Method for measuring distance of power transmission line from crossing span and related device

Abstract

The application discloses a power transmission line and crossing span distance measurement method and related device, the method comprises the following steps: carrying out static RTK difference calculation on the real-time position of a single point of a conductor to obtain a high-precision conductor position; calculating the conductor single-point sag according to the real-time temperature information of the conductor through a preset catenary equation; based on preset span position information, respectively performing curve fitting calculation on the high-precision conductor position and the conductor single-point sag to obtain a positioning span distance and a sag span distance; and performing comprehensive calculation on the positioning span distance and the sag span distance by using a Kalman filtering algorithm to obtain a target conductor span distance. The application can solve the technical problems of the prior art, such as long measurement time, lack of real-time performance, great influence of the environment, and poor accuracy and reliability of actual measurement results.

Description

Technical Field

[0001] This application relates to the field of power transmission lines, and more particularly to a method and related apparatus for measuring the distance between a power transmission line and an object crossing it. Background Technology

[0002] Transmission lines are a fundamental component of the power grid and the carrier of electrical energy. They are widely distributed, and the surrounding environment of transmission corridors is extremely complex, commonly including mountains, forests, rivers, towns, highways, and railways. The safe operation of transmission lines is of great significance to ensuring the reliable operation of the power system. Among these factors, the safe distance between transmission lines and the objects they cross is a crucial factor affecting transmission line safety. Transmission line operation and maintenance personnel invest significant manpower and resources in detecting the crossing distance between transmission lines and the objects they cross.

[0003] Currently, existing methods for detecting crossing distances mainly rely on manual on-site measurements. Common methods include triangulation using a total station and direct measurement using an altimeter. However, these methods are easily affected by factors such as the line load, ambient temperature, and wind speed at the time, are time-consuming, and have low measurement accuracy. More importantly, they cannot measure crossing distances in real time. Summary of the Invention

[0004] This application provides a method and related apparatus for measuring the distance between a power transmission line and an object crossing it, in order to solve the technical problems of existing technologies, such as long measurement time, lack of real-time capability, and significant environmental influence, resulting in poor accuracy and reliability of actual measurement results.

[0005] In view of this, the first aspect of this application provides a method for measuring the distance between a transmission line and an object crossing it, comprising:

[0006] Static RTK differential calculation is performed on the real-time position of a single point on the traverse to obtain a high-precision traverse position;

[0007] The single-point sag of the conductor is calculated based on the real-time temperature information of the conductor using a pre-set catenary equation.

[0008] Based on the preset crossing position information, curve fitting calculations are performed according to the high-precision conductor position and the single-point sag of the conductor to obtain the positioning crossing distance and the sag crossing distance.

[0009] The distance across the target conductor is obtained by comprehensively calculating the positioning span distance and the sag span distance using the Kalman filter algorithm.

[0010] Optionally, the step of performing static RTK differential calculation on the real-time position of a single point on the conductor to obtain a high-precision conductor position further includes:

[0011] The real-time location of a single point on the conductor is obtained through the BeiDou positioning system;

[0012] A contact temperature sensor is used to obtain real-time temperature information of the conductor surface.

[0013] Optionally, the step of performing static RTK differential calculation on the real-time position of a single point on the conductor to obtain a high-precision conductor position includes:

[0014] High-precision traverse positions are obtained by performing static RTK differential calculations using satellite data provided by a pre-set virtual reference station and the real-time position of a single point on the traverse.

[0015] Optionally, the step of calculating the single-point sag of the conductor based on the real-time temperature information of the conductor using a preset catenary equation further includes:

[0016] Adjust the load current based on the real-time temperature information and the real-time current of the conductor.

[0017] A second aspect of this application provides a distance measuring device for power transmission lines and crossings, comprising:

[0018] The differential calculation module is used to perform static RTK differential calculation on the real-time position of a single point on the traverse to obtain a high-precision traverse position.

[0019] The sag calculation module is used to calculate the sag of a single point on the conductor based on the real-time temperature information of the conductor using a preset catenary equation.

[0020] The fitting calculation module is used to perform curve fitting calculations based on the preset crossing position information, according to the high-precision conductor position and the single-point sag of the conductor, to obtain the positioning crossing distance and the sag crossing distance.

[0021] The optimization calculation module is used to perform a comprehensive calculation on the positioning span distance and the sag span distance using the Kalman filter algorithm to obtain the target conductor crossing distance.

[0022] Optional, also includes:

[0023] The BeiDou positioning module is used to obtain the real-time location of a single point on the conductor through the BeiDou positioning system.

[0024] The temperature extraction module is used to acquire real-time temperature information of the conductor surface using a contact temperature sensor.

[0025] Optionally, the difference calculation module is specifically used for:

[0026] High-precision traverse positions are obtained by performing static RTK differential calculations using satellite data provided by a pre-set virtual reference station and the real-time position of a single point on the traverse.

[0027] Optional, also includes:

[0028] The current adjustment module is used to adjust the load current based on the real-time temperature information and the real-time current of the conductor.

[0029] A third aspect of this application provides a distance measuring device for power transmission lines and crossings, the device including a processor and a memory;

[0030] The memory is used to store program code and transmit the program code to the processor;

[0031] The processor is used to execute the distance measurement method between the transmission line and the crossing object as described in the first aspect, according to the instructions in the program code.

[0032] A fourth aspect of this application provides a computer-readable storage medium for storing program code for executing the distance measurement method for transmission lines and crossings described in the first aspect.

[0033] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0034] This application provides a method for measuring the distance between a transmission line and an object crossing, comprising: performing static RTK differential calculation on the real-time position of a single point of the conductor to obtain a high-precision conductor position; calculating the single-point sag of the conductor based on the real-time temperature information of the conductor using a preset catenary equation; performing curve fitting calculations based on preset crossing position information, according to the high-precision conductor position and the single-point sag of the conductor, to obtain the positioning crossing distance and the sag crossing distance; and using a Kalman filter algorithm to comprehensively calculate the positioning crossing distance and the sag crossing distance to obtain the distance to the target conductor crossing object.

[0035] The distance measurement method for transmission lines and crossings provided in this application analyzes and calculates the crossing distance from two perspectives: precise conductor positioning and conductor temperature. The conductor position is not significantly affected or deviated by environmental factors, while the conductor temperature is affected by the line load. Targeted analysis of these factors ensures the reliability of the measurement results. By combining the two distance values ​​obtained from positioning and temperature calculations and performing filtering, an optimized comprehensive distance value, which is the target value, can be obtained. The data used is readily available, and the methods employed are all data calculations, effectively reducing time consumption and ensuring real-time performance. Furthermore, it effectively avoids environmental influences, ensuring the accuracy of the calculation results. Therefore, this application solves the technical problems of existing technologies, such as long measurement time, lack of real-time performance, and significant susceptibility to environmental influences, leading to poor accuracy and reliability of actual measurement results. Attached Figure Description

[0036] Figure 1A flowchart illustrating a method for measuring the distance between a power transmission line and an object crossing, provided in an embodiment of this application;

[0037] Figure 2 A schematic diagram of the structure of a distance measuring device between a power transmission line and an object crossing, provided in an embodiment of this application;

[0038] Figure 3 This is a schematic diagram of an overhead line structure provided in an embodiment of this application;

[0039] Figure 4 This is a schematic diagram of an icing cable structure provided in an embodiment of this application;

[0040] Figure 5 A schematic diagram of the conductor under wind and its own weight provided in the embodiments of this application;

[0041] Figure 6 This is a schematic diagram of the force exerted on a conductor in windy and icy conditions, provided in an embodiment of this application.

[0042] Figure 7 A schematic diagram of the physical device for measuring the distance between a power transmission line and an object crossing, provided as an application example of this application;

[0043] Figure 8 A schematic diagram of the hardware logic structure for measuring the distance between a power transmission line and an object crossing, provided as an application example of this application. Detailed Implementation

[0044] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0045] For easier understanding, please refer to Figure 1 An embodiment of a distance measurement method between a power transmission line and an object crossing provided in this application includes:

[0046] Step 101: Perform static RTK differential calculation on the real-time position of a single point on the conductor to obtain a high-precision conductor position.

[0047] Further, step 101 includes:

[0048] High-precision traverse positions are obtained by performing static RTK differential calculations using satellite data provided by a pre-set virtual reference station and the real-time position of a single point on the traverse.

[0049] Carrier phase differential technology, also known as RTK (Real-Time Kinematic) technology, is a differential method for processing carrier phase observations from two stations in real time. It involves sending the carrier phase data collected by the base station to the user receiver, performing differential calculations to determine the coordinates, and enabling positioning accuracy down to the centimeter level.

[0050] The static RTK differential calculation in this embodiment is to obtain the accurate position of the traverse. When using GPS for positioning, it is affected by various factors. In order to eliminate these error sources, two or more GPS receivers must work synchronously. The method of GPS static measurement is that each receiver observes independently and then performs differential calculation using post-processing software. So, for RTK measurement, it is still differential calculation, but it is real-time differential calculation.

[0051] In this embodiment, the preset virtual reference station is a virtual Cors station, the location of which is provided by the satellite positioning service provider. By performing differential calculation between the satellite data and the real-time location of a single point, a relatively accurate high-precision traverse position can be obtained; and the accuracy of the data determines the accuracy and reliability of the result to a certain extent.

[0052] Furthermore, step 101, preceding the following, also includes:

[0053] The real-time location of a single point on the conductor is obtained through the BeiDou positioning system;

[0054] A contact temperature sensor is used to obtain real-time temperature information of the conductor surface.

[0055] The BeiDou Navigation Satellite System can directly acquire signals from multiple satellites, including BDS, GPS, GLONASS, Galileo, and QZSS, and accurately determine the real-time position of a single point on the conductor; the measurement error is no more than 15cm. The contact temperature sensor collects the surface temperature of the conductor, with a measurement error of no more than ±1℃.

[0056] Step 102: Calculate the single-point sag of the conductor based on the real-time temperature information of the conductor using the preset catenary equation.

[0057] A catenary is a curve that forms under the influence of gravity when a uniform, flexible chain, fixed at both ends, is subjected to gravity, such as the conductor in this embodiment. With a suitable coordinate system, the equation of a catenary is generally a hyperbolic cosine function. Please refer to... Figure 3 , Figure 3 For the schematic diagram of the overhead line, we can first calculate the conductor self-weight specific load g1 = 9.8 × m0 × 10 -3 / S, where m0 is the mass of the conductor per kilometer and S is the cross-sectional area of ​​the conductor; and calculate the ice-weight ratio of the conductor covered by ice as g2 = 27.708 × b(b + d) × 10 -3 / S, where d is the cable diameter; b is the icing thickness, please refer to [reference needed]. Figure 4 A schematic diagram of an icing cable structure is provided. Based on the above, the conductor's self-weight and ice weight ratio can be calculated as g3 = g1 + g2. Then, the wind pressure ratio when the conductor is ice-free is calculated as g4 = 0.6125ɑCdv² × 10⁻⁶. -3 / S, where α is the wind speed non-uniformity coefficient, C is the wind load coefficient (C = 1.2 when conductor diameter d < 17mm, C = 1.1 when conductor diameter d ≥ 17mm), and v is the design wind speed. Next, calculate the wind pressure load ratio g5 = 0.6125αC(2b+d)v²×10⁻³ / S when the conductor is iced. Then refer to [further details omitted]. Figure 5 Calculate the combined load ratio of the conductor when there is no ice but there is wind. Then refer to Figure 6 It can calculate the combined load ratio of conductors under conditions of ice and wind. Finally, σ can be calculated based on the pre-set catenary equation. n :

[0058] σ n -Eg n 2 l 2 / 24σ n 2 =σ m -Eg m 2 l 2 / 24σ m 2 -TE(t m -t n )

[0059] Among them, g m g represents the specific load under environmental conditions at the time of installation. n For the specific load under the desired meteorological conditions, σ m t represents the stress on the conductor during installation. m t n These are the ambient temperature during conductor installation and the online measured conductor temperature, respectively. T is the conductor's coefficient of thermal expansion, E is the conductor's elastic modulus, and l is the span. Based on the calculated σ... n The sag at the lowest point of the conductor can be calculated as f = g. n l 2 / 8σ n .

[0060] Furthermore, step 102 also includes: adjusting the load current based on real-time temperature information and real-time conductor current.

[0061] Operators can adjust the load current appropriately based on the real-time temperature and current on the conductor. In other words, besides calculating single-point sag, they can also adjust the load current based on the real-time temperature and current of the conductor, providing a quantitative basis for analysis and making line load current adjustments more reliable.

[0062] Step 103: Based on the preset crossing position information, curve fitting calculations are performed according to the high-precision conductor position and the single-point sag of the conductor to obtain the positioning crossing distance and the sag crossing distance.

[0063] Preset crossing location information refers to the absolute positioning of the object the conductor crosses. This information can be obtained through satellite positioning or other methods, without specific limitations. Based on the high-precision conductor position and the preset crossing location information, multi-data curve fitting can be performed to calculate the positioning crossing distance; similarly, based on the conductor's single-point sag and the preset crossing location information, multi-data curve fitting can be performed to calculate the sag crossing distance. Distances calculated using these two different datasets may differ to some extent, and calculating distances from different angles ensures the reliability of the results.

[0064] Step 104: Use the Kalman filter algorithm to calculate the distance between the positioning span and the sag span to obtain the distance between the target conductor and the object.

[0065] By applying the Kalman filter algorithm to the distances calculated using two different methods, a more accurate distance across the target conductor can be obtained. The Kalman filter algorithm utilizes the state equations of a linear system and performs optimal estimation of the system state using system input and output observation data. Since the observation data includes noise and interference from the system, the optimal estimation can also be viewed as a filtering process. This embodiment inputs two distance values ​​into the system, performs optimal estimation, and finally obtains the distance across the target conductor.

[0066] The distance measurement method for transmission lines and crossings provided in this application analyzes and calculates the crossing distance from two perspectives: precise conductor positioning and conductor temperature. The conductor position is not significantly affected or deviated by environmental factors, while the conductor temperature is affected by the line load. Targeted analysis of these factors ensures the reliability of the measurement results. By combining the two distance values ​​obtained from positioning and temperature calculations and performing filtering, an optimized comprehensive distance value, which is the target value, can be obtained. The data used is readily available, and the methods employed are all data calculations, effectively reducing time consumption and ensuring real-time performance. Furthermore, it effectively avoids environmental influences, ensuring the accuracy of the calculation results. Therefore, this application embodiment can solve the technical problems of existing technologies, such as long measurement time, lack of real-time performance, and significant susceptibility to environmental influences, leading to poor accuracy and reliability of actual measurement results.

[0067] For ease of understanding, this application provides a physical device for measuring the distance between a power transmission line and an object crossing it. Please refer to [link to relevant documentation]. Figure 7 The device's structure provides protection and support, shielding the circuit board from electromagnetic interference. The overall protection level reaches IP65, and the weight does not exceed 3kg. The device's outer shell is cylindrical and made of aluminum alloy. The shell is in direct contact with the wires, utilizing the Faraday cage principle to protect the internal circuit board. The device dimensions are approximately 220mm x 120mm, with an aperture of approximately 40mm. The outer shell has rounded edges to reduce corona discharge. The device's clamping mechanism is a combination of aluminum alloy and rubber pads; the aluminum alloy provides load-bearing capacity, while the rubber pads act as buffers and protect the wires. The device shell is divided into upper and lower parts with an openable design, connected and secured with bolts for easy installation. An antenna is located on the top for signal reception. The interior mainly houses a backup battery module, control unit, inductive power module, lithium battery pack, communication unit, power management module, Rogowski coil, Beidou positioning unit, and temperature sensor.

[0068] For details on the hardware logic structure, please refer to [link / reference]. Figure 8 The system comprises several components, including: a Rogowski coil for collecting power frequency current (a crucial indicator for increasing the load on transmission lines and verifying conductor temperature), a Beidou positioning module for acquiring satellite messages from multiple sources (BDS, GPS, GLONASS, Galileo, and QZSS), differentially analyzing the data with the communication module to calculate the device's high-precision spatial location with a measurement error not exceeding 15cm; a contact-type temperature sensor for collecting conductor surface temperature with a measurement error not exceeding ±1℃; a control unit for A / D conversion, storage, and data transmission to the communication unit, as well as clock and watchdog timer management; and a communication unit for transmitting data from the control unit and from the server; and a power management module for managing inductive power and lithium battery power supply, featuring overvoltage, overcurrent, and undervoltage protection to ensure stable and reliable power supply to the device. The lithium battery pack serves as a backup power source for the device when inductive power supply is insufficient, providing enough power for continuous operation for 15 hours. The inductive power supply module utilizes the CT inductive power supply principle and acts as the main power source for the device when the conductor load is sufficient, with a single conductor load current of 20–5000A.

[0069] For easier understanding, please refer to Figure 2 This application provides an embodiment of a distance measuring device for power transmission lines and crossings, comprising:

[0070] The differential calculation module 201 is used to perform static RTK differential calculation on the real-time position of a single point on the conductor to obtain a high-precision conductor position.

[0071] The sag calculation module 202 is used to calculate the sag of a single point on the conductor based on the real-time temperature information of the conductor using a preset catenary equation.

[0072] The fitting calculation module 203 is used to perform curve fitting calculations based on the preset crossing position information, according to the high-precision conductor position and the single-point sag of the conductor, to obtain the positioning crossing distance and the sag crossing distance.

[0073] The optimization calculation module 204 is used to perform comprehensive calculations on the positioning span distance and the sag span distance using the Kalman filter algorithm to obtain the distance of the target conductor crossing the object.

[0074] Furthermore, it also includes:

[0075] The Beidou positioning module 205 is used to obtain the real-time position of a single point on the conductor through the Beidou positioning system.

[0076] Temperature extraction module 206 is used to acquire real-time temperature information of the surface of the conductor using a contact temperature sensor.

[0077] Furthermore, the difference calculation module 201 is specifically used for:

[0078] High-precision traverse positions are obtained by performing static RTK differential calculations using satellite data provided by a pre-set virtual reference station and the real-time position of a single point on the traverse.

[0079] Furthermore, it also includes:

[0080] The current adjustment module 207 is used to adjust the load current based on real-time temperature information and real-time conductor current.

[0081] This application also provides a distance measuring device for power transmission lines and crossings, the device including a processor and a memory;

[0082] The memory is used to store program code and transfer the program code to the processor;

[0083] The processor is used to execute the distance measurement method between the transmission line and the crossing object in the above method embodiment according to the instructions in the program code.

[0084] This application also provides a computer-readable storage medium for storing program code for executing the distance measurement method between transmission lines and crossings in the above method embodiments.

[0085] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0086] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0087] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0088] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for executing all or part of the steps of the methods described in the various embodiments of this application through a computer device (which may be a personal computer, server, or network device, etc.). The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0089] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for measuring the distance between a power transmission line and an object crossing it, characterized in that, include: Static RTK differential calculation is performed on the real-time position of a single point on the traverse to obtain a high-precision traverse position; The single-point sag of the conductor is calculated based on the real-time temperature information of the conductor using a pre-set catenary equation. Based on the preset crossing position information, curve fitting calculations are performed according to the high-precision conductor position and the single-point sag of the conductor to obtain the positioning crossing distance and the sag crossing distance. The distance across the target conductor is obtained by comprehensively calculating the positioning span distance and the sag span distance using the Kalman filter algorithm.

2. The distance measurement method between a transmission line and an object crossing according to claim 1, characterized in that, The step of performing static RTK differential calculation on the real-time position of a single point on the conductor to obtain a high-precision conductor position also includes: The real-time location of a single point on the conductor is obtained through the BeiDou positioning system; A contact temperature sensor is used to obtain real-time temperature information of the conductor surface.

3. The method for measuring the distance between a transmission line and an object crossing according to claim 1, characterized in that, The process of performing static RTK differential calculation on the real-time position of a single point on the conductor to obtain a high-precision conductor position includes: High-precision traverse positions are obtained by performing static RTK differential calculations using satellite data provided by a pre-set virtual reference station and the real-time position of a single point on the traverse.

4. The distance measurement method between a transmission line and an object crossing according to claim 1, characterized in that, The method of calculating the single-point sag of the conductor based on the real-time temperature information of the conductor using a preset catenary equation also includes: Adjust the load current based on the real-time temperature information and the real-time current of the conductor.

5. A distance measuring device between a power transmission line and an object crossing it, characterized in that, include: The differential calculation module is used to perform static RTK differential calculation on the real-time position of a single point on the traverse to obtain a high-precision traverse position. The sag calculation module is used to calculate the sag of a single point on the conductor based on the real-time temperature information of the conductor using a preset catenary equation. The fitting calculation module is used to perform curve fitting calculations based on the preset crossing position information, according to the high-precision conductor position and the single-point sag of the conductor, to obtain the positioning crossing distance and the sag crossing distance. The optimization calculation module is used to perform a comprehensive calculation on the positioning span distance and the sag span distance using the Kalman filter algorithm to obtain the target conductor crossing distance.

6. The distance measuring device between a transmission line and an object crossing according to claim 5, characterized in that, Also includes: The BeiDou positioning module is used to obtain the real-time location of a single point on the conductor through the BeiDou positioning system. The temperature extraction module is used to acquire real-time temperature information of the conductor surface using a contact temperature sensor.

7. The distance measuring device between a transmission line and an object crossing according to claim 5, characterized in that, The difference calculation module is specifically used for: High-precision traverse positions are obtained by performing static RTK differential calculations using satellite data provided by a pre-set virtual reference station and the real-time position of a single point on the traverse.

8. The distance measuring device between a transmission line and an object crossing according to claim 5, characterized in that, Also includes: The current adjustment module is used to adjust the load current based on the real-time temperature information and the real-time current of the conductor.

9. A distance measuring device for power transmission lines and crossings, characterized in that, The device includes a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute the distance measurement method for transmission lines and crossings as described in any one of claims 1-4, according to instructions in the program code.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program code for executing the distance measurement method for transmission lines and crossings as described in any one of claims 1-4.

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