the tension machine of the tensioning equipment reduces the tension of the sub-conductor to lower the current sag value of the conductor.

[0022] In a third aspect, a computer device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method for controlling the release of overhead transmission lines based on multi-source parameter perception when executing the computer program.

[0023] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned overhead transmission line release control method based on multi-source parameter perception.

[0024] In a fifth aspect, a chip comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the above-mentioned method for controlling the release of overhead transmission lines based on multi-source parameter perception are implemented.

[0025] In a sixth aspect, an embodiment of the present invention provides an electronic device, including a computer program, which, when executed by the electronic device, implements the steps of the above-mentioned overhead transmission line release control method based on multi-source parameter perception.

[0026] Compared with the prior art, the present invention has at least the following beneficial effects: A control system for laying out an overhead transmission line based on multi-source parameter perception. The pulley pre-bias is that in order to lay out the line along the line direction at certain tower positions, the pulley must be pre-biased. The existing pulley pre-biasing is done by climbing up to the iron tower manually and then pre-biasing the pulley manually. The angle of the pulley pre-bias is completely independent of data and requires human operation. The present invention adopts an electric tensioning machine pre-biasing to solve the problem that the existing pulley pre-biasing angle is completely independent of data and requires human operation. Secondly, when the walking board passes the pulley, it is necessary for people to stand by the iron tower laying pulley, observe the state of the walking board passing the pulley with their eyes, and report the situation to the tensioning machine operator in the tensioning field through an intercom to understand the situation, judge whether the walking board and the pulley angle are consistent, whether the walking board is close to the pulley, and let the tensioning machine slow down when it is close to the pulley. The present invention uses the pulley deflection angle The value is consistent with the deflection value of the walking board, and the tension machine automatically adjusts the sub-conductor tension and then adjusts the walking board angle to be consistent with the pulley, which solves the problem of the existing high-altitude station observing the walking board and the pulley angle, and then adjusting it through the tension machine operator's operation area; at the same time, the walking board is equipped with GPS positioning and video, which is convenient for judging the position of the walking board between the two base towers. When approaching the pulley, it must slow down and pass through. After passing the pulley, it will be pulled normally, eliminating manual judgment; the walking board GPS positioning can also determine whether the current walking board is in the sag observation gear; by stringing together all the sensor subsystems, network subsystems, and execution subsystems, all the wire-laying equipment and tools of the present invention can be linked, filling the gap in the existing wire-laying technology, and at the same time, the wire-laying process control strategy is used to realize one-button start of wire-laying, without human participation, to achieve automatic control of the system.

[0027] Furthermore, through the wireless data packaging and transmission functions of the wire-laying pulley, walking board and observation gear sag monitoring device, key parameter information can be collected, processed and transmitted in real time, realizing real-time monitoring and adjustment of the wire-laying process, and improving construction efficiency and safety.

[0028] Furthermore, by configuring a variety of sensors and monitoring equipment on the wire-laying pulley, walking board and observation gear sag monitoring device, the load, posture, position and other parameters during the wire-laying process can be monitored comprehensively and in real time to ensure the safety and reliability of the construction process; using high-precision sensors, key parameters such as tension and inclination during the wire-laying process can be monitored in real time, and possible problems can be warned in advance to prevent construction accidents and ensure construction safety.

[0029] Furthermore, by comparing the monitored value of the inclination angle of the wire-paying pulley with the target value and automatically adjusting the working state of the electric tensioning machine according to the difference, automatic and accurate pre-bias control of the inclination angle of the wire-paying pulley can be achieved, thereby improving construction efficiency and accuracy; through real-time monitoring and control of the inclination angle of the wire-paying pulley, construction accidents caused by equipment failure, improper operation, etc. can be effectively prevented, thereby ensuring the safety of construction personnel.

[0030] A control method for an overhead transmission line laying control system based on multi-source parameter perception realizes the automation of the entire process from parameter input and coordinate system establishment before laying out, to real-time monitoring and control during laying out, and finally automatic recovery to a normal traction state, greatly improving construction efficiency; by real-time monitoring of the status and position of equipment such as laying out pulleys and walking boards, and automatically adjusting the working status of the tensioning equipment, it effectively prevents unexpected conditions that may occur during the construction process and ensures construction safety; by adopting a cyclic determination form, the laying out process can be continuously monitored and controlled to ensure that the sub-conductors accurately fall into the wheel grooves, thereby improving construction accuracy; the automated laying out control method reduces manual intervention and construction time, thereby reducing construction costs; it can ensure that the conductors are subjected to uniform force during laying out, reduce conductor damage, improve the quality and reliability of transmission lines, and help reduce future maintenance and repair costs of transmission lines.

[0031] It can be understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0032] In summary, the present invention simplifies the operation process by integrating the sensor subsystem, the network subsystem, and the execution subsystem, which is used to improve the interconnected perception capability of multiple devices and multiple parameters in tension wire laying, and to improve the automation and intelligence level of transmission line stringing construction operations.

[0033] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a molecular system diagram of various equipments for tensioning wires of power transmission lines of the present invention; Figure 2 This is a flow chart of intelligent line laying for tensioned wires of power transmission lines of the present invention; Figure 3 It is a schematic diagram of automatic pre-bias control of the laying-out block of the corner tension tower of the present invention; Figure 4 A schematic diagram of intelligent line-laying control of a transmission line based on multi-source parameter perception according to the present invention; Figure 5 A schematic diagram of a computer device provided by an embodiment of the present invention; Figure 6 The block diagram of a chip provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be understood that the terms “include” and “comprises” indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0037] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0038] It should be further understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects are in an "or" relationship.

[0039] It should be understood that, although the terms first, second, third, etc. may be used to describe preset ranges, etc. in the embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish preset ranges from each other. For example, without departing from the scope of the embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0040] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0041] Various structural schematic diagrams of the embodiments disclosed in the present invention are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and subsystems shown in the figures and the relative sizes and positional relationships between them are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may design regions / subsystems with different shapes, sizes, and relative positions according to actual needs.

[0042] The present invention provides an overhead transmission line laying control system and method based on multi-source parameter perception, wherein automatic pre-biasing of a corner tower trolley is achieved through an electric tensioning machine, and during the laying process, the load and posture of the corner tower trolley, the posture and geographic positioning of the walking board, and the sag of the conductor in the laying section observation gear are used as on-site parameter sensing quantities of the laying process, and multiple sensing parameters of the laying section are integrated and transmitted to the tensioning field through a wireless self-organizing network. The tensioning equipment performs intelligent judgment on the multi-device parameter values ​​obtained through transmission, thereby improving the interconnected perception capability of multiple devices and multiple parameters of tension laying, and realizing automation and intelligent laying of the laying process through automatic output adjustment of the tensioning equipment.

[0043] See also Figure 1 The present invention provides an overhead transmission line laying control system based on multi-source parameter perception, which is divided into a sensor subsystem, a network subsystem and an execution subsystem from the perspective of the equipment subsystem, as follows: The sensing subsystem includes a wire-laying block, a walking board and an observation-stage sag monitoring device. The wire-laying block, the walking board and the observation-stage sag monitoring device all have wireless data packaging and transmission functions.

[0044] The wire-paying pulley monitors the load on the pulley through the tension sensor on the connecting plate. The posture monitoring integrated device has the ability to monitor the inclination of the pulley in three dimensions: front and back, left and right, and rotation. It also has the video monitoring capability to monitor the internal status of the sub-conductor in the pulley wheel groove. Therefore, the wire-paying pulley has three functions: load, inclination, and sub-conductor video monitoring.

[0045] At the rear of the walking board, the tension of the sub-conductor is monitored by connecting a tension sensor in series between the hanging point and the rotating connector. In terms of posture positioning, an inclination sensor is used to monitor the inclination of the walking board in three dimensions: front and back, left and right, and rotation. At the same time, a satellite-based GPS positioning chip is integrated on the walking board to locate the position of the walking board in the wire-laying section. A video monitoring module is used to monitor the walking board's running posture and the status of the pulley. Therefore, the walking board has four functions of sub-conductor load, posture, positioning, and video monitoring of the pulley.

[0046] The observation gear sag detection device uses a drone to perform sag three-dimensional imaging.

[0047] Preferably, the sag detection device for the observation gear can use a sag observation trolley or a ground surveyor can use a theodolite or a total station to observe and then transmit the sag manually.

[0048] The sensing parameters of the related tools and equipment of the sensing subsystem are mainly used to provide relevant basis for the actions of the execution subsystem.

[0049] The network subsystem includes wireless self-organizing network equipment. Since the tension line laying section is long, there are high requirements for signal transmission distance. The network subsystem adopts two modes: wireless self-organizing network and 4G public network. For areas with poor signal in mountainous areas, wireless self-organizing network mode is used for signal transmission, and for plain areas, 4G public network mode is used for signal transmission, eliminating the need for self-organizing network equipment.

[0050] Intelligent pay-off execution subsystem, including electric wire tightening machine, traction machine, tension machine and other power execution units; Among them, the electric tensioning machine is used to automatically adjust the pre-bias angle of the corner tension tower laying-out pulley; The traction machine is used to control the start and stop of wire pay-off, wire pay-off speed, traction force, etc. The tension machine is used to control the tension of each sub-conductor and thus control the board walking posture and the sag of the observation gear conductor.

[0051] The posture control is performed when the walking board passes the pulley. When the pulley is pre-biased, the walking board angle needs to be consistent with the pulley angle, and the two are relatively parallel so that the walking board can pass the pulley smoothly. Otherwise, since the pulley is biased, the walking board is parallel to the ground, causing the pulley to get stuck. Therefore, it is necessary to monitor the inclination angle of the pulley and the walking board. If the inclination angle of the walking board is inconsistent with the inclination angle of the pulley, it is necessary to adjust the tension of the sub-conductor through the tension machine, and then adjust the inclination angle of the walking board, so that the inclination angle of the walking board is consistent with the inclination angle of the pulley, so that the walking board can pass the pulley smoothly.

[0052] Not all pulleys are pre-biased. In a line-laying section, a line-laying pulley is hung under each tower. Some of the line-laying pulleys are horizontal to the ground, while some have an angle. Every time the walking board passes a defense pulley under a tower, the angle of the walking board and the pulley are required to be consistent.

[0053] In the tension line stringing section of the transmission line, the number of transmission line corner tension towers increases gradually with the path planning. The traditional method of the corner tower wire laying pulley requires manpower to climb up and use a hand hoist to pre-bias the corner tower wire laying pulley. The pulley angle is mostly visually measured, which is not accurate enough. The present invention proposes an automatic pre-bias control method for the linkage control of the wire laying pulley and the electric wire tightening machine, taking the wire laying pulley inclination value as the sensing quantity, the pulley set inclination value is determined by the line construction plan, the pulley set inclination value as the target value, the wire laying pulley inclination monitoring value as the current value, and the difference between the two as the feedback quantity, thereby automatically controlling the electric wire tightening machine to automatically collect and release the chain. When the current value is within the target value error range, the electric wire tightening machine is braked, thereby realizing automatic and accurate pre-bias control of the inclination of the corner tower wire laying pulley.

[0054] Manually input the designed theoretical value on the interface, for example, 30 degrees, and the angle value of the pulley when it is currently suspended is 10 degrees. In this way, the electric tensioning machine will automatically tighten according to the target value of 30 degrees, and stop automatically when it reaches 30 degrees, eliminating the need for high-altitude workers to manually adjust the pulley inclination angle on the tower, and eliminating the need for high-altitude workers to climb the tower to work.

[0055] See also Figure 2 The present invention provides a method for controlling the laying out of overhead transmission lines based on multi-source parameter perception, comprising the following steps: S1. Before the wire laying process, first input the parameters between each tower according to the actual erection parameters, establish the XY plane coordinate system of the wire laying section, start the tensioning equipment, and start the automatic wire laying; The sensor subsystem, network subsystem and execution subsystem are integrated to achieve automatic one-click deployment of wires through sensor monitoring, parameter transmission and intelligent control.

[0056] S2. During the wire laying process, when the walking board is located between two iron towers or between an iron tower and the tensioning field, the walking board is in a non-pulley state. At this time, the traction speed of the traction machine is kept normal, and the traction force is the designed traction force. The walking board's posture is monitored by the walking board's inclination sensor and fed back to the tension machine; when the walking board's posture is normal (parallel to the ground), the tension machine maintains the current tension of each sub-conductor; When the walking board tilts (mainly in the left and right directions), the pulley angle when passing the pulley is the feedback value, and the walking board angle is adjusted to be consistent with the pulley angle to ensure that the walking board can pass the pulley in a parallel posture relative to the pulley. The angle value of the pulley is the target value, and the walking board is the current value. By comparison, the tension machine controls the tension of the sub-conductor to adjust the walking board angle to be consistent with the pulley. The tension of the sub-conductor is monitored by the tension sensor behind the walking board, and the tension of the sub-conductor is used to prevent the wire from breaking due to excessive tension. When the tensioning equipment pulls the walking plate over the wire-paying pulley, the visual identification of the wire-paying pulley is carried out through the video monitoring on the walking plate, and the traction machine and the tension machine are controlled to slow down synchronously. For the wire-paying pulley of the straight tower, there is no deflection angle, and the tensioning machine keeps the walking plate horizontal and passes the wire-paying pulley at a low speed; the walking plate passing the pre-deflected wire-paying pulley of the corner tower is a difficult point in tension wire-paying. Intelligent wire-paying transmits its own pre-deflection angle to the main control through the pre-deflected wire-paying pulley. The traction machine pulls at a low speed before passing the pre-deflected wire-paying pulley. At the same time, the current inclination angle of the walking plate is compared with the inclination angle of the pre-deflected wire-paying pulley and used as the feedback control value. The tension machine adjusts the tension of each sub-conductor based on the feedback control value, so that the inclination angle of the walking plate is consistent with the inclination angle of the pre-deflected wire-paying pulley, thereby controlling the walking plate to pass the pre-deflected wire-paying pulley smoothly; The video monitoring of the wire-laying pulley is used to determine whether the traction machine has passed the wire-laying pulley. When the video monitoring of the wire-laying pulley detects that the sub-conductor has fallen into the wheel groove, the traction machine and the tension machine return to the normal traction state. At the same time, through the GPS positioning of the walking board and the coordinate system established by the aforementioned tower and tensioning field parameters, the current walking board position in the wire-laying section is intelligently determined, which is convenient for on-site operators to determine the length of the wire-laying; For the above-mentioned wire-laying operation process, a circular determination form is adopted until the wire-laying is completed; The tension line construction includes multiple wire-laying stages. The observation stage is selected in advance according to the on-site terrain survey. The GPS positioning of the walking board and the position of the observation stage are used to determine whether to enter the observation stage. Before entering the observation stage, the aforementioned operation of the tensioning equipment, the wire-laying pulley, and the walking board are used to automatically link the wires. When the walking board passes the observation stage, the linkage control between the conductor sag and the tension machine is established. When the observed sag value of the observation stage is less than the designed sag value, the tension machine automatically increases the sub-conductor tension to increase the current sag value of the conductor. When the observed sag value of the observation stage is greater than the designed sag value, the tension machine automatically reduces the sub-conductor tension to reduce the current sag value of the conductor, ensuring that the conductor is laid out with a reasonable tension while avoiding the occurrence of the conductor dragging on the ground.

[0057] The above control can achieve automatic deployment of overhead transmission line conductors based on multi-source parameter perception.

[0058] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as systems, methods or program products. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits", "modules" or "platforms".

[0059] In another embodiment of the present invention, a terminal device is provided, the terminal device includes a processor and a memory, the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or other general-purpose processors, graphics processors (GPU), tensor processors (TPU), digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc., which are the computing core and control core of the terminal, which are suitable for implementing one or more instructions, and are specifically suitable for loading and executing one or more instructions to implement corresponding method processes or corresponding functions; the processor described in the embodiment of the present invention can be used for the operation of the overhead transmission line release control method based on multi-source parameter perception, including: Before the wire-laying process, start the tensioning equipment and begin to automatically unwind the conductor; when the walking board is in the non-pulley state, maintain the normal traction speed of the traction machine of the tensioning equipment; when the tensioning equipment pulls the walking board through the wire-laying pulley, visually identify the wire-laying pulley, and control the traction machine and tension machine of the tensioning equipment to slow down synchronously; if there is no deviation of the wire-laying pulley, the tensioning equipment keeps the walking board horizontal and passes the wire-laying pulley at a uniform speed; when it is monitored that the sub-conductor falls into the wheel groove, the tensioning equipment returns to the normal traction state; at the same time, the GPS positioning of the walking board is combined with the coordinate system established by the tower and tensioning field parameters to determine the current position of the walking board in the wire-laying section; a cyclic judgment form is adopted until the wire-laying is completed.

[0060] See also Figure 5 , the terminal device is a computer device, and the computer device 60 of this embodiment includes: a processor 61, a memory 62, and a computer program 63 stored in the memory 62 and executable on the processor 61. When the computer program 63 is executed by the processor 61, the control method for setting the overhead transmission line based on multi-source parameter perception in the embodiment is implemented. To avoid repetition, it is not described one by one here. Alternatively, when the computer program 63 is executed by the processor 61, the functions of each model / unit in the control system for setting the overhead transmission line based on multi-source parameter perception in the embodiment are implemented. To avoid repetition, it is not described one by one here.

[0061] The computer device 60 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The computer device 60 may include, but is not limited to, a processor 61 and a memory 62. Those skilled in the art will appreciate that Figure 5 This is only an example of the computer device 60 and does not constitute a limitation of the computer device 60. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device may also include input and output devices, network access devices, buses, etc.

[0062] The processor 61 may be a central processing unit (CPU), or other general-purpose processors, graphics processing units (GPU), tensor processing units (TPU), digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0063] The memory 62 may be an internal storage unit of the computer device 60, such as a hard disk or memory of the computer device 60. The memory 62 may also be an external storage device of the computer device 60, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the computer device 60.

[0064] Furthermore, the memory 62 may include both an internal storage unit of the computer device 60 and an external storage device. The memory 62 is used to store computer programs and other programs and data required by the computer device. The memory 62 may also be used to temporarily store data that has been output or is to be output.

[0065] See also Figure 6 The terminal device 600 is an electronic device, and the electronic device is in the form of a general computing device. The components of the electronic device may include but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0066] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 performs the steps according to various exemplary embodiments of the present invention described in the above method section of this specification. For example, the processing unit 610 can perform the following steps: Figure 1 Follow the steps shown in .

[0067] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0068] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0069] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0070] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0071] In another embodiment of the present invention, the present invention also provides a storage medium, specifically a computer-readable storage medium, which is a memory device in a terminal device for storing programs and data. It can be understood that the computer-readable storage medium here can include both the built-in storage medium in the terminal device and the extended storage medium supported by the terminal device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs. It should be noted that the computer-readable storage medium here can be a high-speed RAM memory, or a non-volatile memory (Non-VolatileMemory), such as at least one disk memory.

[0072] One or more instructions stored in a computer-readable storage medium may be loaded and executed by a processor to implement the corresponding steps of the overhead transmission line release control method based on multi-source parameter perception in the above embodiment; one or more instructions in the computer-readable storage medium are loaded and executed by the processor as follows: Before the wire-laying process, start the tensioning equipment and begin to automatically unwind the conductor; when the walking board is in the non-pulley state, maintain the normal traction speed of the traction machine of the tensioning equipment; when the tensioning equipment pulls the walking board through the wire-laying pulley, visually identify the wire-laying pulley, and control the traction machine and tension machine of the tensioning equipment to slow down synchronously; if there is no deviation of the wire-laying pulley, the tensioning equipment keeps the walking board horizontal and passes the wire-laying pulley at a uniform speed; when it is monitored that the sub-conductor falls into the wheel groove, the tensioning equipment returns to the normal traction state; at the same time, the GPS positioning of the walking board is combined with the coordinate system established by the tower and tensioning field parameters to determine the current position of the walking board in the wire-laying section; a cyclic judgment form is adopted until the wire-laying is completed.

[0073] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can usually be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0074] Tension wire laying is a commonly used method of laying out conductors in the construction of overhead power transmission lines. By using mechanical equipment such as traction machines and tension machines, the conductors are always kept at a certain tension during the laying process, thereby ensuring that the conductors remain in a stable erection state in the air and avoid contact with the ground or other obstacles.

[0075] The equipment for tension wire release includes traction machine, tension machine, wire release pulley and running board. Among them, the traction machine and tension machine are used to provide tension and traction, the wire release pulley is used to support and guide the wire, and the running board is used to connect the wire and the wire release pulley.

[0076] Tension wire laying can effectively improve construction efficiency and safety. Compared with traditional wire laying methods, it can reduce manual intervention, avoid damage caused by friction between the wire and the ground, and reduce construction risks.

[0077] During the tensioning and laying process, it is necessary to monitor and control the status and position of the laying-out pulley and the board-walking equipment in real time to ensure the construction quality and progress. Specifically, it involves monitoring and controlling the load and posture of the laying-out pulley, the posture and geographic positioning of the board-walking equipment, and other parameters.

[0078] In order to improve the accuracy and efficiency of tension wire laying construction, wireless ad hoc network technology, video monitoring technology and GPS positioning technology are used to achieve real-time monitoring and control of the wire laying process and improve construction accuracy and efficiency.

[0079] In the actual construction process, parameters are adjusted and optimized according to specific conditions to achieve the best construction effect. For example, according to the characteristics of the conductor and construction requirements, the appropriate tension is controlled to avoid damage to the line caused by excessive or insufficient tension.

[0080] In summary, the present invention provides an overhead transmission line laying control method and system based on multi-source parameter perception, which effectively prevents unexpected situations that may occur during the construction process and ensures construction safety by real-time monitoring of the status and position of equipment such as the laying-out pulley and the walking board, and automatically adjusts the working status of the tensioning equipment; a cyclic determination form is used to continuously monitor and control the laying-out process to ensure that the sub-conductors fall accurately into the wheel grooves, thereby improving construction accuracy.

[0081] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0082] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0083] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0084] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0085] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0087] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0088] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices, and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0089] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0091] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. An overhead transmission line laying control system based on multi-source parameter perception, characterized in that: include: The sensor subsystem is used to collect the load and position of the wire-laying block, the position and geographic positioning of the walking board, and the sag of the wire at the observation point of the wire-laying section; The network subsystem is used to integrate the load and position of the wire-laying block, the position and geographic location of the walking board, and the sag of the wire at the observation point of the wire-laying section collected by the sensor subsystem through the wireless ad hoc network to obtain multi-device parameter values, and transmit the multi-device parameter values ​​to the execution subsystem; The execution subsystem is used to obtain the parameter values ​​of multiple devices and adjust the automatic output of the tensioning device to achieve automatic wire payout in the wire payout process.

2. The overhead transmission line laying control system based on multi-source parameter perception according to claim 1 is characterized in that: The sensing subsystem includes a wire-laying pulley, a walking board and an observation gear sag monitoring device, which are equipped with wireless data packaging and transmission functions.

3. The overhead transmission line laying control system based on multi-source parameter perception according to claim 2 is characterized in that: The load on the wire-laying pulley is monitored by the tension sensor installed on the connecting plate, the inclination of the pulley in three dimensions, front and back, left and right, and rotation, is monitored by the posture monitoring integrated device, and the state of the sub-conductor inside the pulley wheel groove is monitored by video monitoring to obtain the corresponding parameter sensing value; The tension sensor is connected in series between the rear hanging point of the walking board and the rotating connector to monitor the tension of the sub-conductor. The inclination sensor is used to monitor the inclination of the walking board in three dimensions: front, back, left, right, and rotation to achieve posture positioning. The video monitoring module is used to monitor the running posture of the walking board and the state of the pulley to obtain the corresponding parameter sensing quantity. The observation gear sag detection device uses a drone to perform three-dimensional sag imaging to obtain the corresponding parameter sensing quantity.

4. The overhead transmission line laying control system based on multi-source parameter perception according to claim 2 is characterized in that: The walking board is integrated with a GPS positioning chip, which is used to locate the position of the walking board within the wire laying section.

5. The overhead transmission line laying control system based on multi-source parameter perception according to claim 1, characterized in that: The network subsystem uses wireless ad hoc network and 4G public network.

6. The overhead transmission line laying control system based on multi-source parameter perception according to claim 1, characterized in that: Stretching equipment includes: Electric tensioner, used to automatically adjust the pre-bias angle of the pay-off pulley; The traction machine is used to control the start and stop of wire pay-off, wire pay-off speed and traction force; The tension machine is used to control the tension of each sub-conductor, so as to realize the control of the board walking posture and the sag of the observation gear conductor.

7. The overhead transmission line laying control system based on multi-source parameter perception according to claim 6 is characterized in that: The inclination angle value of the wire-paying pulley is used as the sensing quantity, the theoretically calculated value of the inclination angle of the wire-paying pulley is used as the target value, the actual angle value of the pulley is used as the current value, and the difference between the target value and the current value is used as the feedback quantity to control the automatic chain retracting and chain releasing operations of the electric tensioner. When the current value is within the error range of the target value, the electric tensioner is braked to realize the inclination angle control of the wire-paying pulley.

8. The control method of the overhead transmission line laying control system based on multi-source parameter perception according to any one of claims 1 to 7, characterized in that: The following steps are involved: Before the wire laying process, start the tensioning equipment and start the automatic wire laying; When the walking board is in the non-pulley state, the traction speed of the traction machine of the tensioning equipment is maintained to pass normally; When the tensioning device pulls the walking plate through the wire-laying pulley, the wire-laying pulley is visually identified, and the traction machine and tension machine of the tensioning device are controlled to decelerate synchronously; if there is no deflection angle of the wire-laying pulley, the tensioning device keeps the walking plate horizontal and passes through the wire-laying pulley at a uniform speed; When the sub-conductor falls into the wheel groove, the tensioning equipment returns to the normal traction state; at the same time, the GPS positioning of the board is combined with the coordinate system established by the tower and tensioning field parameters to determine the current position of the board in the wire-laying section; A circular judgment method is adopted until the release is completed.

9. The overhead transmission line laying control method based on multi-source parameter perception according to claim 8, characterized in that: Before laying out the wires, the parameters between the towers are input according to the actual erection parameters to establish the XY plane coordinate system of the laying-out section. The actual erection parameters include the tower position number, tower type, the span between towers, the height difference between towers, and the location of the tensioning field.

10. The overhead transmission line laying control method based on multi-source parameter perception according to claim 8, characterized in that: When the walking board is located between two iron towers or between an iron tower and the tensioning field, the walking board is in a non-pulley state.

11. The overhead transmission line laying control method based on multi-source parameter perception according to claim 8, characterized in that: During the wire-laying process, when the traction board is located between two iron towers or between an iron tower and a tensioning field, the board posture is fed back to the tension machine; the wire-laying speed is determined according to the distance between the board and the pulley, and the tension machine controls the wire-laying speed. The tension machine adjusts the board posture by adjusting the tension of the sub-conductor so that the board is consistent with the pulley deflection angle when passing the pulley; When the board walking posture is normal, the tension machine maintains the current tension of each sub-conductor; When the board is tilted, the tension machine uses the board tilt angle as feedback control quantity to adjust the tension value of each sub-conductor after the board is moved to keep the board's tilt angle consistent with the angle of the pre-biased pulley.

12. The overhead transmission line laying control method based on multi-source parameter perception according to claim 8, characterized in that: When the tensioning device pulls the walking plate through the wire-paying pulley, if the wire-paying pulley has a deflection angle, its own pre-deflection angle is transmitted to the execution subsystem through the pre-deflected wire-paying pulley, and the walking plate is towed by the traction machine of the tensioning device. At the same time, the current inclination angle of the walking plate is compared with the inclination angle of the pre-deflected wire-paying pulley and used as the feedback control value. The tension machine of the tensioning device adjusts the tension of each sub-conductor based on the feedback control value, so that the inclination angle of the walking plate is consistent with the inclination angle of the pre-deflected wire-paying pulley, and the walking plate is controlled to pass through the pre-deflected wire-paying pulley.

13. The overhead transmission line laying control method based on multi-source parameter perception according to claim 8, characterized in that: Select the location of the observation file according to the on-site survey terrain, determine whether to enter the observation file through the GPS positioning of the walking board and the location of the observation file, and link the line before entering the observation file; When the board passes the observation gear, the linkage control between the conductor sag and the tension machine is established. When the observed sag value of the observation gear is less than the designed sag value, the tension machine of the tensioning equipment increases the sub-conductor tension to improve the current sag value of the conductor. When the observed sag value in the observation file is greater than the designed sag value, the tension machine of the tensioning equipment reduces the tension of the sub-conductor to lower the current sag value of the conductor.

14. A computer-readable storage medium storing one or more programs, characterized in that: The one or more programs include instructions which, when executed by a computing device, cause the computing device to perform the method of any one of claims 8 to 13 .

15. A computing device, characterized in that: include: One or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include steps for executing the method according to any one of claims 8 to 13.

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