Method for measuring and calculating the distance of power lines and tower connection points

Abstract

The application discloses a kind of measurement and calculation method for long-distance positioning electric power conductor and tower connecting point, it is characterized by comprising the following steps: step a, using the walking robot mounted on the conductor, combined with satellite positioning technology, sampling conductor space coordinates;Step b, according to the sampling coordinates, fitting the straight line equation under the overhead projection of conductor and the catenary equation under the orthographic projection of conductor;Step c, in the front of tower, find the auxiliary sampling point P that forms vertical line with connecting point P in orthographic projection plane s , and obtain the latitude and longitude coordinates of auxiliary sampling point P s , and fitting PP s Straight line overhead projection equation;Step d, by simultaneous equations and solving, obtain the space coordinates of connecting point P.The application does not need to climb to tower and conductor connecting place, can obtain the geographical space coordinates of tower cross arm conductor connecting point, ensure the safety of electric power operation, reduce work difficulty, reduce workload.

Description

Technical Field

[0001] This invention relates to the field of power transmission and distribution network operations, and in particular to a method for measuring and calculating the connection points of power conductors and towers at long distances. Background Technology

[0002] In many power operation scenarios, such as preventing walking robots attached to power lines from hitting power poles, it is necessary to obtain the spatial coordinates of the connection point between the power pole and the power line.

[0003] In existing technologies, workers typically climb to the connection point between the tower and the conductor to perform satellite positioning at high altitude and then obtain the spatial coordinates of the data acquisition point. This method is inefficient and dangerous. Therefore, there is an urgent need for a more convenient method to acquire the coordinates of the connection point between the conductor and the tower. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a method for measuring and calculating the connection points of power lines and towers at long distances. This method allows for obtaining the geographic spatial coordinates of the connection points without the need to climb to the location where the tower and the power line connect, ensuring the safety of power operations, reducing the difficulty of the work, and decreasing the workload.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A method for measuring and calculating the connection points of power conductors and towers at long distances, characterized by the following steps:

[0007] Step a: Using a walking robot mounted on the conductor and combined with satellite positioning technology, sample the spatial coordinates of the conductor;

[0008] Step b: Based on the sampled coordinates, fit the equations of the straight line under the top view projection of the traverse and the equations of the catenary under the front view projection of the traverse.

[0009] Step c: Locate an auxiliary sampling point P on the front of the tower that forms a vertical line with the connection point P on the frontal projection plane. s And obtain auxiliary sampling point P s The latitude and longitude coordinates, and the fitting of PP s The equation of a straight line as shown in a top-view projection;

[0010] Step d: Obtain the spatial coordinates of the connection point P by solving the simultaneous equations.

[0011] Preferably, in step a, the worker attaches the walking robot to the guide wire and controls the walking robot to move from one end of the guide wire to the other end. During the walking process, the robot is positioned by navigation satellite, the spatial coordinates of the guide wire are collected, and the coordinates P0(x0,y0,z0) of the lowest point of the guide wire are obtained.

[0012] Preferably, in step b, the equation of the straight line under the top-view projection of the traverse is:

[0013] a1x + b1y + c1 = 0;

[0014] The equation of the catenary under the orthographic projection of the conductor is:

[0015]

[0016] The optimal a1, b1, c1, and a3 are obtained by using the sampled coordinates.

[0017] Preferably, in step c,

[0018] The auxiliary sampling point P was roughly located by visual inspection. s Approximate point P s ', so that the approximate point P s 'And the connection point P forms an auxiliary vertical line on the frontal projection plane;

[0019] At approximate point P s Based on this, auxiliary sampling point P is found using equipment. s And collect auxiliary sampling points P s latitude and longitude coordinates x s ,y s ;

[0020] Due to PP s The straight line in the top view projection is perpendicular to the straight line in the top view projection of the traverse, therefore PP s The equation of the line under the top-view projection is:

[0021] b1x-a1y+c2=0, substitute x s ,y s We can obtain:

[0022] c2=a1y s -b1x s .

[0023] Preferably, in step d,

[0024] The top-view projection of point P is the line that intersects PP in the top-view projection of the traverse. s The intersection of the lines as projected from above can be determined by solving the following system of equations:

[0025]

[0026] After solving, the latitude and longitude (x, y) of point P are obtained as follows:

[0027]

[0028] The longitude and latitude x, y of the connecting point P are substituted into the catenary equation of the conductor on the orthographic projection to obtain the z coordinate of the connecting point P.

[0029] The advantages of the present application are:

[0030] 1. The geographical space coordinates of the connecting point of the tower and the conductor can be obtained without climbing to the connecting point of the tower and the conductor, which ensures the safety requirement of the electric power operation, reduces the work difficulty and workload.

[0031] 2. The measurement can be carried out within a certain range from the front of the tower on the ground, and the measurement work can be smoothly carried out in the scene where the tower is not convenient to approach, such as the tower base appearing a depression or being blocked by obstacles, and has high flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0032] Fig. 1 The plan view of the connecting of the conductor and the tower provided by the present embodiment;

[0033] Fig. 2 The front view of the connecting of the conductor and the tower provided by the present embodiment;

[0034] Fig. 3 The schematic diagram of the mobile phone cross coordinates provided by the present embodiment. DETAILED DESCRIPTION

[0035] In combination Figs. 1 to 3 The measurement and calculation method of the present application for remotely positioning the connecting point of the electric power conductor and the tower is further described.

[0036] A measurement and calculation method for remotely positioning the connecting point of the electric power conductor and the tower, characterized by comprising the following steps:

[0037] Step a, using the walking robot 3 mounted on the conductor 2, in combination with the satellite positioning technology, sampling the space coordinates of the conductor 2, i.e. sampling coordinates;

[0038] Step b, according to the sampling coordinates, fitting the straight line equation of the plan projection of the conductor 2 and the catenary equation of the front projection of the conductor 2;

[0039] Step c, finding the auxiliary sampling point P on the front of the tower 1 which forms a vertical line with the connecting point P on the front projection plane s , and obtaining the longitude and latitude coordinates of the auxiliary sampling point P s , and fitting the straight line equation of the plan projection of the PP s straight line, and the connecting point P is the connecting point between the electric power conductor 2 and the tower 1;

[0040] Step d, by solving the simultaneous equations, the space coordinates of the connecting point P are obtained.

[0041] Specifically:

[0042] In step a:

[0043] The staff can mount the walking robot 3 on the wire 2 by climbing the pole tower 1, lifting tools, drones or other means, and then control the walking robot 3 to move from one end to the other end of the wire 2. During the walking process, the spatial coordinates of the wire 2 are collected through navigation satellite positioning, and the coordinates P0(x0, y0, z0) of the lowest point of the wire 2 are obtained.

[0044] In step b:

[0045] Only considering the longitude and latitude values of the sampling coordinates, that is, not considering the elevation, then equivalent to projecting the sampling coordinates to the plane formed by the longitude and latitude, forming a straight line, and the straight line equation of the wire 2 in the overhead projection can be obtained as:

[0046] a1x+b1y+c1=0;

[0047] At the same time, the catenary equation of the wire 2 in the orthographic projection is:

[0048]

[0049] The optimal a1, b1, c1, a3 can be calculated using the sampling coordinates.

[0050] The optimal a1, b1, c1, a3 calculated by substituting the sampling coordinates into the equation are prior art, so the specific calculation process is not described in detail in this embodiment.

[0051] In step c:

[0052] The approximate point P s ' of the auxiliary sampling point P s is roughly found by visual observation, so that the approximate point P s ' and the connecting point P form an auxiliary vertical line in the orthographic projection plane.

[0053] When finding the approximate point P s ', T1 and T2 marking points are constructed on the front and back sides or the same side of the pole tower 1. The T1 and T2 marking points are located at the central intersection point position in the left and right directions and form an auxiliary vertical line with the connecting point P in the orthographic projection. When the approximate point P s ' looks at the pole tower 1, it faces the auxiliary vertical line. When the T1 and T2 marking points are on the same side of the pole tower 1, the T1 and T2 points cannot be on a vertical straight line.

[0054] On the basis of the approximate point P s ', the auxiliary sampling point P s is found by using the device, and the longitude and latitude coordinates x s of the auxiliary sampling point P sy s , the process is:

[0055] 1. Set up a tripod at the approximate point P s , adjust the tripod head to be level using a level;

[0056] 2. Place a monocular telescope with cross coordinates on the head, and connect the eyepiece of the monocular telescope to the camera of the mobile phone 4, so that the screen with cross coordinates 41 can be seen on the mobile phone 4;

[0057] 3. Adjust the position of the tripod and the angle of the monocular telescope until T1 and T2 are located on the vertical axis 411 of the cross coordinates 41;

[0058] 4. Keep the position of the tripod, and replace the mobile phone with a coordinate locator;

[0059] 5. Obtain the coordinates of the locator through navigation satellites, and obtain the auxiliary sampling point P s with latitude and longitude coordinates x s ,y s .

[0060] Since the straight line under the oblique projection of PP s is perpendicular to the straight line under the oblique projection of the guide line 2, the equation of the straight line under the oblique projection of PP s is:

[0061] b1x-a1y+c2=0, substituting x s ,y s , we get:

[0062] c2=a1y s -b1x s .

[0063] In step d:

[0064] The oblique projection point of the connecting point P is the intersection of the straight line under the oblique projection of the guide line 2 and the straight line under the oblique projection of PP s , which can be solved by the following equation set:

[0065]

[0066] After solving, the latitude and longitude x, y of the connecting point P are:

[0067]

[0068] Substitute the latitude and longitude x, y of the connecting point P into the catenary equation of the guide line 2 in the orthographic projection to obtain the z coordinate of the connecting point P.

[0069] The above mode can obtain the spatial coordinates of the connection point P of the conductor 2 and the tower 1. In the process, the operator does not need to climb to the connection position of the conductor 2 and the tower 1, which ensures the safety requirement of the power operation; the measurement can be performed within a range of less than 100 meters from the side of the tower 1, and the measurement work can be smoothly carried out in the scene where the tower 1 is not easy to approach, such as the tower 1 base appears a depression or is blocked by an obstacle, and has high flexibility.

[0070] Unless otherwise specified and limited, in the present application, if there are terms such as "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. Indicating the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation. Therefore, the terms describing the orientation or positional relationship in the present application are only used for exemplary description, and cannot be understood as a limitation on the present patent. For those skilled in the art, the specific meaning of the above terms can be understood in conjunction with the drawings and according to the specific circumstances.

[0071] Unless otherwise specified and limited, in the present application, if there are terms such as "setting", "connection" and "connection", they should be broadly understood, for example, they can be fixedly connected, or they can be detachably connected, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium; can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0072] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the scope of the present application is within the protection scope of the present application. It should be noted that for ordinary skilled in the art, some improvements and refinements without departing from the principles of the present application are also considered as the protection scope of the present application.

Claims

1. A method of measuring and calculating the location of a power line and tower connection point from a distance, characterized by: The method comprises the following steps: Step a, using a walking robot mounted on the conductor, combined with satellite positioning technology, sampling the spatial coordinates of the conductor; Step b, fitting the straight line equation under the overhead projection of the conductor and the catenary equation under the orthographic projection of the conductor according to the sampling coordinates; Step c, finding auxiliary sampling points P on the front of the tower which form vertical lines with the power lines and the tower connection points P in the front projection plane s and obtaining the latitude and longitude coordinates of the auxiliary sampling points P s and fitting a straight line equation of the straight line PP s in the plan view projection; In step c: Finding the auxiliary sampling point P by visual observation s of the approximate point P s ', so that the approximate point P s ' and the connection point P form an auxiliary vertical line on the orthographic plane; Finding the approximate point P s At this time, the T1, T2 identification points are constructed on the front and back sides or the same side of the tower, the T1, T2 identification points are located at the central intersection position in the left and right directions and form an auxiliary vertical line with the connecting point P in the front projection, and the measurer looks at the tower while facing the auxiliary vertical line; when the T1, T2 identification points are on the same side of the tower, the T1, T2 two points cannot be on a vertical straight line. s At this time, the T1, T2 identification points are constructed on the front and back sides or the same side of the tower, the T1, T2 identification points are located at the central intersection position in the left and right directions and form an auxiliary vertical line with the connecting point P in the front projection, and the measurer looks at the tower while facing the auxiliary vertical line; when the T1, T2 identification points are on the same side of the tower, the T1, T2 two points cannot be on a vertical straight line. On the basis of the approximate point P s , the device finds an auxiliary sampling point P s , and collects the auxiliary sampling point P s . The process includes: Latitude and longitude coordinates x s , y s . s1, at the approximate point P s Raise the tripod at the approximate point P, and adjust the tripod head to be level using the level. s2, place a monocular telescope with cross coordinates on the holder, and connect a mobile phone camera at the eyepiece of the monocular telescope to see the picture with cross coordinates on the mobile phone; s3, adjust the position of the holder and the angle of the monocular telescope until T1 and T2 are located on the vertical axis of the cross coordinates; s4, keep the position of the holder, and replace the mobile phone with a coordinate positioning instrument; s5, through the navigation satellite, the coordinates of the positioning instrument are obtained to get the auxiliary sampling point P s longitude and latitude coordinates x s , y s ; PP s A straight line under the orthographic projection is perpendicular to a straight line under the orthographic projection of the guide line, PP s The equation of the straight line under the orthographic projection is: , substituting x s , y s we obtain: ； Step d, obtain the spatial coordinates of the connecting point P by solving the equations simultaneously; In step d: the planimetric point of the connection point P is the intersection of the straight line under planimetric projection of the traverse and the straight line PP s the intersection of the straight lines under planimetric projection of the straight lines, together with the following system of equations: ， After solving, the longitude and latitude x and y of the connecting point P are: ； Substitute the longitude and latitude x and y of the connecting point P into the catenary equation of the conductor under the orthographic projection to obtain the z coordinate of the connecting point P.

2. The method for measuring and calculating the connecting point of the long-distance positioning power conductor and tower according to claim 1, characterized in that in step a, the worker mounts the walking robot on the conductor, controls the walking robot to move from one end of the conductor to the other end, collects the spatial coordinates of the conductor through navigation satellite positioning during the walking process, and obtains the coordinates P0(x0, y0, z0) of the lowest point of the conductor.

3. The method for measuring and calculating the connection points of power conductors and towers for long-distance positioning according to claim 2, characterized in that: in In step b, the straight line equation under the overhead projection of the conductor is: ； The catenary equation under the orthographic projection of the conductor is: ， The optimal a1, b1, c is calculated by using the sampling coordinates 1， a3.

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