Transmission line galloping emergency anti-galloping cable ejection system and its control method

Abstract

The present invention discloses a transmission line galloping emergency anti-galloping cable ejection system and its control method, which relates to the technical field of transmission line anti-galloping. The transmission line galloping emergency anti-galloping cable ejection system includes: a lidar device, a simulation device, and an ejection device; the lidar device is used to perform real-time scanning on the wire galloping area and output scanning data; the simulation device is used to simulate the ejection trajectory of the emergency anti-galloping cable according to the scanning data and output the final ejection parameters; the ejection device is used to complete the actual cable ejection work on the wires in the operation area according to the ejection parameters. In the embodiment of the present invention, the transmission line galloping emergency anti-galloping cable ejection system and its control method scan the wire galloping in real time based on the lidar device, and at the same time simulate the ejection trajectory of the emergency anti-galloping cable through the simulation device, formulate a precise ejection plan assisted by the lidar device, and finally complete the ejection action through the ejection device.

Description

Technical Field

[0001] The present invention relates to the technical field of anti-galloping of transmission lines, and particularly to a galloping emergency anti-galloping cable ejection system for transmission lines and its control method. Background Art

[0002] With the rapid development of the economy, the demand for electric energy and the requirements for power quality are also continuously increasing. Electric power energy has become a necessity for the existence and development of society. However, due to the influence of various factors, power grid accidents still exist in some areas. Power grid accidents not only have a large impact, fast speed, and serious consequences. Therefore, high attention must be paid to the galloping of transmission lines, especially the prevention and control of galloping.

[0003] After the galloping of transmission lines, there is currently no relatively effective method and measure for galloping suppression. Based on research and test, using an insulating cable to pull and anchor the conductors of the galloping transmission line to the ground can effectively achieve the emergency galloping suppression of the transmission line. However, during the propulsion process of the ejection device, some problems are found, mainly including the following aspects:

[0004] 1. Parameters such as ejection force and angle cannot be determined and need to rely on frequent adjustment and testing;

[0005] 2. The boundary of conductor galloping cannot be identified during conductor galloping, resulting in increased ejection difficulty during conductor galloping;

[0006] 3. The lack of an ejection simulation environment.

[0007] A cable ejection device for emergency anti-galloping of transmission lines is disclosed in the patent document with the application publication number CN113872136A, including a base. A cable thrower is rotatably connected to the base. Support rods are obliquely arranged on the left and right sides of the cable thrower. One end of the support rod is rotatably connected to the cable thrower, and the other end is rotatably connected to an insertion rod. A plurality of slots for the vertical insertion of the insertion rod are arranged on the base. During ejection, the cable thrower is stable and the ejection accuracy is high. However, this patent document does not systematically detect the galloping of the conductor and identify the galloping boundary of the conductor, and cannot systematically adjust the ejection angle and ejection initial velocity.

[0008] The patent document with the publication number of CN114243611A discloses a transmission line emergency anti - galloping control device, belonging to the technical field of power operation and maintenance. It includes an insulating cable, a cable reel, a base and a ratchet mechanism; the insulating cable is used to traction the transmission line conductor and anchor it to the ground; the cable reel is used to wind the insulating cable and horizontally extend the insulating cable, and a rotating shaft is arranged along the central axis; the base is used to fix the cable reel on the ground, and both ends of the rotating shaft are rotatably connected to the base; the ratchet mechanism is arranged on the base and connected to the rotating shaft, and can make the cable reel rotate only in one direction; the ratchet mechanism has a two - way anti - reverse function. However, this patent document does not detect and scan the conductor galloping, and it is impossible to ensure the correct projection angle when projecting the cable. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide a transmission line galloping emergency anti - galloping cable projection system and its control method, which can real - time scan the conductor galloping through a lidar device, simultaneously simulate the projection trajectory of the emergency anti - galloping cable through a simulation device, formulate a precise projection plan assisted by the lidar device, and finally complete the projection action through a projection device.

[0010] To solve the above - mentioned technical problems, the technical solutions adopted by the present invention are as follows:

[0011] A transmission line galloping emergency anti - galloping cable projection system includes: a lidar device, a simulation device and a projection device; the lidar device is used to real - time scan the conductor galloping area and output scan data; the simulation device is used to simulate the projection trajectory of the emergency anti - galloping cable according to the scan data and output the final projection parameters; the projection device is used to complete the actual cable projection work on the conductor in the operation area according to the projection parameters.

[0012] A transmission line galloping emergency anti - galloping cable projection control method includes the following steps: Scanning with lidar: Using a lidar to real - time scan the conductor galloping area and output scan data; Simulating the cable projection trajectory: Simulating the projection trajectory of the emergency anti - galloping cable according to the scan data and outputting the final projection parameters; Completing the precise cable projection: Completing the actual cable projection work on the conductor in the operation area according to the projection parameters.

[0013] Further, in the step of simulating the cable projection trajectory, it includes the following steps: Identifying the boundary of conductor galloping: Identifying the boundary of conductor galloping according to the scan data and outputting boundary parameters.

[0014] Furthermore, in the simulation of the cable projectile trajectory, the following steps are also included: selecting the cable projectile target point: selecting the projectile target point according to the boundary parameters; calculating the critical projectile parameters: setting the projectile point, and calculating the minimum critical angle and the minimum initial velocity of the projectile according to the projectile point and the projectile target point; simulating the projectile trajectory: adjusting the projectile point, the projectile angle and the initial projectile velocity for multiple times, and calculating and simulating the projectile trajectory according to the projectile trajectory equation; determining the projectile parameters: adjusting the projectile angle and / or the initial projectile velocity according to the simulation results, and determining the final projectile parameters; determining the pressure parameters: determining the pressure value of the projectile device according to the final projectile parameters.

[0015] Further, in the identifying the wire galloping boundary, the identifying the wire galloping boundary according to the scan data comprises the following steps: preliminarily identifying the wire galloping boundary by measuring or interactively according to the scan data.

[0016] Furthermore, in the identifying of the wire dancing boundary, the identifying of the wire dancing boundary according to the scan data further includes the following steps: using a rendering engine to render the scan data scanned by the laser radar in real time, and obtaining the wire dancing boundary according to the rendering result.

[0017] Furthermore, in the scanning using laser radar, the real-time scanning of the wire dancing area includes the following steps: real-time scanning of the local transmission line dancing in strong winds.

[0018] At present, after the transmission line gallops, an insulating cable can be used to pull the galloping transmission line conductors and anchor them to the ground, which can effectively achieve emergency gallop suppression of the transmission line.

[0019] Emergency arrest of transmission lines is of great significance to ensuring the safety of power grids. During the implementation of emergency arrest based on cables, a launching device is usually used to pull the cables across the conductors.

[0020] Since the heights of transmission lines of different voltage levels vary greatly, the ejection power needs to be sufficient and needs to be adjusted according to the actual needs of the site; at the same time, the conductors of each phase of the transmission line are densely arranged, so the ejection device needs to have good accuracy.

[0021] For example, the patent document with the publication number of CN113872136A discloses a cable shooting device for emergency anti-vibration of transmission lines. A rope climbing mechanism is installed on the cable. The rope climbing mechanism climbs upward along the cable until it comes into contact with the conductor. At this time, the winding mechanism winds the other end of the traction rope located above the conductor to the lower side of the conductor. Then, the rope climber climbs down along the conductor, and the staff winds the other end of the traction rope around the wire reel. At this time, the traction rope is located below the conductor. The staff tightens the traction rope to pull the heavier throwing rope head towards the direction close to the throwing device. When the throwing rope head is far away from the throwing device, the throwing rope head can be pulled over without the staff walking to the position of the throwing rope head. Walking in strong wind weather is time-consuming, laborious and highly dangerous.

[0022] The above cable shooting device can shoot the cable onto the conductor. However, it cannot detect the vibration of the conductor, and moreover, it cannot identify the boundary of the conductor vibration. Based on this, those skilled in the art can only further improve the structure of the cable shooting device, that is, improve the mechanical structure, and cannot achieve the above functions.

[0023] For another example, the patent document with the publication number of CN114243611A discloses a control device for emergency anti-vibration of transmission lines. When the conductor is tightened by an insulating cable, to prevent the energy generated by the conductor vibration from rebounding through the insulating cable and endangering the safety of construction personnel, a ratchet mechanism is also provided in this embodiment. The ratchet mechanism is connected to the rotating shaft and has a one-way reverse stop function, which can make the winding disc rotate only in one direction. When the winding disc is one-way reverse stopped, since the insulating cable is wound around the winding disc, therefore, when the conductor vibrates, the insulating cable cannot be easily pulled, and the rebound of the insulating cable can be avoided; at the same time, it does not affect the normal traction of the insulating cable in the construction direction.

[0024] The above control device has a one-way reverse stop function, which can make the insulating cable be pulled only in the construction direction, and can prevent the energy generated by the conductor vibration from rebounding through the insulating cable and endangering the safety of construction personnel. However, it cannot detect the vibration of the conductor, nor can it ensure the correct throwing angle. Based on this, those skilled in the art cannot think of the above functions, nor can they make corresponding improvements to the above control device, and can only improve the structure of the above control device.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. The transmission line vibration emergency anti-vibration cable shooting system and its control method provided by the present invention realize key technologies such as real-time laser scanning, conductor vibration boundary recognition, and shooting simulation through a lidar device, a simulation device, and a shooting device, solve the problems in the actual shooting anti-vibration process, realize the method of assisting the shooting device based on the lidar device, improve the operability of shooting, and further improve the technical level of power grid operation and maintenance.

[0027] 2. The transmission line galloping emergency anti-galloping cable ejection system and its control method provided by the present invention start from the simulation ejection principle, perform real-time rendering based on lidar scanning data, implement 3D modeling, realize the reconstruction of the transmission line scene, accurately identify the galloping boundary of the conductor, and then through 3D simulation technology, simulate the ejection trajectories at different angles and initial velocities, so as to determine the accurate ejection parameters at different ejection positions and formulate a high-precision ejection plan.

[0028] 3. The transmission line galloping emergency anti-galloping cable ejection system and its control method provided by the present invention establish a 3D lidar point cloud model through laser scanning for theoretical research on the ejection trajectory and prediction of the movement trajectory of the ejected object, and adjust the parameters to achieve the optimal ejection effect. According to this simulation parameter, it is loaded into the ejection device for actual ejection operation.

[0029] 4. The present invention realizes a high-precision cable ejection system integrating software and hardware, which can play an active role in the actual process of preventing conductor galloping.

[0030] 5. Traditional ejection cable devices are all pure mechanical structures and do not actually scan the galloping situation of the conductor. The present invention simultaneously considers the wind deflection of the conductor and other dynamic effects, cooperates with the lidar to achieve auxiliary ejection, and forms a complete system. It is required that the lidar has a high frequency and accuracy to achieve high-precision ejection of the actual ejection device.

[0031] 6. Using the lidar can only perform real-time scanning on the middle part of the transmission line, that is, the part with the largest galloping amplitude under strong wind, which can reduce the scanning range, improve the scanning accuracy of the lidar, and facilitate the subsequent formulation of a precise cable ejection plan.

[0032] 7. Based on the scanning data of the local transmission line under strong wind galloping by the lidar, the galloping boundary of the conductor is initially identified through measurement or interaction methods, and the boundary parameters are output, which further provides boundary parameters for simulating the ejection trajectory of the cable, and then formulates a precise ejection plan based on lidar assistance.

[0033] 8. The transmission line galloping emergency anti-galloping cable ejection control method provided by the present invention, steps S220 - S260, through the calculation of critical values such as the minimum critical angle and minimum initial velocity in the ejection parameters, realizes the simulation of the ejection trajectory in the real-time 3D scene. Then, according to the simulation results, the size of the ejection angle or initial velocity is adjusted, and the best ejection parameters are determined, providing a theoretical data basis for precise ejection. At the same time, the velocity is transferred to the force reference system to achieve a one-to-one correspondence between force and pressure, connect to the ejection device, determine the pressure value required by the ejection device, and achieve high-precision ejection of the ejection device. Description of the Drawings

[0034] To more clearly illustrate the technical solutions in the present disclosure, the following will briefly introduce the drawings required for use in some embodiments of the present disclosure. Obviously, the drawings in the following description are only the drawings of some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings. In addition, the drawings in the following description can be regarded as schematic diagrams and are not limitations on the actual dimensions of the products involved in the embodiments of the present disclosure, the actual processes of the methods, etc.

[0035] Figure 1 It is a structural diagram of a transmission line galloping emergency anti-galloping cable projection system according to some embodiments of the present disclosure;

[0036] Figure 2 It is a schematic diagram of actual operation according to some embodiments of the present disclosure;

[0037] Figure 3 It is a schematic diagram of real-time laser scanning according to some embodiments of the present disclosure;

[0038] Figure 4 It is a schematic diagram of a parabolic trajectory according to some embodiments of the present disclosure;

[0039] Figure 5 It is a schematic diagram of selecting a projection target point according to some embodiments of the present disclosure. Specific Embodiments

[0040] The following will clearly and completely describe the technical solutions in some embodiments of the present disclosure with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments provided by the present disclosure, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present disclosure.

[0041] Unless otherwise required by the context, throughout the specification and claims, the term "comprising" is interpreted in an open, inclusive sense, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples" or "some examples", etc., are intended to indicate that specific features, structures, materials or characteristics related to the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics can be included in any one or more embodiments or examples in any appropriate manner.

[0042] The embodiments of the present invention provide a transmission line galloping emergency anti-galloping cable projection system, as Figure 1 shown, including: a lidar device, a simulation device, and a projection device.

[0043] In some embodiments, a lidar device is used to perform real-time scanning on the conductor galloping area and output scanning data.

[0044] Exemplarily, the lidar device adopts a Livox lidar system, which has high-definition scanning of conductors and long-distance detection capabilities, can meet the requirements, and provides hardware support for subsequent auxiliary projection devices.

[0045] In some embodiments, a simulation device is used to simulate the projection trajectory of the emergency anti-galloping cable according to the scanning data and output the final projection parameters.

[0046] Exemplarily, the simulation device is wirelessly connected to the lidar device. The lidar device transmits the output scanning data to the simulation device. The simulation device performs simulation according to the scanning data. Based on the simulation trajectory mode, the projection effect is observed by adjusting parameters multiple times, and the final projection parameters under the optimal projection trajectory are recorded.

[0047] Exemplarily, the projection parameters include projection angle, initial projection velocity, etc.

[0048] In some embodiments, a projection device is used to complete the actual cable projection work on the conductors in the operation area according to the projection parameters.

[0049] Exemplarily, the operator obtains the final projection parameters by viewing the simulation device and inputs the projection parameters into the projection device. The projection device performs cable projection on the conductors in the operation area according to the projection parameters, achieving the purpose of emergency anti-galloping of the transmission line.

[0050] The transmission line galloping emergency anti-galloping cable projection system and its control method provided by the present invention realize key technologies such as real-time laser scanning, conductor galloping boundary recognition, and projection simulation through the lidar device, simulation device, and projection device, solve the problems in the actual projection anti-galloping process, realize the method of assisting the projection device based on the lidar device, improve the operability of the projection, and further improve the technical level of power grid operation and maintenance.

[0051] The embodiment of the present invention also provides a transmission line galloping emergency anti-galloping cable projection control method, including steps: S100 to S300.

[0052] S100, perform scanning using lidar: Use lidar to perform real-time scanning on the conductor galloping area and output scanning data.

[0053] S200, simulate the cable projection trajectory: Simulate the projection trajectory of the emergency anti-galloping cable according to the scanning data and output the final projection parameters.

[0054] S300, Complete precise cable ejection: According to the ejection parameters, perform the actual cable ejection work on the conductors within the operation area.

[0055] In some embodiments, during the scanning using lidar, i.e., in step S100, the real-time scanning of the conductor dancing area includes steps: S110.

[0056] S110, Perform real-time scanning of the local transmission line under strong wind dancing.

[0057] In this way, using lidar can only perform real-time scanning on the middle part of the transmission line, i.e., the part with the largest dancing amplitude under strong wind, which can reduce the scanning range, improve the scanning accuracy of the lidar, and facilitate the subsequent formulation of a precise cable ejection plan.

[0058] Exemplarily, the lidar uses a Livox lidar system. Based on the Livox lidar system, three-dimensional point cloud data in the local coordinate system relative to the position of the lidar is output in real time.

[0059] In some embodiments, during the simulation of the cable ejection trajectory, i.e., in step S200, it includes steps: S210.

[0060] S210, Identify the conductor dancing boundary: According to the scanning data, identify the boundary of the conductor dancing and output the boundary parameters.

[0061] In some examples, during the identification of the conductor dancing boundary, i.e., in step S210, the identification of the conductor dancing boundary according to the scanning data includes steps: S211.

[0062] S211, According to the scanning data, preliminarily identify the boundary of the conductor dancing by measurement or interaction.

[0063] For example, as Figure 2 shown, the dancing conductor will form a surface on the point cloud, and the boundary of the conductor dancing can be preliminarily determined through this surface.

[0064] Based on the scanning data of the local transmission line under strong wind dancing by lidar, the boundary of the conductor dancing is preliminarily identified by measurement or interaction, and the boundary parameters are output, thereby providing boundary parameters for the simulation of the cable ejection trajectory and further formulating a precise ejection plan assisted by lidar.

[0065] In some examples, during the identification of the conductor dancing boundary, i.e., in step S210, the identification of the conductor dancing boundary according to the scanning data further includes steps: S212.

[0066] S212, Use a rendering engine to perform real-time rendering on the scanning data scanned by the lidar, and obtain the conductor dancing boundary according to the rendering result.

[0067] Exemplarily, the rendering engine adopts the OpenSceneGraph (abbreviated as OSG) 3D rendering engine to perform 3D modeling, reconstruct the transmission line scene, and realize the real-time rendering of point clouds based on the OpenSceneGraph 3D rendering engine, as Figure 3 shown.

[0068] In step S300, the cable ejection trajectory forms a parabola, and the cable ejection trajectory will be described below.

[0069] Considering the parabolic trajectory equation in the theoretical state, that is, ignoring the influence of factors such as air resistance and wind force, and the warhead is only affected by gravity, the parabolic equation in the theoretical state is obtained. As Figure 4 shown, a rectangular coordinate system is established, and the parabolic trajectory is shown in the figure. First, the warhead is regarded as a mass point m, and this mass point is ejected from the ejection device with an initial velocity v 0 and ejection angle θ 0 and reaches a certain point A(x, y) after t seconds, and the tangent inclination angle is θ. The horizontal component velocity v x = v 0 cosθ 0 in the horizontal direction, and the vertical component velocity v y = v 0 sinθ 0 .

[0070] From this, the differential equation system for the warhead moving in a vacuum is obtained as follows:

[0071]

[0072] At t = 0, there are initial values:

[0073]

[0074] After taking the integral, the coordinate equation with time t as a parameter can be obtained:

[0075]

[0076] Eliminating time t, the trajectory equation in the form of a parabola is obtained as follows:

[0077]

[0078] Elements of any point, vertex, and landing point of the trajectory:

[0079] The formula for the elements of the trajectory of any point with time t as the independent variable is as follows:

[0080]

[0081] The warhead has y at the landing point c = 0, from which the formulas for the landing point elements can be obtained:

[0082]

[0083] At the vertex, there is θ s = 0, and the formulas for the vertex elements can be obtained from the characteristics of the vertex as follows:

[0084]

[0085] The initial velocity parameter is determined by experiments. Through a series of experimental tests, the relationship curve between the propelling pressure parameter and the initial velocity parameter is obtained. By giving the propelling pressure, the corresponding initial velocity value can be interpolated.

[0086] In some examples, in the simulation of the cable propelling trajectory, that is, in step S200, it further includes steps: S220 to S260.

[0087] S220, select the cable propelling target point: select the propelling target point according to the boundary parameters.

[0088] Exemplarily, as Figure 5 shown, based on the three-dimensional real-time point cloud system, the propelling target point position can be accurately selected by convenient clicking on the three-dimensional interface, and the parameters of the propelling target point position can be adjusted to achieve precise propelling.

[0089] S230, calculate the critical propelling parameters: set the propelling point, and calculate the minimum critical angle A and the minimum initial velocity V of the propelling according to the propelling point and the propelling target point 0 .

[0090] After the propelling target point is selected, based on the relative position of the propelling device relative to the radar laser head, the propelling device and the propelling point can be placed in the same coordinate system. Thus, according to the three-dimensional space coordinates of the propelling point and the propelling target point, the horizontal distance: dH and the vertical distance: dV can be calculated, and then the minimum critical angle A can be calculated according to the trigonometric function tanA = dV / dH.

[0091] According to the propelling principle of formulas (1) to (7), set an angle A1 greater than the critical angle, and calculate the vertical initial velocity V at the specified angle according to the relationship between the velocity in the vertical direction, the vertical distance value dV and gravity 0y , and then calculate the minimum initial velocity V 0 .

[0092] S240, simulate the propelling trajectory: adjust the propelling point, the propelling angle and the propelling initial velocity multiple times, and calculate and simulate the propelling trajectory according to the propelling trajectory equation.

[0093] According to the projectile trajectory equation, the relationship between position and time is calculated. Based on this relationship, the full simulation process of the projectile trajectory from the starting position through the projectile target point to landing is realized, and then the calculation and simulation of the projectile trajectory are formed, providing an experimental data basis for the formulation of the precise projectile plan.

[0094] S250, determination of projectile parameters: According to the simulation results, adjust the projectile angle and / or the initial projectile velocity to determine the final projectile parameters.

[0095] Based on the simulated trajectory mode, adjust the parameters multiple times to observe the projectile effect, and record the projectile angle and the initial projectile velocity under the optimal projectile trajectory, so as to determine the final projectile parameters.

[0096] S260, determination of pressure parameters: According to the final projectile parameters, determine the pressure value of the projectile device.

[0097] Based on the multiple experimental data of pressure and velocity, form a corresponding table of velocity and pressure by interpolation, so as to determine the optimal projectile velocity at a specified angle according to the simulation, obtain the pressure value required by the projectile device, and thus realize the docking of laser scanning assisted projectile.

[0098] The projectile throwing control method for power transmission line galloping emergency anti-galloping guy ropes provided by the present invention, steps S220 - S260, through the calculation of critical values such as the minimum critical angle and the minimum initial velocity in the projectile parameters, realizes the simulation of the projectile trajectory in the real-time three-dimensional scene. Then, according to the simulation results, adjust the magnitude of the projectile angle or the initial velocity, and further determine the optimal projectile parameters, providing a theoretical data basis for precise projectile throwing. At the same time, transfer the velocity to the force reference system to realize the one-to-one correspondence between force and pressure, dock the projectile device, determine the pressure value required by the projectile device, and realize the high-precision projectile throwing of the projectile device.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Any other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.

Claims

1. A control method for the emergency cable throwing of transmission line galloping, characterized in that, it adopts an emergency cable throwing system for transmission line galloping, and the system includes: a lidar device, a simulation device and a throwing device; the lidar device is used to perform real-time scanning on the conductor galloping area and output scanning data; the simulation device is used to simulate the throwing trajectory of the emergency cable according to the scanning data and output the final throwing parameters; the throwing device is used to complete the actual cable throwing work on the conductor in the operation area according to the throwing parameters; the control method for the emergency cable throwing of transmission line galloping includes the following steps: Scanning with lidar: Using lidar to perform real-time scanning on the conductor galloping area and output scanning data; Simulating the cable throwing trajectory: Simulating the throwing trajectory of the emergency cable according to the scanning data and outputting the final throwing parameters; Completing accurate cable throwing: Completing the actual cable throwing work on the conductor in the operation area according to the throwing parameters; In the simulation of the cable throwing trajectory, it includes the following steps: Identifying the boundary of conductor galloping: Identifying the boundary of conductor galloping according to the scanning data and outputting boundary parameters; Selecting the cable throwing target point: Selecting the throwing target point according to the boundary parameters; Calculating the critical throwing parameters: Setting the throwing point, and calculating the minimum critical angle and minimum initial velocity of throwing according to the throwing point and the throwing target point; Simulating the throwing trajectory: Adjusting the throwing point, throwing angle and throwing initial velocity multiple times, and calculating and simulating the throwing trajectory according to the throwing trajectory equation; Determining the throwing parameters: Adjusting the throwing angle and / or the throwing initial velocity according to the simulation results to determine the final throwing parameters; Determining the pressure parameters: Determining the pressure value of the throwing device according to the final throwing parameters.

2. The control method for the emergency cable throwing of transmission line galloping according to claim 1, characterized in that, in the identification of the boundary of conductor galloping, the identification of the boundary of conductor galloping according to the scanning data includes the following steps: According to the scanning data, initially identify the boundary of conductor galloping by measurement or interaction.

3. The control method for the emergency cable throwing of transmission line galloping according to claim 2, characterized in that, in the identification of the boundary of conductor galloping, the identification of the boundary of conductor galloping according to the scanning data further includes the following steps: Using a rendering engine to perform real-time rendering on the scanning data scanned by the lidar, and obtaining the conductor galloping boundary according to the rendering result.

4. The control method for the emergency cable throwing of transmission line galloping according to claim 1, characterized in that, in the scanning with lidar, the real-time scanning of the conductor galloping area includes the following steps: Performing real-time scanning on a local transmission line under strong wind galloping.

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