A method and system for dynamic monitoring of conductor sag in a wildfire environment

Abstract

The application provides a kind of method and system for dynamic monitoring of conductor sag under forest fire environment, the method comprises: obtaining the image data of target conductor, tension data and included angle data;The image data is analyzed by image recognition algorithm, the position information of the target conductor and tower is obtained, and a first rectangular coordinate system is established according to the position information, to determine the coordinates of each preset position in the image data;According to the coordinates of each preset position in the image data, the first sag of the target conductor is calculated by the pre-set power transmission conductor catenary sag model;According to the tension data, the second sag of the target conductor is calculated;According to the included angle data, the third sag of the target conductor is calculated;According to the first sag, the second sag and the third sag, the comprehensive sag of the target conductor is calculated by the pre-set sag comprehensive calculation formula, to improve the monitoring accuracy of conductor sag under forest fire environment.

Description

Technical Field

[0001] This invention relates to the field of conductor sag monitoring technology, and in particular to a method and system for dynamic monitoring of conductor sag in wildfire environments. Background Technology

[0002] Currently, common methods for monitoring overhead conductor sag include the tilt angle method and the temperature stress method. However, these methods often fail to provide accurate monitoring data under extreme conditions, such as wildfires. Therefore, in the field of conductor sag monitoring technology, there is a need for a technical solution that can accurately monitor conductor sag in extreme environments, enabling power transmission systems to better cope with the impact of natural disasters and ensuring the stability and safety of power transmission. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a method and system for dynamic monitoring of conductor sag in wildfire environments. By integrating force sensor, image recognition, and acceleration tilt sensor technologies, the accuracy of conductor sag monitoring in wildfire environments is improved.

[0004] In a first aspect, the present invention provides a method for dynamic monitoring of conductor sag in wildfire environments, comprising:

[0005] Acquire image data of the target conductor, tensile data of the target conductor, and angle data between a point on the target conductor and the horizontal plane;

[0006] The image data is analyzed by an image recognition algorithm to obtain the position information of the target conductor and tower. A first rectangular coordinate system is established based on the position information to determine the coordinates of each preset position in the image data. The coordinates of each preset position include the coordinates of the first tower apex, the coordinates of the second tower apex, and the x-coordinate of the midpoint of the span.

[0007] Based on the coordinates of each preset position in the image data, the first sag of the target conductor is calculated using a preset catenary sag model for transmission lines.

[0008] The second sag of the target conductor is calculated based on the tensile force data;

[0009] The third sag of the target conductor is calculated based on the included angle data;

[0010] Based on the first sag, the second sag, and the third sag, the comprehensive sag of the target conductor is calculated using a preset comprehensive sag calculation formula. The comprehensive sag calculation formula is obtained by pre-calculating multiple sets of the first sag, the second sag, and the third sag, and combining them with the actual sag of the target conductor, and then fitting the results using a multivariate nonlinear regression algorithm.

[0011] This invention provides a method for dynamic monitoring of conductor sag in wildfire environments. By acquiring image data, tension data, and angle data of the target conductor, and combining this with image recognition technology, the method performs real-time calculation and monitoring of conductor sag under wildfire conditions. This invention simultaneously uses multiple monitoring methods to monitor the target conductor sag, reducing errors caused by using a single monitoring method in high-temperature environments. Furthermore, based on a multivariate nonlinear regression algorithm, this invention utilizes a pre-fitted sag comprehensive calculation formula to comprehensively calculate the sag obtained from the three monitoring methods, achieving seamless fusion of multiple data sets. This makes the calculated comprehensive sag closer to the actual conductor sag value, improving the accuracy of conductor sag monitoring in wildfire environments and providing data support for risk assessment and daily maintenance of overhead transmission lines under wildfire conditions.

[0012] Furthermore, acquiring the image data of the target conductor, the tension data of the target conductor, and the angle data between a point on the target conductor and the horizontal plane includes:

[0013] Image data of the target conductor is acquired by taking pictures with a drone;

[0014] The tension data of the target conductor is obtained by a tension sensor on the target conductor;

[0015] The angle between a point on the target guideline and the horizontal plane is obtained by an inclination sensor on the target guideline.

[0016] In this embodiment of the invention, image data of the target conductor is acquired by drone photography, tension data of the target conductor is acquired by a tension sensor, and angle data of the target conductor is acquired by an inclination sensor. Under wildfire conditions, various monitoring data of the target conductor cannot be obtained manually. Therefore, this embodiment uses drone photography and sensors to acquire monitoring data of the target conductor. High temperatures do not affect the measurement accuracy of the tension and inclination sensors, and the drone can flexibly choose its entry route, shooting angle, and shooting distance according to the size of the fire, avoiding damage to the drone caused by wildfires. This improves the safety and accuracy of data monitoring of the target conductor, thereby improving the accuracy of conductor sag monitoring under wildfire conditions.

[0017] In one possible implementation, establishing a first rectangular coordinate system based on the location information and determining the coordinates of each preset position in the image data includes:

[0018] Based on the location information, a first rectangular coordinate system is established with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis.

[0019] Based on the location information and in conjunction with the altitude measurement system, the coordinates of each preset location in the image data are determined.

[0020] This invention provides a method for establishing a rectangular coordinate system and determining the coordinates of various preset positions. Using an image recognition algorithm, a first conductor, a first tower, and a second tower in an image are identified. The lowest point of the target conductor is determined, and a first rectangular coordinate system is established with the lowest point as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis. Based on the positional information of the target conductor and towers, and in conjunction with an altitude measurement system, the coordinates of various preset positions in the image can be determined. Subsequently, based on the coordinates of each preset position and combined with a catenary sag model of the transmission line, the first sag can be calculated.

[0021] Furthermore, based on the coordinates of each preset position in the image data, the first sag of the target conductor is calculated using a preset catenary sag model of the transmission line. The specific formula is as follows:

[0022]

[0023]

[0024] f A =y l -y

[0025] Where (x, y) are the coordinates of point C on the target conductor corresponding to the midpoint of the span, where x is the abscissa of the midpoint of the span, and y can be calculated from the catenary sag model of the transmission conductor. P y P Let (x) be the coordinates of the vertex A of the first tower. Q y Q Let (x, y) be the coordinates of vertex B of the second tower. l Let y be the coordinates of point D on the line connecting AB, corresponding to the midpoint of the distance. l f can be calculated using the formula for a straight line connecting AB. A This is the first sag.

[0026] Furthermore, the second sag of the target conductor is calculated based on the tension data using the following formula:

[0027]

[0028]

[0029]

[0030] Where σ0 is the stress at the lowest point of the target conductor, F0 is the tension at the lowest point of the target conductor, S is the cross-sectional area of ​​the target conductor, and σ B F is the stress at the suspension point of the target conductor. B f is the tension at the suspension point of the target conductor. B Let g be the second sag, and g be the specific load of the target conductor.

[0031] In one possible implementation, calculating the third sag of the target conductor based on the included angle data includes:

[0032] Based on the location information, a second rectangular coordinate system is established with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis.

[0033] In the second rectangular coordinate system, based on the included angle data, the force analysis of the measured point is performed to construct the first expression function of the target traverse and the second expression function of the AB line connecting the first tower vertex A and the second tower vertex B;

[0034] Based on the first expression function, the second expression function, the height difference between the first tower and the second tower, and the horizontal distance between the first tower and the second tower, a third expression function is constructed to represent the vertical distance between the target conductor and the line AB.

[0035] Within the first preset value range, multiple preset values ​​are obtained according to preset intervals and substituted into the third expression function to calculate multiple vertical distances, and the largest vertical distance is taken as the third sag.

[0036] This invention provides a method for calculating the third sag based on included angle data. Unlike the method for calculating the first sag, which directly determines the coordinates of preset positions using image recognition algorithms and an altitude measurement system, this method first constructs first and second expression functions for the target traverse and the line AB based on included angle data and force analysis of the measured point. Since the coordinates of the apexes of the first and second towers are unknown, a third expression function representing the vertical distance between the target traverse and the line AB is constructed based on the known height difference and horizontal distance between the first and second towers, combined with the first and second expression functions. In the third expression function, only the abscissa needs to be input to calculate the corresponding vertical distance between the target traverse and the line AB. Finally, based on a first preset value range and a preset interval, multiple abscissas are obtained, and the largest vertical distance among the multiple abscissas is the third sag of the target traverse.

[0037] Furthermore, the comprehensive sag of the target conductor is calculated based on the first sag, the second sag, and the third sag using a preset comprehensive sag calculation formula. The specific formula is as follows:

[0038]

[0039] Among them, f D For the composite sag of the target conductor, f A f B f C The first sag, the second sag, and the third sag are respectively, and k0, k1, k2, and k3 are coefficients obtained by fitting based on a multivariate nonlinear regression algorithm.

[0040] Secondly, correspondingly, the present invention provides a dynamic monitoring system for conductor sag in wildfire environments, including an acquisition module, an image recognition module, a first calculation module, a second calculation module, a third calculation module, and a comprehensive calculation module;

[0041] The acquisition module is used to acquire image data of the target conductor, tensile data of the target conductor, and angle data between a point of the target conductor and the horizontal plane.

[0042] The image recognition module is used to parse the image data through an image recognition algorithm to obtain the position information of the target conductor and tower, and to establish a first rectangular coordinate system based on the position information to determine the coordinates of each preset position in the image data. The coordinates of each preset position include the coordinates of the first tower apex, the coordinates of the second tower apex, and the abscissa of the midpoint of the span.

[0043] The first calculation module is used to calculate the first sag of the target conductor based on the coordinates of each preset position in the image data and through a preset catenary sag model of the transmission conductor;

[0044] The second calculation module is used to calculate the second sag of the target conductor based on the tension data;

[0045] The third calculation module is used to calculate the third sag of the target conductor based on the included angle data;

[0046] The comprehensive calculation module is used to calculate the comprehensive sag of the target conductor based on the first sag, the second sag, and the third sag using a preset comprehensive sag calculation formula. The comprehensive sag calculation formula is obtained by pre-calculating multiple sets of the first sag, the second sag, and the third sag and combining them with the actual sag of the target conductor, and then fitting the formula using a multivariate nonlinear regression algorithm.

[0047] Furthermore, the acquisition module acquires image data of the target conductor, tensile data of the target conductor, and angle data between a point on the target conductor and the horizontal plane, including:

[0048] Image data of the target conductor is acquired by taking pictures with a drone;

[0049] The tension data of the target conductor is obtained by a tension sensor on the target conductor;

[0050] The angle between a point on the target guideline and the horizontal plane is obtained by an inclination sensor on the target guideline.

[0051] In one possible implementation, establishing a first rectangular coordinate system based on the location information and determining the coordinates of each preset position in the image data includes:

[0052] Based on the location information, a first rectangular coordinate system is established with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis.

[0053] Based on the location information and in conjunction with the altitude measurement system, the coordinates of each preset location in the image data are determined.

[0054] Furthermore, the first calculation module calculates the first sag of the target conductor based on the coordinates of each preset position in the image data using a preset catenary sag model of the transmission line. The specific formula is as follows:

[0055]

[0056]

[0057] f A =y l -y

[0058] Where (x, y) are the coordinates of point C on the target conductor corresponding to the midpoint of the span, where x is the abscissa of the midpoint of the span, and y can be calculated from the catenary sag model of the transmission conductor. P y P Let (x) be the coordinates of the vertex A of the first tower. Q y Q Let (x, y) be the coordinates of vertex B of the second tower. l Let y be the coordinates of point D on the line connecting AB, corresponding to the midpoint of the distance. l f can be calculated using the formula for a straight line connecting AB. A This is the first sag.

[0059] Furthermore, the second calculation module calculates the second sag of the target conductor based on the tension data, using the following formula:

[0060]

[0061]

[0062]

[0063] Where σ0 is the stress at the lowest point of the target conductor, F0 is the tension at the lowest point of the target conductor, S is the cross-sectional area of ​​the target conductor, and σ B F is the stress at the suspension point of the target conductor. B f is the tension at the suspension point of the target conductor. B Let g be the second sag, and g be the specific load of the target conductor.

[0064] In one possible implementation, the third calculation module includes a coordinate system construction unit, a force analysis unit, an expression function construction unit, and a sag calculation unit:

[0065] The coordinate system construction unit is used to establish a second rectangular coordinate system based on the location information, with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis.

[0066] The force analysis unit is used to perform force analysis on the measured point in the second rectangular coordinate system based on the included angle data, and to construct a first expression function of the target conductor and a second expression function of the AB line connecting the first tower vertex A and the second tower vertex B.

[0067] The expression function construction unit is used to construct a third expression function representing the vertical distance between the target conductor and the AB line based on the first expression function, the second expression function, the height difference between the first tower and the second tower, and the horizontal distance between the first tower and the second tower.

[0068] The sag calculation unit is used to obtain multiple preset values ​​within a first preset value range according to a preset interval, substitute them into the third expression function, calculate multiple vertical distances, and take the largest vertical distance as the third sag.

[0069] Furthermore, the comprehensive calculation module calculates the comprehensive sag of the target conductor based on the first sag, the second sag, and the third sag using a preset comprehensive sag calculation formula. The specific formula is as follows:

[0070]

[0071] Among them, f DFor the composite sag of the target conductor, f A f B f C The first sag, the second sag, and the third sag are respectively, and k0, k1, k2, and k3 are coefficients obtained by fitting based on a multivariate nonlinear regression algorithm. Attached Figure Description

[0072] Figure 1 This is a flowchart illustrating an embodiment of a method for dynamic monitoring of conductor sag in a wildfire environment provided by the present invention.

[0073] Figure 2 This is a schematic diagram illustrating the principle of calculating the first sag in one embodiment of a method for dynamic monitoring of conductor sag in a wildfire environment provided by the present invention.

[0074] Figure 3 This is a schematic diagram illustrating the calculation of the third sag in one embodiment of a method for dynamic monitoring of conductor sag in a wildfire environment provided by the present invention.

[0075] Figure 4 This is a schematic diagram of the force analysis of an embodiment of a method for dynamic monitoring of conductor sag in a wildfire environment provided by the present invention.

[0076] Figure 5 This is a schematic diagram of the algorithm flow of an embodiment of a method for dynamic monitoring of conductor sag in a wildfire environment provided by the present invention.

[0077] Figure 6 : A schematic diagram of an embodiment of a dynamic monitoring system for conductor sag in a wildfire environment provided by the present invention.

[0078] Figure 7 : A schematic diagram of the structure of the third calculation module of an embodiment of a dynamic monitoring system for conductor sag in a wildfire environment provided by the present invention. Detailed Implementation

[0079] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0080] It should be noted that the step numbers in this document are only for the convenience of explaining the specific embodiments and are not intended to limit the order in which the steps are performed. In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0081] Throughout this manual, the conductor sag referred to here refers to the sag of a conductor suspended between two adjacent towers in an overhead line. Specifically, it refers to the vertical distance from the line connecting the two adjacent towers to the midpoint of the span, where the span refers to the horizontal distance between the two adjacent towers.

[0082] Example 1:

[0083] like Figure 1 As shown, Embodiment 1 provides a method for dynamic monitoring of conductor sag in wildfire environments, including steps S1-S6:

[0084] Step S1: Acquire image data of the target conductor, tension data of the target conductor, and angle data between a point of the target conductor and the horizontal plane;

[0085] Step S2: Analyze the image data using an image recognition algorithm to obtain the position information of the target conductor and tower, and establish a first rectangular coordinate system based on the position information to determine the coordinates of each preset position in the image data. The coordinates of each preset position include the coordinates of the first tower apex, the coordinates of the second tower apex, and the abscissa of the midpoint of the span.

[0086] Step S3: Based on the coordinates of each preset position in the image data, calculate the first sag of the target conductor using a preset catenary sag model for power transmission conductors;

[0087] Step S4: Calculate the second sag of the target conductor based on the tension data;

[0088] Step S5: Calculate the third sag of the target conductor based on the included angle data;

[0089] Step S6: Based on the first sag, the second sag, and the third sag, calculate the comprehensive sag of the target conductor using a preset comprehensive sag calculation formula. The comprehensive sag calculation formula is obtained by pre-calculating multiple sets of the first sag, the second sag, and the third sag and combining them with the actual sag of the target conductor, and then fitting the results using a multivariate nonlinear regression algorithm.

[0090] This invention provides a method for dynamic monitoring of conductor sag in wildfire environments. By acquiring image data, tension data, and angle data of the target conductor, and combining this with image recognition technology, the method performs real-time calculation and monitoring of conductor sag under wildfire conditions. This invention simultaneously uses multiple monitoring methods to monitor the target conductor sag, reducing errors caused by using a single monitoring method in high-temperature environments. Furthermore, based on a multivariate nonlinear regression algorithm, this invention utilizes a pre-fitted sag comprehensive calculation formula to comprehensively calculate the sag obtained from the three monitoring methods, achieving seamless fusion of multiple data sets. This makes the calculated comprehensive sag closer to the actual conductor sag value, improving the accuracy of conductor sag monitoring in wildfire environments and providing data support for risk assessment and daily maintenance of overhead transmission lines under wildfire conditions.

[0091] Furthermore, in step S1, acquiring the image data of the target conductor, the tension data of the target conductor, and the angle data between a point on the target conductor and the horizontal plane includes:

[0092] Image data of the target conductor is acquired by taking pictures with a drone;

[0093] The tension data of the target conductor is obtained by a tension sensor on the target conductor;

[0094] The angle between a point on the target guideline and the horizontal plane is obtained by an inclination sensor on the target guideline.

[0095] In this embodiment of the invention, image data of the target conductor is acquired by drone photography, tension data of the target conductor is acquired by a tension sensor, and angle data of the target conductor is acquired by an inclination sensor. Under wildfire conditions, various monitoring data of the target conductor cannot be obtained manually. Therefore, this embodiment uses drone photography and sensors to acquire monitoring data of the target conductor. High temperatures do not affect the measurement accuracy of the tension and inclination sensors, and the drone can flexibly choose its entry route, shooting angle, and shooting distance according to the size of the fire, avoiding damage to the drone caused by wildfires. This improves the safety and accuracy of data monitoring of the target conductor, thereby improving the accuracy of conductor sag monitoring under wildfire conditions.

[0096] In one possible implementation, step S2, establishing a first rectangular coordinate system based on the position information and determining the coordinates of each preset position in the image data, includes:

[0097] Based on the location information, a first rectangular coordinate system is established with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis.

[0098] Based on the location information and in conjunction with the altitude measurement system, the coordinates of each preset location in the image data are determined.

[0099] This invention provides a method for establishing a rectangular coordinate system and determining the coordinates of various preset positions. Using an image recognition algorithm, a first conductor, a first tower, and a second tower in an image are identified. The lowest point of the target conductor is determined, and a first rectangular coordinate system is established with the lowest point as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis. Based on the positional information of the target conductor and towers, and in conjunction with an altitude measurement system, the coordinates of various preset positions in the image can be determined. Subsequently, based on the coordinates of each preset position and combined with a catenary sag model of the transmission line, the first sag can be calculated.

[0100] Furthermore, in step S3, the first sag of the target conductor is calculated based on the coordinates of each preset position in the image data using a preset catenary sag model of the transmission conductor. The specific formula is as follows:

[0101]

[0102]

[0103] f A =y l -y

[0104] Where (x, y) are the coordinates of point C on the target conductor corresponding to the midpoint of the span, where x is the abscissa of the midpoint of the span, and y can be calculated from the catenary sag model of the transmission conductor. P y P Let (x) be the coordinates of the vertex A of the first tower. Q y Q Let (x, y) be the coordinates of vertex B of the second tower. l Let y be the coordinates of point D on the line connecting AB, corresponding to the midpoint of the distance. l f can be calculated using the formula for a straight line connecting AB. A This is the first sag.

[0105] In a preferred embodiment, the principle of calculating the first sag through steps S2 and S3 is illustrated in the diagram below. Figure 2 As shown. In Figure 2 In this process, after establishing a first rectangular coordinate system based on image recognition algorithms, the coordinates of points A, B, and C are determined by combining image data captured by the UAV with an altitude measurement system, such as the BeiDou system. The coordinates of points A and B can then be used to construct an expression function y for the line connecting A and B. l The target conductor's expression function y can be directly constructed using the catenary sag model. At this point, y l-y represents the perpendicular distance from any point on line AB to the target conductor. Furthermore, based on the definition of conductor sag, the distance from point C (corresponding to the midpoint of the span) on the target conductor to line AB is the first sag. Therefore, we can directly substitute the x-coordinate of point C into y. l The expression for -y can be used to calculate the first sag.

[0106] Furthermore, in step S4, the second sag of the target conductor is calculated based on the tension data, specifically using the following formula:

[0107]

[0108]

[0109]

[0110] Where σ0 is the stress at the lowest point of the target conductor, F0 is the tension at the lowest point of the target conductor, S is the cross-sectional area of ​​the target conductor, and σ B F is the stress at the suspension point of the target conductor. B f is the tension at the suspension point of the target conductor. B Let g be the second sag, and g be the specific load of the target conductor.

[0111] In one possible implementation, in step S5, the third sag of the target conductor is calculated based on the included angle data, such as... Figure 3 As shown, steps S501-S504 are included:

[0112] Step S501: Based on the location information, establish a second rectangular coordinate system with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis.

[0113] Step S502: In the second rectangular coordinate system, based on the included angle data, perform force analysis on the measured point, and construct the first expression function of the target traverse and the second expression function of the AB line connecting the first tower vertex A and the second tower vertex B;

[0114] Step S503: Based on the first expression function, the second expression function, the height difference between the first tower and the second tower, and the horizontal distance between the first tower and the second tower, construct a third expression function representing the vertical distance between the target conductor and the line AB.

[0115] Step S504: Within the first preset value range, obtain multiple preset values ​​according to the preset interval and substitute them into the third expression function to calculate multiple vertical distances, and take the largest vertical distance as the third sag.

[0116] In a preferred embodiment, a schematic diagram illustrating the establishment of the second rectangular coordinate system and the force analysis of the measured point through steps S501-S502 is shown below. Figure 4 As shown. In Figure 4 First, based on the force analysis of the measured point, the inclination angle of the measured point of the target conductor, the load of the target conductor, and the expression function between the spans of two adjacent towers can be obtained:

[0117]

[0118] Wherein, β is the included angle data, F is the stress on the conductor at the measured point, L is the span, w is the load, and F0 is the horizontal component of the stress F.

[0119] Differentiating the formula again, we get:

[0120]

[0121] By rearranging and integrating again, we can obtain the first expression function of the target traverse:

[0122]

[0123] in, Since β and L are both known numbers, Also a known number, for ease of representation, we define an intermediate variable. The first expression function then simplifies to:

[0124]

[0125] Where x is the x-coordinate of any point on the target traverse line.

[0126] Meanwhile, based on the geometric relationship between two adjacent towers, a second expression function for the line AB can be derived:

[0127]

[0128] Where h is the height difference between two adjacent towers, l OA The distance is the horizontal distance from the lowest point O of the target conductor to point A of the first tower.

[0129] At this point, y2-y1 can be used to obtain the third expression function for representing the perpendicular distance between the target conductor and the line AB, but l OA It is still unknown; we need to solve for l first. OA Since points A and B pass through both the target traverse and the line AB, the x-coordinates of points A and B are set to -l. OA and x = l OB Substitute the first and second expression functions to solve l OA First, let x = -lOA and x = l OB Substituting into the first expression function, we get:

[0130]

[0131]

[0132] Based on the height difference and span between two adjacent towers, we can obtain:

[0133] y B =y A +h

[0134] l OA +l OB =L

[0135] By combining the second expression function, l can be solved. OA :

[0136]

[0137] Finally, the third expression function of y2-y1 has only one unknown x, and the range of x is -1. OA to l OB That is, the first preset value range can be used to quickly calculate multiple vertical distances by using automated software at appropriate preset intervals, and the maximum value of these is the third sag.

[0138] This invention provides a method for calculating the third sag based on included angle data. Unlike the method for calculating the first sag, which directly determines the coordinates of preset positions using image recognition algorithms and an altitude measurement system, this method first constructs first and second expression functions for the target traverse and the line AB based on included angle data and force analysis of the measured point. Since the coordinates of the apexes of the first and second towers are unknown, a third expression function representing the vertical distance between the target traverse and the line AB is constructed based on the known height difference and horizontal distance between the first and second towers, combined with the first and second expression functions. In the third expression function, only the abscissa needs to be input to calculate the corresponding vertical distance between the target traverse and the line AB. Finally, based on a first preset value range and a preset interval, multiple abscissas are obtained, and the largest vertical distance among the multiple abscissas is the third sag of the target traverse.

[0139] Furthermore, in step S6, the comprehensive sag of the target conductor is calculated based on the first sag, the second sag, and the third sag using a preset comprehensive sag calculation formula. The specific formula is as follows:

[0140]

[0141] Among them, f D For the composite sag of the target conductor, f A f B f C The first sag, second sag, and third sag are respectively referred to as the first sag, second sag, and third sag, and k0, k1, k2, and k3 are coefficients obtained based on a multivariate nonlinear regression algorithm. The process of fitting using the multivariate nonlinear regression algorithm is as follows: Before implementing this invention, steps S1 to S5 are repeated to obtain multiple sets of the first sag, second sag, and third sag. Simultaneously, the actual sag of the target conductor can be obtained through manual measurement or other methods. Then, based on the multiple sets of the first sag, second sag, third sag, and the actual sag, coefficients k0, k1, k2, and k3 are obtained through fitting using a multivariate nonlinear regression algorithm, resulting in the comprehensive sag calculation formula. The complete algorithm flowchart of this embodiment is shown below. Figure 5 As shown.

[0142] Example 2:

[0143] like Figure 6 As shown, correspondingly, Embodiment 2 provides a dynamic monitoring system for conductor sag in wildfire environments, including an acquisition module 10, an image recognition module 20, a first calculation module 30, a second calculation module 40, a third calculation module 50, and a comprehensive calculation module 60;

[0144] The acquisition module 10 is used to acquire image data of the target conductor, tension data of the target conductor, and angle data between a point of the target conductor and the horizontal plane.

[0145] The image recognition module 20 is used to parse the image data through an image recognition algorithm to obtain the position information of the target conductor and tower, and to establish a first rectangular coordinate system based on the position information to determine the coordinates of each preset position in the image data. The coordinates of each preset position include the coordinates of the first tower apex, the coordinates of the second tower apex, and the abscissa of the midpoint of the span.

[0146] The first calculation module 30 is used to calculate the first sag of the target conductor based on the coordinates of each preset position in the image data and through a preset catenary sag model of the transmission conductor;

[0147] The second calculation module 40 is used to calculate the second sag of the target conductor based on the tension data;

[0148] The third calculation module 50 is used to calculate the third sag of the target conductor based on the included angle data;

[0149] The comprehensive calculation module 60 is used to calculate the comprehensive sag of the target conductor based on the first sag, the second sag, and the third sag using a preset comprehensive sag calculation formula. The comprehensive sag calculation formula is obtained by pre-calculating multiple sets of the first sag, the second sag, and the third sag and combining them with the actual sag of the target conductor, and then fitting the formula based on a multivariate nonlinear regression algorithm.

[0150] Furthermore, the acquisition module 10 acquires image data of the target conductor, tension data of the target conductor, and angle data between a point on the target conductor and the horizontal plane, including:

[0151] Image data of the target conductor is acquired by taking pictures with a drone;

[0152] The tension data of the target conductor is obtained by a tension sensor on the target conductor;

[0153] The angle between a point on the target guideline and the horizontal plane is obtained by an inclination sensor on the target guideline.

[0154] In one possible implementation, establishing a first rectangular coordinate system based on the location information and determining the coordinates of each preset position in the image data includes:

[0155] Based on the location information, a first rectangular coordinate system is established with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis.

[0156] Based on the location information and in conjunction with the altitude measurement system, the coordinates of each preset location in the image data are determined.

[0157] Furthermore, the first calculation module 30 calculates the first sag of the target conductor based on the coordinates of each preset position in the image data using a preset catenary sag model of the transmission conductor. The specific formula is as follows:

[0158]

[0159]

[0160] f A =y l -y

[0161] Where (x, y) are the coordinates of point C on the target conductor corresponding to the midpoint of the span, where x is the abscissa of the midpoint of the span, and y can be calculated from the catenary sag model of the transmission conductor. P y P Let (x) be the coordinates of the vertex A of the first tower. Q y QLet (x, y) be the coordinates of vertex B of the second tower. l Let y be the coordinates of point D on the line connecting AB, corresponding to the midpoint of the distance. l f can be calculated using the formula for a straight line connecting AB. A This is the first sag.

[0162] Furthermore, the second calculation module 40 calculates the second sag of the target conductor based on the tension data, using the following formula:

[0163]

[0164]

[0165]

[0166] Where σ0 is the stress at the lowest point of the target conductor, F0 is the tension at the lowest point of the target conductor, S is the cross-sectional area of ​​the target conductor, and σ B F is the stress at the suspension point of the target conductor. B f is the tension at the suspension point of the target conductor. B Let g be the second sag, and g be the specific load of the target conductor.

[0167] In one possible implementation, such as Figure 7 As shown, the third calculation module 50 includes a coordinate system construction unit 501, a force analysis unit 502, an expression function construction unit 503, and a sag calculation unit 504.

[0168] The coordinate system construction unit 501 is used to establish a second rectangular coordinate system based on the position information, with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis.

[0169] The force analysis unit 502 is used to perform force analysis on the measured point in the second rectangular coordinate system according to the included angle data, and to construct a first expression function of the target conductor and a second expression function of the AB line connecting the first tower vertex A and the second tower vertex B.

[0170] The expression function construction unit 503 is used to construct a third expression function representing the vertical distance between the target conductor and the AB line based on the first expression function, the second expression function, the height difference between the first tower and the second tower, and the horizontal distance between the first tower and the second tower.

[0171] The sag calculation unit 504 is used to obtain multiple preset values ​​within a first preset value range according to a preset interval, substitute them into the third expression function, calculate multiple vertical distances, and take the largest vertical distance as the third sag.

[0172] Furthermore, the comprehensive calculation module 60 calculates the comprehensive sag of the target conductor based on the first sag, the second sag, and the third sag using a preset comprehensive sag calculation formula. The specific formula is as follows:

[0173]

[0174] Among them, f D For the composite sag of the target conductor, f A f B f C The first sag, the second sag, and the third sag are respectively, and k0, k1, k2, and k3 are coefficients obtained by fitting based on a multivariate nonlinear regression algorithm.

[0175] This invention provides a dynamic monitoring system for conductor sag under wildfire conditions. By acquiring image data, tension data, and angle data of the target conductor, and combining this with image recognition technology, the system performs real-time calculation and monitoring of conductor sag under wildfire conditions. This invention simultaneously uses multiple monitoring methods to monitor the target conductor sag, reducing errors caused by using a single monitoring method in high-temperature environments. Furthermore, based on a multivariate nonlinear regression algorithm, this invention utilizes a pre-fitted comprehensive sag calculation formula to comprehensively calculate the sag obtained from the three monitoring methods, achieving seamless fusion of multiple data sets. This makes the calculated comprehensive sag closer to the actual conductor sag value, improving the accuracy of conductor sag monitoring under wildfire conditions and providing data support for risk assessment and daily maintenance of overhead transmission lines under wildfire conditions.

[0176] For a more detailed explanation of the working principle and procedures of this embodiment, please refer to the relevant description in Embodiment 1.

[0177] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for dynamic monitoring of conductor sag in wildfire environments, characterized in that, include: Acquire image data of the target conductor, tensile data of the target conductor, and angle data between a point on the target conductor and the horizontal plane; The image data is analyzed by an image recognition algorithm to obtain the position information of the target conductor and tower. A first rectangular coordinate system is established based on the position information to determine the coordinates of each preset position in the image data. The coordinates of each preset position include the coordinates of the first tower apex, the coordinates of the second tower apex, and the x-coordinate of the midpoint of the span. Based on the coordinates of each preset position in the image data, the first sag of the target conductor is calculated using a preset catenary sag model for transmission lines. The second sag of the target conductor is calculated based on the tensile force data; The third sag of the target conductor is calculated based on the included angle data; Based on the first sag, the second sag, and the third sag, the comprehensive sag of the target conductor is calculated using a preset comprehensive sag calculation formula. The comprehensive sag calculation formula is obtained by pre-calculating multiple sets of the first sag, the second sag, and the third sag, and combining them with the actual sag of the target conductor, and then fitting the results using a multivariate nonlinear regression algorithm.

2. The method for dynamic monitoring of conductor sag in a wildfire environment as described in claim 1, characterized in that, The acquisition of image data of the target conductor, tension data of the target conductor, and angle data between a point on the target conductor and the horizontal plane includes: Image data of the target conductor is acquired by taking pictures with a drone; The tension data of the target conductor is obtained by a tension sensor on the target conductor; The angle between a point on the target guideline and the horizontal plane is obtained by an inclination sensor on the target guideline.

3. The method for dynamic monitoring of conductor sag in a wildfire environment as described in claim 1, characterized in that, The step of establishing a first rectangular coordinate system based on the location information and determining the coordinates of each preset position in the image data includes: Based on the location information, a first rectangular coordinate system is established with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis. Based on the location information and in conjunction with the altitude measurement system, the coordinates of each preset location in the image data are determined.

4. The method for dynamic monitoring of conductor sag in a wildfire environment as described in claim 1, characterized in that, The first sag of the target conductor is calculated based on the coordinates of each preset position in the image data using a preset catenary sag model. The specific formula is as follows: f A =y l -y Where (x, y) are the coordinates of point C on the target conductor corresponding to the midpoint of the span, where x is the abscissa of the midpoint of the span, and y can be calculated from the catenary sag model of the transmission conductor. P y P Let (x) be the coordinates of the vertex A of the first tower. Q y Q Let (x, y) be the coordinates of vertex B of the second tower. l Let y be the coordinates of point D on the line connecting AB, corresponding to the midpoint of the distance. l f can be calculated using the formula for a straight line connecting AB. A This is the first sag.

5. The method for dynamic monitoring of conductor sag in a wildfire environment as described in claim 1, characterized in that, The second sag of the target conductor is calculated based on the tension data using the following formula: Where σ0 is the stress at the lowest point of the target conductor, F0 is the tension at the lowest point of the target conductor, S is the cross-sectional area of ​​the target conductor, and σ B F is the stress at the suspension point of the target conductor. B f is the tension at the suspension point of the target conductor. B Let g be the second sag, and g be the specific load of the target conductor.

6. The method for dynamic monitoring of conductor sag in a wildfire environment as described in claim 1, characterized in that, The step of calculating the third sag of the target conductor based on the included angle data includes: Based on the location information, a second rectangular coordinate system is established with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis. In the second rectangular coordinate system, based on the included angle data, the force analysis of the measured point is performed to construct the first expression function of the target traverse and the second expression function of the AB line connecting the first tower vertex A and the second tower vertex B; Based on the first expression function, the second expression function, the height difference between the first tower and the second tower, and the horizontal distance between the first tower and the second tower, a third expression function is constructed to represent the vertical distance between the target conductor and the line AB. Within the first preset value range, multiple preset values ​​are obtained according to preset intervals and substituted into the third expression function to calculate multiple vertical distances, and the largest vertical distance is taken as the third sag.

7. The method for dynamic monitoring of conductor sag in a wildfire environment as described in claim 1, characterized in that, The comprehensive sag of the target conductor is calculated based on the first sag, the second sag, and the third sag using a preset comprehensive sag calculation formula. The specific formula is as follows: Among them, f D For the composite sag of the target conductor, f A f B f C The first sag, the second sag, and the third sag are respectively, and k0, k1, k2, and k3 are coefficients obtained by fitting based on a multivariate nonlinear regression algorithm.

8. A dynamic monitoring system for conductor sag in wildfire environments, characterized in that, It includes an acquisition module, an image recognition module, a first calculation module, a second calculation module, a third calculation module, and a comprehensive calculation module; The acquisition module is used to acquire image data of the target conductor, tensile data of the target conductor, and angle data between a point of the target conductor and the horizontal plane. The image recognition module is used to parse the image data through an image recognition algorithm to obtain the position information of the target conductor and tower, and to establish a first rectangular coordinate system based on the position information to determine the coordinates of each preset position in the image data. The coordinates of each preset position include the coordinates of the first tower apex, the coordinates of the second tower apex, and the abscissa of the midpoint of the span. The first calculation module is used to calculate the first sag of the target conductor based on the coordinates of each preset position in the image data and through a preset catenary sag model of the transmission conductor; The second calculation module is used to calculate the second sag of the target conductor based on the tension data; The third calculation module is used to calculate the third sag of the target conductor based on the included angle data; The comprehensive calculation module is used to calculate the comprehensive sag of the target conductor based on the first sag, the second sag, and the third sag using a preset comprehensive sag calculation formula. The comprehensive sag calculation formula is obtained by pre-calculating multiple sets of the first sag, the second sag, and the third sag and combining them with the actual sag of the target conductor, and then fitting the formula using a multivariate nonlinear regression algorithm.

9. A dynamic monitoring system for conductor sag in a wildfire environment as described in claim 8, characterized in that, The acquisition module acquires image data of the target conductor, tension data of the target conductor, and angle data between a point on the target conductor and the horizontal plane, including: Image data of the target conductor is acquired by taking pictures with a drone; The tension data of the target conductor is obtained by a tension sensor on the target conductor; The angle between a point on the target guideline and the horizontal plane is obtained by an inclination sensor on the target guideline.

10. A dynamic monitoring system for conductor sag in a wildfire environment as described in claim 8, characterized in that, The step of establishing a first rectangular coordinate system based on the location information and determining the coordinates of each preset position in the image data includes: Based on the location information, a first rectangular coordinate system is established with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis. Based on the location information and in conjunction with the altitude measurement system, the coordinates of each preset location in the image data are determined.

11. The conductor sag dynamic monitoring system for wildfire environments as described in claim 8, characterized in that, The first calculation module calculates the first sag of the target conductor based on the coordinates of each preset position in the image data using a preset catenary sag model of the transmission line. The specific formula is as follows: f A =y l -y Where (x, y) are the coordinates of point C on the target conductor corresponding to the midpoint of the span, where x is the abscissa of the midpoint of the span, and y can be calculated from the catenary sag model of the transmission conductor. P y P Let (x) be the coordinates of the vertex A of the first tower. Q y Q Let (x, y) be the coordinates of vertex B of the second tower. l Let y be the coordinates of point D on the line connecting AB, corresponding to the midpoint of the distance. l f can be calculated using the formula for a straight line connecting AB. A This is the first sag.

12. The conductor sag dynamic monitoring system for wildfire environments as described in claim 8, characterized in that, The second calculation module calculates the second sag of the target conductor based on the tension data, using the following formula: Where σ0 is the stress at the lowest point of the target conductor, F0 is the tension at the lowest point of the target conductor, S is the cross-sectional area of ​​the target conductor, and σ B F is the stress at the suspension point of the target conductor. B f is the tension at the suspension point of the target conductor. B Let g be the second sag, and g be the specific load of the target conductor.

13. The conductor sag dynamic monitoring system for wildfire environments as described in claim 8, characterized in that, The third calculation module includes a coordinate system construction unit, a force analysis unit, an expression function construction unit, and a sag calculation unit: The coordinate system construction unit is used to establish a second rectangular coordinate system based on the location information, with the lowest point of the target conductor as the origin, the tower direction as the y-axis, and the direction perpendicular to the tower as the x-axis. The force analysis unit is used to perform force analysis on the measured point in the second rectangular coordinate system based on the included angle data, and to construct a first expression function of the target conductor and a second expression function of the AB line connecting the first tower vertex A and the second tower vertex B. The expression function construction unit is used to construct a third expression function representing the vertical distance between the target conductor and the AB line based on the first expression function, the second expression function, the height difference between the first tower and the second tower, and the horizontal distance between the first tower and the second tower. The sag calculation unit is used to obtain multiple preset values ​​within a first preset value range according to a preset interval, substitute them into the third expression function, calculate multiple vertical distances, and take the largest vertical distance as the third sag.

14. The conductor sag dynamic monitoring system for wildfire environments as described in claim 8, characterized in that, The comprehensive calculation module calculates the comprehensive sag of the target conductor based on the first sag, the second sag, and the third sag using a preset comprehensive sag calculation formula. The specific formula is as follows: Among them, f D For the composite sag of the target conductor, f A f B f C The first sag, the second sag, and the third sag are respectively, and k0, k1, k2, and k3 are coefficients obtained by fitting based on a multivariate nonlinear regression algorithm.

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