A method and system for monitoring tree obstacles around ground wires of power transmission lines

Abstract

The invention proposes a method and system for monitoring tree barriers around a transmission line ground wire, which belongs to the field of power grid safety monitoring. The method comprises the following steps: performing laser scanning on the transmission line ground wire within a span, and obtaining radar echo data returned by each point of the transmission line ground wire; the span is an area between two pole towers connected by the transmission line ground wire; determining the position of each point on the transmission line ground wire according to the radar echo data returned by each point of the transmission line ground wire; performing laser scanning on the tree barriers within the span, and obtaining radar echo data returned by each point of the tree barriers; the tree barriers are trees close to the transmission line ground wire within the span; determining the position of each point on the tree barriers according to the radar echo data returned by each point of the tree barriers; determining a target monitoring distance according to the positions of each point on the transmission line ground wire and each point on the tree barriers; the target monitoring distance is the shortest distance between the transmission line ground wire and the tree barriers; and providing feedback to a remote monitoring platform according to the target monitoring distance and a preset safety distance.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid safety monitoring, and in particular to a method and system for monitoring tree barriers around a ground wire of a power transmission line. Background Art

[0002] In recent years, due to the large-scale planting of fast-growing forests in the protection area of ​​the transmission line corridor, the height of the trees is constantly approaching the ground wire of the transmission line, posing a great threat to the operation safety of the ground wire of the transmission line. Therefore, installing a monitoring system has become an important part of realizing a strong and intelligent power grid. At present, the safety monitoring of tree barriers around the ground wire of the transmission line is mostly achieved by installing cameras on the towers. The collected monitoring images cannot accurately display the hidden dangers at the sag points and wind deviation points far away from the towers within the span, and it is difficult to judge whether the distance between the ground wire of the transmission line and the tree barrier is within a safe range through the image. Manual inspections are still required to conduct on-site measurements and judgments. Summary of the invention

[0003] The purpose of the present invention is to provide a method and system for monitoring tree barriers around the ground wire of a power transmission line, which improves the accuracy of monitoring the distance between the ground wire of the power transmission line and the tree barriers, can timely detect the threat of tree growth to the ground wire of the power transmission line, and improve the power supply reliability of the ground wire of the power transmission line.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A method for monitoring tree obstacles around a ground wire of a power transmission line comprises the following steps:

[0006] Performing laser scanning on the ground wire of the transmission line within the span to obtain radar echo data returned by each point of the ground wire of the transmission line; the span is the area between two towers connected by the ground wire of the transmission line;

[0007] Determine the position of each point on the ground wire of the transmission line according to the radar echo data returned by each point on the ground wire of the transmission line;

[0008] Performing laser scanning on tree barriers within the span to obtain radar echo data returned by each point of the tree barriers; the tree barriers are trees within the span close to the ground wire of the power transmission line;

[0009] Determine the position of each point on the tree barrier based on the radar echo data returned by each point on the tree barrier;

[0010] Determine the target monitoring distance according to the positions of each point on the ground wire of the transmission line and the positions of each point on the tree barrier; the target monitoring distance is the shortest distance between the ground wire of the transmission line and the tree barrier;

[0011] Feedback is provided to the remote monitoring platform based on the target monitoring distance and the preset safety distance.

[0012] Optionally, a laser radar is used to perform laser scanning on the ground wire of the transmission line within the span to obtain radar echo data returned by each point of the ground wire of the transmission line.

[0013] Optionally, determining the position of each point on the ground wire of the transmission line according to radar echo data returned by each point on the ground wire of the transmission line specifically includes:

[0014] The coordinates of the line measurement point are calculated based on the radar echo data returned by the line measurement point; the coordinates of the line measurement point refer to the coordinates of the line measurement point in the coordinate system established with the laser radar as the origin;

[0015] The horizontal angle between the line measurement point and the laser radar is obtained by solving the following formula:

[0016] Angle i =-wt-w*ΔT i -H_Beta

[0017] Among them, wt represents the horizontal angle information of the laser emitted by the laser radar, w represents the instantaneous angular velocity of the laser emitted by the laser radar, ΔT i It represents the time deviation between the line measurement point and the first measurement point of the transmission line ground wire, and H_Beta represents the horizontal angle deviation inside the lidar;

[0018] The X-axis, Y-axis, and Z-axis coordinates of the line measurement point are calculated by the following three equations:

[0019] x i =Range i *cos(V i _theta)*cos(Angle i )

[0020] y i =Range i *cos(V i _theta)*sin(Angle i )

[0021] z i =Range i *sin(V i _theta)

[0022] Among them, (x i ,y i ,z i ) represents the three-dimensional coordinates of the line measurement point, Range iIndicates the echo distance between the line measurement point and the laser radar, V i _theta represents the vertical angle between the line measurement point and the lidar.

[0023] Optionally, determining the position of each point on the tree barrier according to the radar echo data returned by each point on the tree barrier specifically includes:

[0024] The coordinates of the tree barrier measurement point are obtained by solving the radar echo data returned by the tree barrier measurement point; the coordinates of the tree barrier measurement point refer to the coordinates of the tree barrier measurement point in the coordinate system established with the laser radar as the origin;

[0025] The horizontal angle between the tree obstacle measurement point and the laser radar is obtained by solving the following formula:

[0026] Angle j =-wt-w*ΔT j -H_Beta

[0027] Among them, wt represents the horizontal angle information of the laser emitted by the laser radar, w represents the instantaneous angular velocity of the laser emitted by the laser radar, ΔT j It represents the time deviation between the tree barrier measurement point and the first measurement point on the tree barrier, and H_Beta represents the horizontal angle deviation inside the lidar;

[0028] The X-axis, Y-axis, and Z-axis coordinates of the tree barrier measurement point are obtained by solving the following three equations:

[0029] x j =Range j *cos(V j _theta)*cos(Angle j )

[0030] y j =Range j *cos(V j _theta)*sin(Angle j )

[0031] z j =Range j *sin(V j _theta)

[0032] Among them, (x j ,y j ,z j ) represents the three-dimensional coordinates of the tree barrier measurement point, Range j Represents the echo distance between the tree obstacle measurement point and the laser radar, V j _theta represents the vertical angle between the tree obstacle measurement point and the lidar.

[0033] Optionally, determining the target monitoring distance according to the positions of each point on the ground wire of the transmission line and the positions of each point on the tree barrier specifically includes:

[0034] The distance between each point on the transmission line ground wire and each point on the tree barrier is calculated by the following formula:

[0035]

[0036] Among them, d ij It represents the measurement distance between any line measurement point on the transmission line ground line and any tree barrier measurement point on the tree barrier, (x i ,y i ,z i ) represents the coordinates of a certain line measurement point on the transmission line ground line, (x j ,y j ,z j ) represents the coordinates of a certain tree barrier measurement point on the tree barrier;

[0037] Among the several measured distances obtained, the minimum value is taken as the target monitoring distance.

[0038] Optionally, the monitoring method further includes:

[0039] Different preset safety distances are configured according to different voltage levels of the ground wire of the transmission line.

[0040] Corresponding to the aforementioned method for monitoring tree barriers around the ground wire of a power transmission line, the present invention further provides a system for monitoring tree barriers around the ground wire of a power transmission line, comprising:

[0041] A laser radar is used to perform laser scanning on the ground wire of the power transmission line within the span and obtain radar echo data returned by each point of the ground wire of the power transmission line; it is also used to perform laser scanning on the tree barrier within the span and obtain radar echo data returned by each point of the tree barrier; the tree barrier is a tree close to the ground wire of the power transmission line within the span; the span is an area between two towers connected by the ground wire of the power transmission line;

[0042] An edge IoT agent is connected to the laser radar and is used to determine the position of each point on the ground wire of the transmission line according to the radar echo data returned by each point of the ground wire of the transmission line; it is also used to determine the position of each point on the tree barrier according to the radar echo data returned by each point of the tree barrier; it is also used to determine the target monitoring distance according to the position of each point on the ground wire of the transmission line and the position of each point on the tree barrier; it is also used to provide feedback to the remote monitoring platform according to the target monitoring distance and the preset safety distance; the target monitoring distance is the shortest distance between the ground wire of the transmission line and the tree barrier.

[0043] Optionally, the edge IoT agent calculates the coordinates of the line measurement point according to the radar echo data returned by the line measurement point; the coordinates of the line measurement point refer to the coordinates of the line measurement point in a coordinate system established with the laser radar as the origin;

[0044] The horizontal angle between the line measurement point and the laser radar is obtained by solving the following formula:

[0045] Angle i =-wt-w*ΔT i -H_Beta

[0046] Among them, wt represents the horizontal angle information of the laser emitted by the laser radar, w represents the instantaneous angular velocity of the laser emitted by the laser radar, ΔT i It represents the time deviation between the line measurement point and the first measurement point of the transmission line ground wire, and H_Beta represents the horizontal angle deviation inside the lidar;

[0047] The X-axis, Y-axis, and Z-axis coordinates of the line measurement point are calculated by the following three equations:

[0048] x i =Range i *cos(V i _theta)*cos(Angle i )

[0049] y i =Range i *cos(V i _theta)*sin(Angle i )

[0050] z i =Range i *sin(V i _theta)

[0051] Among them, (x i ,y i ,z i ) represents the three-dimensional coordinates of the line measurement point, Range i Indicates the echo distance between the line measurement point and the laser radar, V i _theta represents the vertical angle between the line measurement point and the lidar.

[0052] Optionally, the edge IoT agent calculates the coordinates of the tree barrier measurement point according to the radar echo data returned by the tree barrier measurement point; the coordinates of the tree barrier measurement point refer to the coordinates of the tree barrier measurement point in a coordinate system established with the laser radar as the origin;

[0053] The horizontal angle between the tree obstacle measurement point and the laser radar is obtained by solving the following formula:

[0054] Angle j =-wt-w*ΔT j -H_Beta

[0055] Among them, wt represents the horizontal angle information of the laser emitted by the laser radar, w represents the instantaneous angular velocity of the laser emitted by the laser radar, ΔT j It represents the time deviation between the tree barrier measurement point and the first measurement point on the tree barrier, and H_Beta represents the horizontal angle deviation inside the lidar;

[0056] The X-axis, Y-axis, and Z-axis coordinates of the tree barrier measurement point are obtained by solving the following three equations:

[0057] x j =Range j *cos(V j _theta)*cos(Angle j )

[0058] y j =Range j *cos(V j _theta)*sin(Angle j )

[0059] z j =Range j *sin(V j _theta)

[0060] Among them, (x j ,y j ,z j ) represents the three-dimensional coordinates of the tree barrier measurement point, Range j Represents the echo distance between the tree obstacle measurement point and the laser radar, V j _theta represents the vertical angle between the tree obstacle measurement point and the lidar.

[0061] Optionally, the edge IoT agent configures different preset safety distances according to different voltage levels of the ground wire of the transmission line.

[0062] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0063] The present invention provides a method and system for monitoring tree barriers around a power transmission line ground wire, comprising: performing laser scanning on the power transmission line ground wire within a span, and obtaining radar echo data returned by each point on the power transmission line ground wire; the span is an area between two pole towers connected by the power transmission line ground wire; determining the position of each point on the power transmission line ground wire according to the radar echo data returned by each point on the power transmission line ground wire; performing laser scanning on the tree barriers within the span, and obtaining radar echo data returned by each point on the tree barriers; the tree barriers are trees close to the power transmission line ground wire within the span; determining the position of each point on the tree barriers according to the radar echo data returned by each point on the tree barriers; determining the target according to the position of each point on the power transmission line ground wire and the position of each point on the tree barriers Monitoring distance; the target monitoring distance is the shortest distance between the ground wire of the transmission line and the tree barrier; feedback is provided to the remote monitoring platform according to the target monitoring distance and the preset safety distance; the present invention monitors the distance between the ground wire of the transmission line and the tree barrier through the laser radar, and can effectively monitor the wind deviation point and the solitary point of the ground wire of the transmission line by adjusting the scanning angle of the laser radar. The scanning range has been greatly improved compared with the scanning range of the camera. Compared with the means of the prior art, the accuracy and range of the distance monitoring between the ground wire of the transmission line and the tree barrier can be improved. Through accurate measurement, the threat of tree growth to the ground wire of the transmission line can be discovered in time, the power supply reliability of the ground wire of the transmission line can be improved, and the safe operation of the strong smart grid can be ensured. At the same time, by accurately monitoring the growth of trees near the transmission line corridor in real time, it can effectively improve labor efficiency, save manpower, reduce the mistaken felling of trees, and provide a basis for power companies to take prevention, rectification and accountability measures. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0065] Figure 1 A flowchart of a method for monitoring tree barriers around a ground wire of a power transmission line provided in Example 1 of the present invention;

[0066] Figure 2 The laser radar coordinate system in the method provided in Example 1 of the present invention;

[0067] Figure 3 A schematic structural diagram of a system for monitoring tree barriers around a ground wire of a power transmission line provided in Example 2 of the present invention.

[0068] Explanation of symbols: 1. Pole tower; 2. Transmission line ground wire; 3. LiDAR; 4. Edge IoT agent; 5. Tree barrier. DETAILED DESCRIPTION

[0069] 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 only 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.

[0070] The purpose of the present invention is to provide a method and system for monitoring tree barriers around the ground wire of a power transmission line, which improves the accuracy of monitoring the distance between the ground wire of the power transmission line and the tree barriers, can timely detect the threat of tree growth to the ground wire of the power transmission line, and improve the power supply reliability of the ground wire of the power transmission line.

[0071] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0072] Embodiment 1:

[0073] This embodiment provides a method for monitoring tree obstacles around the ground wire of a power transmission line. Figure 1 As shown, the monitoring method comprises the following steps:

[0074] S1. Performing laser scanning on the ground wire of the transmission line within the span to obtain radar echo data returned by each point of the ground wire of the transmission line; the span is the area between two towers connected by the ground wire of the transmission line;

[0075] S2, determining the position of each point on the ground wire of the transmission line according to the radar echo data returned by each point on the ground wire of the transmission line;

[0076] S3, performing laser scanning on the tree barriers within the span to obtain radar echo data returned by each point of the tree barriers; the tree barriers are trees within the span close to the ground wire of the power transmission line;

[0077] S4. Determine the position of each point on the tree barrier according to the radar echo data returned by each point on the tree barrier;

[0078] S5. Determine a target monitoring distance according to the positions of each point on the ground wire of the transmission line and the positions of each point on the tree barrier; the target monitoring distance is the shortest distance between the ground wire of the transmission line and the tree barrier;

[0079] S6. Provide feedback to the remote monitoring platform based on the target monitoring distance and the preset safety distance.

[0080] In this embodiment, the laser radar is used to perform laser scanning on the ground wire of the transmission line within the span to obtain radar echo data returned by each point of the ground wire of the transmission line. The distance between the ground wire of the transmission line and the tree barrier within the laying range of the ground wire of the transmission line can be monitored by adjusting the angle of the laser radar.

[0081] Step S2 specifically includes the following steps:

[0082] The coordinates of the line measurement point are calculated based on the radar echo data returned by the line measurement point; the coordinates of the line measurement point refer to the coordinates of the line measurement point in the coordinate system established with the laser radar as the origin;

[0083] The horizontal angle between the line measurement point and the laser radar is obtained by solving the following formula:

[0084] Angle i =-wt-w*ΔT i -H_Beta

[0085] Among them, wt represents the horizontal angle information of the laser emitted by the laser radar, w represents the instantaneous angular velocity of the laser emitted by the laser radar, ΔT i It represents the time deviation between the line measurement point and the first measurement point of the transmission line ground wire, and H_Beta represents the horizontal angle deviation inside the lidar;

[0086] The X-axis, Y-axis, and Z-axis coordinates of the line measurement point are calculated by the following three equations:

[0087] x i =Range i *cos(V i _theta)*cos(Angle i )

[0088] y i =Range i *cos(V i _theta)*sin(Angle i )

[0089] z i =Range i *sin(V i _theta)

[0090] Among them, (x i ,y i ,z i ) represents the three-dimensional coordinates of the line measurement point, Range i Indicates the echo distance between the line measurement point and the laser radar, V i_theta represents the vertical angle between the line measurement point and the lidar.

[0091] Step S4 specifically includes the following steps:

[0092] The coordinates of the tree barrier measurement point are obtained by solving the radar echo data returned by the tree barrier measurement point; the coordinates of the tree barrier measurement point refer to the coordinates of the tree barrier measurement point in the coordinate system established with the laser radar as the origin;

[0093] The horizontal angle between the tree obstacle measurement point and the laser radar is obtained by solving the following formula:

[0094] Angle j =-wt-w*ΔT j -H_Beta

[0095] Among them, wt represents the horizontal angle information of the laser emitted by the laser radar, w represents the instantaneous angular velocity of the laser emitted by the laser radar, ΔT j It represents the time deviation between the tree barrier measurement point and the first measurement point on the tree barrier, and H_Beta represents the horizontal angle deviation inside the lidar;

[0096] The X-axis, Y-axis, and Z-axis coordinates of the tree barrier measurement point are obtained by solving the following three equations:

[0097] x j =Range j *cos(V j _theta)*cos(Angle j )

[0098] y j =Range j *cos(V j _theta)*sin(Angle j )

[0099] z j =Range j *sin(V j _theta)

[0100] Among them, (x j ,y j ,z j ) represents the three-dimensional coordinates of the tree barrier measurement point, Range j Represents the echo distance between the tree obstacle measurement point and the laser radar, V j _theta represents the vertical angle between the tree obstacle measurement point and the lidar.

[0101] Step S5 specifically includes the following steps:

[0102] The distance between each point on the transmission line ground wire and each point on the tree barrier is calculated by the following formula:

[0103]

[0104] Among them, d ij It represents the measurement distance between any line measurement point on the transmission line ground line and any tree barrier measurement point on the tree barrier, (x i ,y i ,z i ) represents the coordinates of a certain line measurement point on the transmission line ground line, (x j ,y j ,z j ) represents the coordinates of a certain tree barrier measurement point on the tree barrier;

[0105] Among the several measured distances obtained, the minimum value is taken as the target monitoring distance.

[0106] Since the ground wires of transmission lines with different voltages have different requirements for safety distances, in this embodiment, different preset safety distances can also be configured according to the different voltage levels of the ground wires of the transmission lines.

[0107] The following is a specific example to illustrate the method for monitoring tree barriers around the ground wire of a power transmission line provided in this embodiment, including the following contents:

[0108] Install the laser radar on the overhead transmission line ground wire tower, adjust the installation angle, and aim the laser radar at the transmission line ground wire and its surroundings. Use the debugging tool under the tower to adjust the laser radar's transmission range so that it only illuminates the transmission line ground wire; Figure 2 As shown, the coordinate system is the coordinate system established by the laser radar, the origin is the location of the laser radar, and point refers to the object to be measured, such as a ground wire of a transmission line or a tree.

[0109] The edge IoT agent obtains the laser horizontal angle information wt emitted by the laser radar, the instantaneous angular velocity w of the laser emitted by the laser radar, and the time deviation ΔT between the line measurement point and the first measurement point of the transmission line ground wire i , the horizontal angle deviation H_Beta inside the laser radar, the echo distance Range between the line measurement point and the laser radar i , the vertical angle V between the line measurement point and the laser radar i _theta; and use CRC-16 verification algorithm for data verification. In order to improve the calculation accuracy, the verification adopts the table lookup method.

[0110] The horizontal angle Angel between the line measurement point and the laser radar is calculated according to the following formula: i :

[0111] Angle i =-wt-w*ΔT i -H_Beta

[0112] Then, the X-axis, Y-axis, and Z-axis coordinates (x i ,y i ,z i ):

[0113] x i =Range i *cos(V i _theta)*cos(Angle i )

[0114] y i =Range i *cos(V i _theta)*sin(Angle i )

[0115] z i =Range i *sin(V i _theta)

[0116] After obtaining the three-dimensional coordinates of each measuring point on the transmission line ground wire, the debugging tool is used to expand the scanning range of the laser radar so that it can scan objects around the transmission line ground wire. In overhead lines, the only objects around the transmission line ground wire are trees, so the information scanned by the laser radar contains information about trees in addition to the transmission line ground wire information.

[0117] The edge IoT agent obtains the laser horizontal angle information wt emitted by the laser radar, the instantaneous angular velocity w of the laser emitted by the laser radar, and the time deviation ΔT between the tree obstacle measurement point and the first measurement point of the transmission line ground wire j , the horizontal angle deviation H_Beta inside the laser radar, the echo distance Range between the tree obstacle measurement point and the laser radar j , the vertical angle V between the tree obstacle measurement point and the laser radar j _theta; and use CRC-16 check algorithm for data verification. In order to improve the calculation accuracy, the check adopts the table lookup method.

[0118] The horizontal angle Angel between the tree obstacle measurement point and the laser radar is calculated according to the following formula: j :

[0119] Angle j =-wt-w*ΔT j -H_Beta

[0120] Then, the X-axis, Y-axis, and Z-axis coordinates (x j ,y j ,z j ):

[0121] x j =Range j *cos(V j _theta)*cos(Angle j )

[0122] y j =Range j *cos(V j _theta)*sin(Angle j )

[0123] z j =Range j *sin(V j _theta)

[0124] Finally, the coordinates of each point on the transmission line ground wire (x i ,y i 、z i ) and the coordinates of each tree point (x j ,y j 、z j ), and finally get the distance d between the two through the following formula ij :

[0125]

[0126] Since the ground wires of transmission lines with different voltages have different requirements for safety distances, different preset safety distances need to be configured according to different voltage levels, as shown in Table 1.

[0127] Table 1 Voltage level-safety distance

[0128]

[0129]

[0130] If the distance d ij If the preset safety distance is exceeded, the edge IoT agent will collect the laser radar echo data three times again for verification. If the average value after verification still exceeds the preset safety distance, the edge IoT agent will send an alarm message to the IoT management platform and finally to the power transmission panoramic monitoring platform.

[0131] If the distance d ijIf the preset safety distance is not exceeded, the data monitoring message is sent to the IoT management platform and finally to the power transmission panoramic monitoring platform. The data sent includes but is not limited to d ij Target monitoring distance, horizontal distance (x i -x j ), vertical line distance (y i -y j ), vertical distance (z i -z j ) and the coordinate position of the ground wire of the transmission line near the tree (x i ,y i ,z i ).

[0132] Embodiment 2:

[0133] like Figure 3 The structural schematic diagram shown corresponds to a method for monitoring tree barriers around a ground wire of a power transmission line provided in Example 1. This embodiment provides a system for monitoring tree barriers around a ground wire of a power transmission line, including:

[0134] The laser radar 3 is used to perform laser scanning on the transmission line ground wire 2 within the span and obtain radar echo data returned by each point of the transmission line ground wire 2; it is also used to perform laser scanning on the tree barrier 5 within the span and obtain radar echo data returned by each point of the tree barrier 5; the tree barrier 5 is a tree close to the transmission line ground wire 2 within the span; the span is the area between two towers 1 connected by the transmission line ground wire 2;

[0135] The edge IoT agent 4 is connected to the laser radar 3, and is used to determine the position of each point on the transmission line ground wire 2 according to the radar echo data returned by each point of the transmission line ground wire 2; it is also used to determine the position of each point on the tree barrier 5 according to the radar echo data returned by each point of the tree barrier 5; it is also used to determine the target monitoring distance according to the position of each point on the transmission line ground wire 2 and the position of each point on the tree barrier 5; it is also used to provide feedback to the remote monitoring platform according to the target monitoring distance and the preset safety distance; the target monitoring distance is the shortest distance between the transmission line ground wire 2 and the tree barrier 5.

[0136] The edge IoT agent 4 calculates the coordinates of the line measurement point according to the radar echo data returned by the line measurement point; the coordinates of the line measurement point refer to the coordinates of the line measurement point in the coordinate system established with the laser radar 3 as the origin;

[0137] The horizontal angle between the line measurement point and the laser radar 3 is obtained by solving the following formula:

[0138] Angle i =-wt-w*ΔTi -H_Beta

[0139] Wherein, wt represents the horizontal angle information of the laser emitted by the laser radar 3, w represents the instantaneous angular velocity of the laser emitted by the laser radar 3, ΔT i represents the time deviation between the line measurement point and the first measurement point of the transmission line ground conductor 2, and H_Beta represents the horizontal angle deviation inside the laser radar 3;

[0140] The X-axis, Y-axis, and Z-axis coordinates of the line measurement point are calculated by the following three equations:

[0141] x i =Range i *cos(V i _theta)*cos(Angle i )

[0142] y i =Range i *cos(V i _theta)*sin(Angle i )

[0143] z i =Range i *sin(V i _theta)

[0144] Among them, (x i ,y i ,z i ) represents the three-dimensional coordinates of the line measurement point, Range i Indicates the echo distance between the line measurement point and the laser radar 3, V i _theta represents the vertical angle between the line measurement point and the laser radar 3.

[0145] The edge IoT agent 4 calculates the coordinates of the tree barrier measurement point according to the radar echo data returned by the tree barrier measurement point; the coordinates of the tree barrier measurement point refer to the coordinates of the tree barrier measurement point in the coordinate system established with the laser radar 3 as the origin;

[0146] The horizontal angle between the tree obstacle measurement point and the LiDAR 3 is obtained by solving the following formula:

[0147] Angle j =-wt-w*ΔT j -H_Beta

[0148] Wherein, wt represents the horizontal angle information of the laser emitted by the laser radar 3, w represents the instantaneous angular velocity of the laser emitted by the laser radar 3, ΔT jrepresents the time deviation between the tree barrier measurement point and the first measurement point on the tree barrier 5, and H_Beta represents the horizontal angle deviation inside the laser radar 3;

[0149] The X-axis, Y-axis, and Z-axis coordinates of the tree barrier measurement point are obtained by solving the following three equations:

[0150] x j =Range j *cos(V j _theta)*cos(Angle j )

[0151] y j =Range j *cos(V j _theta)*sin(Angle j )

[0152] z j =Range j *sin(V j _theta)

[0153] Among them, (x j ,y j ,z j ) represents the three-dimensional coordinates of the tree barrier measurement point, Range j Indicates the echo distance between the tree obstacle measurement point and the laser radar 3, V j _theta represents the vertical angle between the tree obstacle measurement point and the laser radar 3.

[0154] The edge IoT agent 4 configures different preset safety distances according to different voltage levels of the ground wire 2 of the transmission line.

[0155] The program part of the technology can be considered as a "product" or "manufactured product" in the form of executable code and / or related data, which is participated in or realized by computer-readable media. Tangible and permanent storage media can include any memory or storage used by any computer, processor, or similar device or related module. For example, various semiconductor memories, tape drives, disk drives or any similar devices that can provide storage functions for software.

[0156] All or part of the software may sometimes communicate over a network, such as the Internet or other communications network. Such communications can load software from one computer device or processor to another. For example: from a server or host computer of a video target detection device to a hardware platform of a computer environment, or other computer environment that implements the system, or a system with similar functions related to providing information required for target detection. Therefore, another medium capable of transmitting software elements can also be used as a physical connection between local devices, such as light waves, radio waves, electromagnetic waves, etc., transmitted through cables, optical cables or air. Physical media used to carry carriers, such as cables, wireless connections or optical cables and the like, can also be considered as media that carry software. As used herein, unless limited to tangible "storage" media, other terms referring to computer or machine "readable media" refer to media involved in the process of the processor executing any instructions.

[0157] Specific examples are used in this article, but the above description is only to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas; technicians in this field should understand that the modules or steps of the present invention can be implemented by a general computer device, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by a computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps in them can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0158] Meanwhile, for those skilled in the art, according to the concept of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for monitoring tree barriers around a ground wire of a power transmission line, characterized in that: The monitoring method comprises the following steps: Performing laser scanning on the ground wire of the transmission line within the span by means of a laser radar to obtain radar echo data returned by each point of the ground wire of the transmission line; the span is the area between two towers connected by the ground wire of the transmission line; Determine the position of each point on the ground wire of the transmission line according to the radar echo data returned by each point on the ground wire of the transmission line; Performing laser scanning on tree barriers within the span to obtain radar echo data returned by each point of the tree barriers; the tree barriers are trees within the span close to the ground wire of the power transmission line; Determine the position of each point on the tree barrier based on the radar echo data returned by each point on the tree barrier; Determine the target monitoring distance according to the positions of each point on the ground wire of the transmission line and the positions of each point on the tree barrier; the target monitoring distance is the shortest distance between the ground wire of the transmission line and the tree barrier; Providing feedback to the remote monitoring platform based on the target monitoring distance and the preset safety distance; According to the radar echo data returned by each point on the transmission line ground wire, the position of each point on the transmission line ground wire is determined, including: The coordinates of the line measurement point are calculated based on the radar echo data returned by the line measurement point; the coordinates of the line measurement point refer to the coordinates of the line measurement point in the coordinate system established with the laser radar as the origin; The horizontal angle between the line measurement point and the laser radar is obtained by solving the following formula: Angle i =-wt-w*ΔT i -H_Beta Among them, wt represents the horizontal angle information of the laser emitted by the laser radar, w represents the instantaneous angular velocity of the laser emitted by the laser radar, ΔT i It represents the time deviation between the line measurement point and the first measurement point of the transmission line ground wire, and H_Beta represents the horizontal angle deviation inside the lidar; The X-axis, Y-axis, and Z-axis coordinates of the line measurement point are calculated by the following three equations: x i =Range i *cos(V i _theta)*cos(Angle i ) and i =Range i *cos(V i _theta)*sin(Angle i ) z i =Range i *sin(V i _theta) Among them, (x i ,y i ,z i ) represents the three-dimensional coordinates of the line measurement point, Range i Indicates the echo distance between the line measurement point and the laser radar, V i _theta represents the vertical angle between the line measurement point and the lidar.

2. The method for monitoring tree barriers around the ground wire of a power transmission line according to claim 1, characterized in that: Determining the position of each point on the tree barrier according to the radar echo data returned by each point on the tree barrier specifically includes: The coordinates of the tree barrier measurement point are obtained by solving the radar echo data returned by the tree barrier measurement point; the coordinates of the tree barrier measurement point refer to the coordinates of the tree barrier measurement point in the coordinate system established with the laser radar as the origin; The horizontal angle between the tree obstacle measurement point and the laser radar is obtained by solving the following formula: Angle j =-wt-w*ΔT j -H_Beta Among them, wt represents the horizontal angle information of the laser emitted by the laser radar, w represents the instantaneous angular velocity of the laser emitted by the laser radar, ΔT j It represents the time deviation between the tree barrier measurement point and the first measurement point on the tree barrier, and H_Beta represents the horizontal angle deviation inside the lidar; The X-axis, Y-axis, and Z-axis coordinates of the tree barrier measurement point are obtained by solving the following three equations: x j =Range j *cos(V j _theta)*cos(Angle j ) and j =Range j *cos(V j _theta)*sin(Angle j ) z j =Range j *sin(V j _theta) Among them, (x j ,y j ,z j ) represents the three-dimensional coordinates of the tree barrier measurement point, Range j Represents the echo distance between the tree obstacle measurement point and the laser radar, V j _theta represents the vertical angle between the tree obstacle measurement point and the lidar.

3. The method for monitoring tree obstacles around the ground wire of a power transmission line according to claim 1, characterized in that: The determining of the target monitoring distance according to the positions of each point on the ground wire of the transmission line and the positions of each point on the tree barrier specifically includes: The distance between each point on the transmission line ground wire and each point on the tree barrier is calculated by the following formula: Among them, d ij It represents the measurement distance between any line measurement point on the transmission line ground line and any tree barrier measurement point on the tree barrier, (x i ,y i ,z i ) represents the coordinates of a certain line measurement point on the transmission line ground line, (x j ,y j ,z j ) represents the coordinates of a certain tree barrier measurement point on the tree barrier; Among the several measured distances obtained, the minimum value is taken as the target monitoring distance.

4. The method for monitoring tree obstacles around the ground wire of a power transmission line according to claim 1, characterized in that: The monitoring method further comprises: Different preset safety distances are configured according to different voltage levels of the ground wire of the transmission line.

5. A tree barrier monitoring system around the ground wire of a power transmission line, characterized in that: The monitoring system comprises: A laser radar is used to perform laser scanning on the ground wire of the power transmission line within the span and obtain radar echo data returned by each point of the ground wire of the power transmission line; it is also used to perform laser scanning on the tree barrier within the span and obtain radar echo data returned by each point of the tree barrier; the tree barrier is a tree close to the ground wire of the power transmission line within the span; the span is an area between two towers connected by the ground wire of the power transmission line; An edge IoT agent, connected to the laser radar, is used to determine the position of each point on the ground wire of the transmission line according to the radar echo data returned by each point of the ground wire of the transmission line; is also used to determine the position of each point on the tree barrier according to the radar echo data returned by each point of the tree barrier; is also used to determine the target monitoring distance according to the position of each point on the ground wire of the transmission line and the position of each point on the tree barrier; is also used to provide feedback to the remote monitoring platform according to the target monitoring distance and the preset safety distance; the target monitoring distance is the shortest distance between the ground wire of the transmission line and the tree barrier; The edge IoT agent calculates the coordinates of the line measurement point according to the radar echo data returned by the line measurement point; the coordinates of the line measurement point refer to the coordinates of the line measurement point in the coordinate system established with the laser radar as the origin; The horizontal angle between the line measurement point and the laser radar is obtained by solving the following formula: Angle i =-wt-w*ΔT i -H_Beta Among them, wt represents the horizontal angle information of the laser emitted by the laser radar, w represents the instantaneous angular velocity of the laser emitted by the laser radar, ΔT i It represents the time deviation between the line measurement point and the first measurement point of the transmission line ground wire, and H_Beta represents the horizontal angle deviation inside the lidar; The X-axis, Y-axis, and Z-axis coordinates of the line measurement point are calculated by the following three equations: x i =Range i *cos(V i _theta)*cos(Angle i ) and i =Range i *cos(V i _theta)*sin(Angle i ) z i =Range i *sin(V i _theta) Among them, (x i ,y i ,z i ) represents the three-dimensional coordinates of the line measurement point, Range i Indicates the echo distance between the line measurement point and the laser radar, V i _theta represents the vertical angle between the line measurement point and the lidar.

6. The tree barrier monitoring system around the ground wire of a power transmission line according to claim 5, characterized in that: The edge IoT agent calculates the coordinates of the tree barrier measurement point according to the radar echo data returned by the tree barrier measurement point; the coordinates of the tree barrier measurement point refer to the coordinates of the tree barrier measurement point in the coordinate system established with the laser radar as the origin; The horizontal angle between the tree obstacle measurement point and the laser radar is obtained by solving the following formula: Angle j =-wt-w*ΔT j -H_Beta Among them, wt represents the horizontal angle information of the laser emitted by the laser radar, w represents the instantaneous angular velocity of the laser emitted by the laser radar, ΔT j It represents the time deviation between the tree barrier measurement point and the first measurement point on the tree barrier, and H_Beta represents the horizontal angle deviation inside the lidar; The X-axis, Y-axis, and Z-axis coordinates of the tree barrier measurement point are obtained by solving the following three equations: x j =Range j *cos(V j _theta)*cos(Angle j ) and j =Range j *cos(V j _theta)*sin(Angle j ) z j =Range j *sin(V j _theta) Among them, (x j ,y j ,z j ) represents the three-dimensional coordinates of the tree barrier measurement point, Range j Represents the echo distance between the tree obstacle measurement point and the laser radar, V j _theta represents the vertical angle between the tree obstacle measurement point and the lidar.

7. The tree barrier monitoring system around the ground wire of a power transmission line according to claim 5, characterized in that: The edge IoT agent configures different preset safety distances according to different voltage levels of the ground wire of the transmission line.

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