Power transmission line sag calculation method, device, equipment and medium

Abstract

The invention relates to the technical field of conductor detection, and discloses a power transmission line sag calculation method, device and equipment and a medium, and the method comprises the steps: recognizing an attitude angle of a power transmission line integrated sensor installed at a power transmission line based on an X-Y-Z coordinate system; through real-time differential positioning, the longitude, the latitude and the altitude of the installation point of the power transmission line integrated sensor are obtained; acquiring the longitude, latitude and altitude of the tower A and the tower B; calculating a horizontal span between the first suspension point and the second suspension point based on the longitudes and latitudes of the tower A and the tower B; calculating a horizontal distance Xb and a vertical height difference yb between the mounting point and the tower B based on the longitude and the latitude of the mounting point; and on the basis of Xb, yb and attitude angle information, through geometric properties of a trigonometric function and a similar triangle, in combination with a different-length method parabola model, calculating to obtain the sag of the power transmission line. The data processing efficiency and accuracy can be improved, and the conductor sag change can be monitored in real time.

Description

Technical Field

[0001] The present application relates to the technical field of wire detection, and in particular to a method, device, equipment and medium for calculating sag of a power transmission line. Background Art

[0002] With the development of smart grids, higher requirements are placed on the intelligence and automation level of transmission line monitoring. However, the existing wire sag calculation methods mostly use observation methods. Traditional sag observation methods require a large amount of manpower for on-site measurement, which not only increases labor costs, but also causes inaccurate data due to human factors (such as measurement errors, observation angle deviations, etc.), and cannot achieve real-time and continuous monitoring. The structure of modern power grids is becoming increasingly complex, and transmission lines span a wide area and the terrain is complex and changeable. Traditional methods are difficult to adapt to such changes, and the data collected by traditional methods often need to undergo complex calculations and analysis to obtain the sag value. This process is time-consuming and difficult to quickly respond to emergencies in the power system.

[0003] Therefore, the existing conductor sag calculation process cannot respond to the real-time needs of the power system in a timely manner, and the problem of inaccurate data acquisition for complex power grid structures needs to be solved urgently. Summary of the invention

[0004] The main purpose of this application is to provide a method, device, equipment and medium for calculating the sag of a transmission line, aiming to solve the technical problems that the existing conductor sag calculation process cannot respond to the real-time needs of the power system in a timely manner and its data acquisition is inaccurate for complex power grid structures.

[0005] The first aspect of the present application provides a method for calculating the sag of a transmission line, comprising:

[0006] Identify the attitude angle of the transmission line integrated sensor installed at the transmission line based on the XYZ coordinate system;

[0007] Based on real-time differential positioning, obtain the longitude, latitude and altitude of the installation point of the transmission line integrated sensor;

[0008] Get the longitude, latitude and altitude of tower A and tower B;

[0009] Based on the longitude and latitude of tower A and tower B, the horizontal spacing between the first suspension point and the second suspension point is calculated;

[0010] Based on the longitude and latitude of the installation point, calculate the horizontal distance X between the installation point and tower B b and vertical height difference y b ;

[0011] X-based b, yb, and attitude angle information are used to calculate the sag of the transmission line through trigonometric functions and the geometric properties of similar triangles, combined with the parabola model of the different length method.

[0012] Furthermore, the step of identifying the attitude angle of the power transmission line integrated sensor installed at the power transmission line based on the XYZ coordinate system includes:

[0013] sending a gyroscope start command to the power transmission line integrated sensor;

[0014] The attitude angle of the transmission line integrated sensor in the XYZ coordinate system measured by the built-in gyroscope of the transmission line integrated sensor is obtained.

[0015] Furthermore, the step of obtaining the longitude, latitude and altitude of the installation point of the transmission line integrated sensor based on real-time differential positioning includes:

[0016] receiving signals from satellites;

[0017] Receive differential signals and correct the original satellite signals;

[0018] The corrected signal is used to calculate the longitude, latitude and altitude of the installation point of the power transmission line integrated sensor.

[0019] Furthermore, the step of obtaining the longitude, latitude and altitude of tower A and tower B includes:

[0020] Identify preset keywords in the ledger of transmission lines;

[0021] The longitude, latitude and altitude of tower A and tower B are obtained through the preset keywords.

[0022] Furthermore, the step of calculating the horizontal span between the first suspension point and the second suspension point based on the longitude and latitude of tower A and tower B includes:

[0023] The horizontal spacing between the first suspension point and the second suspension point is calculated by the following formula:

[0024]

[0025] Wherein, L is the horizontal distance between the first suspension point and the second suspension point; Lon A is the longitude of Tower A; Lat A is the latitude of Tower A; Lon B is the longitude of Tower B; Lat B is the latitude of Tower B.

[0026] Furthermore, the horizontal distance X between the installation point and tower B is calculated based on the longitude and latitude of the installation point. band vertical height difference y b The steps also include:

[0027] The horizontal distance X between the installation point and tower B is calculated by the following formula 2 b and vertical height difference y b :

[0028]

[0029] y b =Hei B -Hei M

[0030] Among them, Lon M is the longitude of the installation point; Lat M is the latitude of the installation point; Hei m is the altitude of the installation point; Lon B is the longitude of Tower B; Lat B is the latitude of Tower B; B is the altitude of Tower B.

[0031] Furthermore, the X-based b ,y b The steps of calculating the sag of the transmission line by using trigonometric functions and geometric properties of similar triangles and the parabola model of the different length method include:

[0032] X-based b ,y b , and attitude angle information, using trigonometric functions and similar triangle principles to solve X b and Y b The value of , we get formula 3:

[0033]

[0034] The shape of the conductor is approximated as a parabola, and the sag f1 of the transmission line is obtained by the parabolic formula of the different length method, that is, the sag f1 of the transmission line is calculated by formula 4, which is as follows:

[0035]

[0036] Where L is the horizontal distance between the first suspension point and the second suspension point; a is the height difference between the bottom of tower A and the suspension point; b is the distance from the installation point to the suspension point of tower B; α is the angle between the conductor and the horizontal plane, that is, the inclination angle of the conductor; X b Indicates the horizontal distance from the installation point to tower B; y b Indicates the vertical height difference from the installation point to tower B; Hei A Indicates that Tower A has a high altitude; MIndicates the altitude of the installation point.

[0037] A second aspect of the present application provides a transmission line sag calculation device, comprising:

[0038] An identification module, used for identifying the attitude angle of the transmission line integrated sensor installed at the transmission line based on the XYZ coordinate system;

[0039] A first acquisition module is used to acquire the longitude, latitude and altitude of the installation point of the transmission line integrated sensor based on real-time differential positioning;

[0040] The second acquisition module is used to obtain the longitude, latitude and altitude of tower A and tower B;

[0041] A first calculation module is used to calculate the horizontal span between the first suspension point and the second suspension point based on the longitude and latitude of tower A and tower B;

[0042] The second calculation module is used to calculate the horizontal distance X between the installation point and tower B based on the longitude and latitude of the installation point. b and vertical height difference y b ;

[0043] Sag determination module for X-based b ,y b The sag of the transmission line is calculated based on the attitude angle information, trigonometric functions and the geometric properties of similar triangles, combined with the parabola model of the different length method.

[0044] A third aspect of the present application provides a transmission line sag calculation device, comprising:

[0045] processor;

[0046] Memory for storing computer programs;

[0047] Wherein, when the processor executes the computer program, the transmission line sag calculation method described in any one of the above is implemented.

[0048] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for calculating the sag of a power transmission line as described above is implemented.

[0049] Beneficial effects:

[0050] This application achieves accurate calculation of the sag of the transmission line by integrating the high-precision measurement technology of gyroscopes and real-time differential positioning, solving the shortcomings of traditional observation methods in terms of accuracy and real-time performance. By using the gyroscope to measure the attitude angle of the conductor device, combined with the longitude and latitude and altitude data provided by real-time differential positioning, the two suspension points of the transmission line and the sensor installation point are accurately positioned, which improves the efficiency and accuracy of data processing and reduces labor costs and the need for on-site measurements. In addition, through simplified geometric calculation methods, the adaptability to complex power grid structures is further enhanced, ensuring stable operation and data reliability in a changing environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a schematic diagram of the steps of a method for calculating sag of a power transmission line according to an embodiment of the present application;

[0052] Figure 2 It is a schematic block diagram of the structure of a transmission line sag calculation device according to an embodiment of the present application;

[0053] Figure 3 is a schematic block diagram of the structure of a computer device according to an embodiment of the present application;

[0054] Figure 4 is a comparison chart of sag calculation parameters of a computer device according to an embodiment of the present application;

[0055] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] It will be appreciated by those skilled in the art that, unless expressly stated, the singular forms "one", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when an element is said to be "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may also be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0058] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0059] Reference Figure 1 The present application embodiment provides a method for calculating the sag of a transmission line, comprising the following steps S1-S6:

[0060] S1, identifying the attitude angle of the transmission line integrated sensor installed at the transmission line based on the XYZ coordinate system;

[0061] S2. Based on real-time differential positioning, obtain the longitude, latitude and altitude of the installation point of the transmission line integrated sensor;

[0062] S3. Obtain the longitude, latitude and altitude of tower A and tower B;

[0063] S4. Based on the longitude and latitude of tower A and tower B, calculate the horizontal span between the first suspension point and the second suspension point;

[0064] S5. Calculate the horizontal distance X between the installation point and tower B based on the longitude and latitude of the installation point. b and vertical height difference y b ;

[0065] S6, based on X b ,y b The sag of the transmission line is calculated based on the attitude angle information, trigonometric functions and the geometric properties of similar triangles, combined with the parabola model of the different length method.

[0066] In step S1, a transmission line integrated sensor is installed at the transmission line. The sensor has wireless communication capability so as to transmit the attitude angle data to the remote monitoring system. The sensor is equipped with a high-precision gyroscope. For example, a gyroscope made of micro-electromechanical system technology is small, low-power and relatively low-cost, and is suitable for long-term deployment in outdoor environments. When the sensor is started, the gyroscope will perform self-test and zero point calibration to ensure the accuracy of the measurement. This step usually includes temperature compensation, bias correction and sensitivity adjustment. The gyroscope starts to continuously measure the angular velocity around the X, Y, and Z axes. Since the angular velocity is instantaneous, it is necessary to accumulate the angular velocity through integration operation to obtain the change of the attitude angle. In order to reduce the integration error, the data of the accelerometer and the magnetometer can be combined, and the extended Kalman filter or the complementary filter can be used for attitude fusion to improve the accuracy and stability of the attitude estimation. The sensor sends the attitude angle data to the remote server or the local data processing unit through the wireless communication module. The data receiving end parses these data and extracts the attitude angle information in the XYZ coordinate system. The use of gyroscopes makes attitude angle measurement highly accurate and real-time, which is crucial for dynamically monitoring the status of transmission lines, especially in extreme weather conditions such as strong winds or hail. Real-time monitoring can help operation and maintenance personnel take timely measures to prevent line damage. Gyroscope measurement does not rely on physical contact with the wires, reducing the risk of wear and failure in traditional measurement methods, while simplifying the installation and maintenance process. The integrated design of the sensor integrates multiple functions (such as attitude measurement, position positioning, and wireless communication) into one, reducing the complexity and cost of the overall system. Step S1 provides key input data for subsequent sag calculations.

[0067] In step S2, an RTK (Real-Time Kinematic, RTK) positioning module is integrated in the sensor, that is, through the real-time differential positioning technology (Real-Time Kinematic, RTK); a base station and multiple mobile stations are used to achieve high-precision positioning. The base station receives signals from multiple satellites, calculates the precise coordinates of its position, and sends these data together with the original satellite observations to the mobile station through wireless communication. The mobile station uses the received base station data to correct its own satellite observations, thereby achieving sub-meter or even centimeter-level positioning accuracy. The base station starts and locks the satellite signal to calculate its own precise position coordinates. Specifically, the base station generates differential correction information based on the difference between its own position and the satellite observation value, and sends the differential correction information to all mobile stations through the wireless communication module. The integrated sensor (transmission line integrated sensor) receives the satellite signal and the differential correction information of the base station as a mobile station, uses this information to correct its own satellite observations, and calculates its own precise position. The integrated sensor sends the calculated longitude, latitude and altitude data to the remote monitoring system or the local data processing unit through the wireless communication module. The integrated sensor integrates the RTK positioning module, making the equipment smaller, easier to install and maintain, and reducing the complexity and cost of the system. The RTK real-time differential positioning technology can provide real-time location information, ensuring the continuity and immediate response capability of the monitoring system, and obtaining the precise geographic coordinates of the sensor installation point, providing an important basis for the calculation of transmission line sag. Its high precision, real-time and integrated design significantly improve the accuracy and intelligence level of transmission line status monitoring.

[0068] In step S3, based on existing engineering documents and database information, rather than on-site measurements. The ledger of the transmission line usually contains detailed engineering design data. The relevant information of tower A and tower B is found from the design drawings and engineering reports of the transmission line. Collect engineering design documents related to tower A and tower B. These documents should contain information such as the longitude and latitude, altitude and span of the tower, which can be identified and information extracted through preset keyword information or semantic analysis. This step utilizes the existing ledger data to avoid the high cost and time consumption of on-site measurements, and realizes the efficient acquisition of key information of tower A and tower B, which not only reduces the dependence on on-site measurements, but also ensures the accuracy and timeliness of the data, thereby improving the performance and management level of the entire transmission line status monitoring system.

[0069] In step S4, when calculating the span of the transmission line, since the span is usually small, based on the longitude and latitude information of tower A and tower B, the Pythagorean theorem can be used to calculate the horizontal distance between the two towers. First, the latitude difference and longitude difference between tower A and tower B are calculated; then the linear distance corresponding to the latitude difference and longitude difference is estimated based on the conversion factor. For example, China is located in the mid-latitude region, and the span of the transmission line is usually small. Generally speaking, on the same longitude, the latitude difference of 1 degree is 111 km; on the same latitude, the longitude difference of 1 degree is 111 km. At this time, the linear distance corresponding to the latitude difference and longitude difference can be calculated by multiplying by 111, and then the horizontal span between the two towers is calculated by the Pythagorean theorem. In this step, the Pythagorean theorem and the conversion factor based on the mid-latitude region (1 degree = 111 km) are used to estimate the horizontal distance between the two towers, that is, Wherein, L is the horizontal distance between the first suspension point and the second suspension point; Lon A is the longitude of Tower A; Lat A is the latitude of Tower A; Lon B is the longitude of Tower B; Lat B is the latitude of tower B. This method greatly simplifies the calculation process, avoids complex spherical trigonometry calculations, and thus improves calculation efficiency. For the case of a small span of a transmission line, this method is sufficient to provide accurate span estimation without having to use a more complex geographic distance algorithm. By simplifying the calculation process, the complexity of data processing and the demand for computing resources are reduced, thereby saving computing costs. At the same time, since no additional measuring equipment or on-site measurement is required, the manpower and material costs are also reduced, and the calculation is based on standardized conversion factors, which ensures that the span data at different locations and times are consistent and comparable, which is crucial for long-term line maintenance and status analysis. In short, step S4 achieves fast and accurate calculation of the transmission line span by adopting the Pythagorean theorem and the conversion factor method for mid-latitude regions, which not only ensures the reliability of the calculation results, but also takes into account cost and efficiency, and provides strong technical support for transmission line status monitoring and maintenance.

[0070] In step S5, the horizontal distance X between the installation point and tower B is calculated using the known longitude, latitude and altitude of the installation point (i.e., the location of the integrated sensor) and the longitude, latitude and altitude of tower B. b Based on the latitude and longitude and altitude data of the integrated sensor obtained from step S2, and the latitude and longitude and altitude data of tower B obtained from step S3, the horizontal distance X is calculated using the Pythagorean theorem b , directly use subtraction to calculate the difference between the installation point altitude and tower B altitude, which is the vertical height difference. That is, it can be obtained through the following formula 2:

[0071]

[0072] y b =Hei B -Hei M

[0073] Among them, Lon M is the longitude of the installation point; Lat M is the latitude of the installation point; Hei m is the altitude of the installation point; Lon B is the longitude of Tower B; Lat B is the latitude of Tower B; B is the altitude of tower B. This method is based on high-precision positioning data to ensure the horizontal distance X b The accuracy of the vertical height difference yb provides reliable data support for sag calculation. By integrating sensors and automated calculation processes, real-time data collection and processing are realized, improving the response speed and efficiency of the monitoring system. Based on this, the calculation results can be stored. In the case of real-time acquisition, the current data is compared with the historical data. Based on the comparison results, the changing trend of the line status is identified to achieve intelligent analysis and early warning. Step S5 accurately calculates the horizontal distance X between the installation point and tower B. b and vertical height difference y b , which provides key parameters for the subsequent transmission line sag calculation and provides necessary data for step S6 - the horizontal distance X between the installation point and tower B b and vertical height difference y b These data are the basis for calculating sag using trigonometric functions and geometric properties of similar triangles.

[0074] In step S6, based on the horizontal distance X between the installation point and tower B calculated in step S5, b and vertical height difference y b , and the attitude angle α, combined with trigonometric functions and geometric properties of similar triangles, we can get the formula

[0075] Formula 3:

[0076]

[0077] In the absence of external interference, the suspended wire will be affected by its own gravity and form a parabola shape between the two fixed points. The different-length parabola model can simulate this phenomenon well.

[0078]

[0079] The calculation results are closer to the actual situation. The sag of the conductor is calculated by the parabola model of the different length method, that is, Formula 4:

[0080] Where L is the horizontal distance between the first suspension point and the second suspension point; a is the height difference between the bottom of tower A and the suspension point; b is the distance from the installation point to the suspension point of tower B; α is the angle between the conductor and the horizontal plane, that is, the inclination angle of the conductor; X b Indicates the horizontal distance from the installation point to tower B; y b Indicates the vertical height difference from the installation point to tower B; Hei A Indicates that Tower A has a high altitude; M Indicates the altitude of the installation point.

[0081] Now, substituting formula 4 into formula 3, we can get:

[0082]

[0083] Substituting it into formula 2, we can get:

[0084]

[0085] Through the above calculations, the final sag value of the conductor can be obtained based on the existing data. The calculated sag data is output to the remote monitoring system or stored in the database for operation and maintenance personnel to analyze and evaluate the operating status of the transmission line. If the sag exceeds the safe range, the system should issue an alarm to prompt the operation and maintenance personnel to take corresponding measures.

[0086] like Figure 4 As shown, A and B represent tower A and tower B, and the Y-axis attitude angle is the angle between the tangent of the device installation point and the conductor and the horizontal plane, which is recorded as α; the horizontal span between the two towers is L, the height between the bottom of tower A and the suspension point is recorded as a, the sensor installation point is recorded as P, the intersection of its extension line and tower B is recorded as Q, and the distance between Q and the suspension point of tower B is recorded as b. The vertical height difference between the installation point and tower B is recorded as y b ; The horizontal distance from the installation point to tower A is recorded as X a ; The horizontal distance from tower B is recorded as X b ; f1 is the sag.

[0087] In one embodiment, the step of identifying the attitude angle of the transmission line integrated sensor installed at the transmission line based on the XYZ coordinate system includes:

[0088] S10, sending a gyroscope start instruction to the power transmission line integrated sensor;

[0089] S11. Obtaining an attitude angle of the power transmission line integrated sensor in an XYZ coordinate system measured by a built-in gyroscope of the power transmission line integrated sensor.

[0090] In this embodiment, the transmission line integrated sensor must be equipped with a gyroscope capable of measuring three-dimensional attitude angles, and have data transmission capabilities (such as wireless communication modules) to transmit data back to the control system. When the system starts the detection calculation, it is necessary to ensure that the gyroscope is active in order to accurately measure the attitude change of the sensor. Once the gyroscope is started and the measurement is completed, the control system will receive the measurement result from the sensor, that is, the attitude angle of the sensor in the XYZ coordinate system. The attitude information of the sensor is collected for subsequent sag calculations and other monitoring and analysis. By obtaining the attitude information of the sensor in real time, the dynamic changes of the conductor can be understood in real time, which helps to discover potential safety hazards in a timely manner. The ability to remotely start sensors and collect data reduces the need for manual on-site inspections, improves efficiency and reduces maintenance costs, and the attitude angle data can be used to analyze the long-term behavior of the conductor, predict possible failures and take preventive measures in advance, thereby enhancing the reliability and safety of the power grid.

[0091] In one embodiment, the step of obtaining the longitude, latitude and altitude of the installation point of the power transmission line integrated sensor by real-time differential positioning includes:

[0092] S20, receiving a signal from a satellite;

[0093] S21, receiving the differential signal and correcting the original satellite signal;

[0094] S22. Calculate the longitude, latitude and altitude of the installation point of the power transmission line integrated sensor using the corrected signal.

[0095] In this embodiment, the system also receives signals from GPS or other global navigation satellite systems through the RTK receiver (RTK module) on the transmission line integrated sensor. These signals contain information about the location, time and launch time of the satellite. In addition to receiving satellite signals, the RTK receiver also receives differential signals from the reference station. The reference station is a fixed station with a known precise location that can detect errors in satellite signals and send these error information as differential signals. The RTK receiver uses these differential signals to correct the errors in the original satellite signals and improve positioning accuracy. After applying the differential correction, the RTK receiver can calculate the exact location of the sensor installation point based on the quadrilateral algorithm or the trilateral measurement algorithm. This usually involves the synchronous processing of multiple satellite signals to determine the coordinates that are closest to the true position. RTK technology is able to provide centimeter-level positioning accuracy, which is particularly important for transmission line monitoring because it allows very precise tracking of the displacement and changes of the conductors. RTK can update position information in real time and can immediately detect any changes in position, which is crucial for monitoring the dynamic behavior and safety of conductors. By providing continuous high-precision position data, maintenance and repair work can be planned more effectively, avoiding unnecessary on-site inspections, thereby reducing operating costs.

[0096] In one embodiment, the step of obtaining the longitude, latitude and altitude of tower A and tower B includes:

[0097] S30, identifying preset keywords in the ledger of the transmission line;

[0098] S31. Obtain the longitude, latitude and altitude of tower A and tower B using the preset keywords.

[0099] In this embodiment, a ledger system of a transmission line that records various basic data of the transmission line, including but not limited to the location of the tower, the span, the conductor specifications, etc., is used to scan the ledger data through an intelligent algorithm to identify preset keywords. These keywords are usually identifiers or techniques directly associated with tower A, tower B and their related attributes (such as span, longitude, latitude, and altitude). The keyword library can be used to build to ensure that the required information can be quickly and accurately located. On the one hand, the efficiency and accuracy of data acquisition are greatly improved, and the tediousness and errors of manually flipping through the ledger are avoided; on the other hand, through automated processing, the labor cost is reduced and the speed of decision support is accelerated. For example, when planning the maintenance plan of the transmission line, the system can provide the geographical location information between tower A and tower B in real time. In addition, based on these precise data, advanced analysis models, such as conductor stress analysis and wind deviation calculation, can be further applied to provide more comprehensive protection for the safe and stable operation of the power grid. In summary, this embodiment not only simplifies the data acquisition process, but also improves the refinement level of transmission line management through intelligent means, which is of great significance for improving the efficiency of power grid operation and maintenance and reducing operating costs.

[0100] In one embodiment, the step of calculating the horizontal distance between the first suspension point and the second suspension point based on the longitude and latitude of tower A and tower B includes:

[0101] S40, calculating the horizontal distance between the first suspension point and the second suspension point by the following formula:

[0102]

[0103] Wherein, L is the horizontal distance between the first suspension point and the second suspension point; Lon A is the longitude of Tower A; Lat A is the latitude of Tower A; Lon B is the longitude of Tower B; Lat B is the latitude of Tower B.

[0104] In this embodiment, the horizontal span not only reflects the geometric shape of the transmission line, but also directly affects the stress condition of the conductor, the wind deviation characteristics, and the formulation of the maintenance strategy. The specific implementation of this calculation process depends on accurate geographic location information, namely the longitude and latitude data of tower A and tower B. First of all, the following basic conditions need to be met to implement this step: First, ensure that the longitude and latitude data of tower A and tower B are accurate, which depends on the high-precision positioning of the previous RTK receiver and the data maintenance of the ledger system; second, have or be able to access the correct calculation formula or algorithm to convert the longitude and latitude coordinates into actual ground distances. The specific process is as follows: Using the known tower A (longitude Lon A , Latitude A ) and Tower B (Lon B, Latitude B ) and substitute the longitude and latitude coordinates of Among them, L is the horizontal distance between the first suspension point and the second suspension point; Lon A is the longitude of Tower A; Lat A is the latitude of Tower A; Lon B is the longitude of Tower B; Lat B is the latitude of tower B. When calculating the span of the transmission line, since the span is usually small, based on the longitude and latitude information of tower A and tower B, the Pythagorean theorem can be used to calculate the horizontal distance between the two towers. First, the latitude difference and longitude difference between tower A and tower B are calculated; then the linear distance corresponding to the latitude difference and longitude difference is estimated based on the conversion factor. For example, China is in the mid-latitude region, and the span of the transmission line is usually small. Generally speaking, on the same longitude, the latitude difference of 1 degree is 111km; on the same latitude, the longitude difference of 1 degree is 111km. At this time, the linear distance corresponding to the latitude difference and longitude difference can be calculated by multiplying 111, and then the horizontal span between the two towers is calculated by the Pythagorean theorem. In this step, the Pythagorean theorem and the conversion factor based on the mid-latitude region (1 degree = 111km) are used to estimate the horizontal distance between the two towers. This method greatly simplifies the calculation process, avoids complex spherical trigonometry calculations, and thus improves the calculation efficiency. For transmission lines with smaller spans, this method is sufficient to provide accurate span estimation without using more complex geographic distance algorithms. By simplifying the calculation process, the complexity of data processing and the demand for computing resources are reduced, thus saving computing costs.

[0105] In one embodiment, the horizontal distance X between the installation point and the tower B is calculated based on the longitude and latitude of the installation point. b and vertical height difference y b The steps also include:

[0106] S50, calculate the horizontal distance X between the installation point and tower B by the following formula 2 b and vertical height difference y b :

[0107]

[0108] y b =Hei B -Hei M

[0109] Among them, Lon M is the longitude of the installation point; Lat M is the latitude of the installation point; Hei m is the altitude of the installation point; Lon B is the longitude of Tower B; Lat Bis the latitude of Tower B; B is the altitude of Tower B.

[0110] In this embodiment, the goal is to calculate the installation point (set as point M, longitude Lon M , Latitude M and altitude m ) and the horizontal distance X between tower B b and vertical height difference y b First, make sure the longitude and latitude (Lon M ,Lat M ,Lon B ,Lat B ) and altitude (Hei m ,Hei B ) data; horizontal distance X b :Use spherical trigonometry or simplified methods (such as approximate calculation of linear distance corresponding to longitude and latitude difference in mid-latitude regions) to calculate the horizontal distance between point M and point B. Here, considering the balance between calculation efficiency and accuracy, an approximate formula (such as the 1 degree = 111km conversion factor mentioned above) can be used in combination with the longitude and latitude difference to make an estimate. Vertical height difference y b : Directly obtained by subtracting the altitude of the installation point M and tower B, that is, y b =Hei m -Hei B Substitute the collected data into the given formula 2 to calculate X b and b . Accurately calculating the horizontal distance and vertical height difference between the installation point and tower B helps optimize the design of the transmission line and reduce problems caused by errors. Assume that the longitude and latitude of the installation point M are (116.3833°, 39.9167°) and the altitude is 30 meters; the longitude and latitude of tower B are (116.4000°, 39.9000°) and the altitude is 50 meters. Follow the above steps: horizontal distance X b :First calculate the longitude difference and latitude difference, then use the approximate formula (such as 1 degree = 111km) to estimate, and then use the Pythagorean theorem to calculate X b . Vertical height difference yb: Directly calculate y b =50m-30m=20m. Through this method, we can quickly and relatively accurately obtain the horizontal distance and vertical height difference between the installation point and tower B, providing basic data support for subsequent sag calculations and long-term monitoring and maintenance.

[0111] In one embodiment, the X-based b ,y bThe steps of calculating the sag of the transmission line by using trigonometric functions and geometric properties of similar triangles and the parabola model of the different length method include:

[0112] S60, based on X b ,y b and attitude angle information, and use trigonometric functions and similar triangle principles to solve X b and Y b The value of , we get formula 3:

[0113]

[0114] S61. Approximate the shape of the conductor to a parabola, and obtain the sag f1 of the transmission line by the parabolic formula of the different length method, that is, the sag f1 of the transmission line is calculated by formula 4, which is as follows:

[0115]

[0116] Where L is the horizontal distance between the first suspension point and the second suspension point; a is the height difference between the bottom of tower A and the suspension point; b is the distance from the installation point to the suspension point of tower B; α is the angle between the conductor and the horizontal plane, that is, the inclination angle of the conductor; X b Indicates the horizontal distance from the installation point to tower B; y b Indicates the vertical height difference from the installation point to tower B; Hei A Indicates that Tower A has a high altitude; M Indicates the altitude of the installation point.

[0117] In this embodiment, based on the horizontal distance X between the installation point and the tower B calculated in step S5, b and vertical height difference y b , combining trigonometric functions and geometric properties of similar triangles, we can get formula 3:

[0118]

[0119] In the absence of external interference, the suspended wire will be affected by its own gravity and form a parabola shape between the two fixed points. The parabola model of the different length method can better simulate this phenomenon, making the calculation results closer to the actual situation. The sag of the wire is calculated by the parabola model of the different length method, that is, Formula 4:

[0120] Wherein, L is the horizontal distance between the first suspension point and the second suspension point; a is the height difference between the bottom of tower A and the suspension point; b is the distance from the installation point to the suspension point of tower B; α is the angle between the conductor and the horizontal plane, the attitude angle detected by the gyroscope, that is, the inclination angle of the conductor; X b Indicates the horizontal distance from the installation point to tower B; yb Indicates the vertical height difference from the installation point to tower B; Hei A Indicates the altitude of Tower A; Hei M Indicates the altitude of the installation point.

[0121] Now, substituting formula 4 into formula 3, we can get:

[0122]

[0123] Substituting it into formula 2, we can get:

[0124]

[0125] Through the above calculations, the final sag value of the conductor can be obtained based on the existing data. The calculated sag data is output to the remote monitoring system or stored in the database for operation and maintenance personnel to analyze and evaluate the operating status of the transmission line. If the sag exceeds the safe range, the system should issue an alarm to prompt the operation and maintenance personnel to take corresponding measures.

[0126] refer to Figure 2 , a transmission line sag calculation device, comprising:

[0127] An identification module 100 is used to identify the attitude angle of the power transmission line integrated sensor installed at the power transmission line based on the XYZ coordinate system;

[0128] A first acquisition module 200 is used to acquire the longitude, latitude and altitude of the installation point of the transmission line integrated sensor through real-time differential positioning;

[0129] The second acquisition module 300 is used to acquire the longitude, latitude and altitude of tower A and tower B;

[0130] The first calculation module 400 is used to calculate the horizontal span between the first suspension point and the second suspension point based on the longitude and latitude of tower A and tower B;

[0131] The second calculation module 500 is used to calculate the horizontal distance X between the installation point and the tower B based on the longitude and latitude of the installation point. b and vertical height difference y b ;

[0132] The sag determination module 600 is used to determine the arc sag based on X b ,y b The sag of the transmission line is calculated based on the attitude angle information, trigonometric functions and the geometric properties of similar triangles, combined with the parabola model of the different length method.

[0133] Furthermore, the identification module 100 includes:

[0134] A first starting unit, used for sending a gyroscope starting instruction to the power transmission line integrated sensor;

[0135] The attitude angle acquisition unit is used to acquire the attitude angle of the transmission line integrated sensor in the XYZ coordinate system measured by the built-in gyroscope of the transmission line integrated sensor.

[0136] Furthermore, the first acquisition module 200 includes:

[0137] A first receiving unit, used for receiving a signal from a satellite;

[0138] A correction unit, used for receiving the differential signal and correcting the original satellite signal;

[0139] The longitude and latitude calculation unit is used to calculate the longitude, latitude and altitude of the installation point of the transmission line integrated sensor using the corrected signal.

[0140] Furthermore, the second acquisition module 300 includes:

[0141] A first identification unit, used to identify preset keywords in the ledger of the transmission line;

[0142] The longitude and latitude obtaining unit is used to obtain the longitude, latitude and altitude of tower A and tower B through the preset keywords.

[0143] Furthermore, the first calculation module 400 includes:

[0144] The horizontal span calculation unit is used to calculate the horizontal span between the first suspension point and the second suspension point by the following formula:

[0145]

[0146] Wherein, L is the horizontal distance between the first suspension point and the second suspension point; Lon A is the longitude of Tower A; Lat A is the latitude of Tower A; Lon B is the longitude of Tower B; Lat B is the latitude of Tower B.

[0147] Furthermore, the second calculation module 500 includes:

[0148] The gap calculation unit is used to calculate the horizontal distance X between the installation point and tower B using the following formula 2 b and vertical height difference y b :

[0149]

[0150] y b =HeiB -Hei M

[0151] Among them, Lon M is the longitude of the installation point; Lat M is the latitude of the installation point; Hei m is the altitude of the installation point; Lon B is the longitude of Tower B; Lat B is the latitude of Tower B; B is the altitude of Tower B.

[0152] Furthermore, the sag determination module 600 includes:

[0153] Triangular computing unit for X-based b ,y b and attitude angle information, and use trigonometric functions and similar triangle principles to solve X b and Y b The value of , we get formula 3:

[0154]

[0155] The solving unit is used to approximate the shape of the conductor to a parabola, and obtain the sag f1 of the transmission line by the parabolic formula of the different length method, that is, the sag f1 of the transmission line is calculated by formula 4, and formula 4 is as follows:

[0156]

[0157] Wherein, L is the horizontal span between the first suspension point and the second suspension point; a represents the height difference between the bottom end of tower A and the suspension point; b represents the distance from the installation point to the suspension point of tower B; α represents the angle between the conductor and the horizontal plane, that is, the inclination angle of the conductor; Xb represents the horizontal distance from the installation point to tower B; yb represents the vertical height difference from the installation point to tower B; HeiA represents the altitude of tower A; HeiM represents the altitude of the installation point.

[0158] Reference Figure 3 In an embodiment of the present application, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 3As shown. The computer device includes a processor, a memory, a network interface and a database connected by a bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores operations, computer programs and databases. The memory provides an environment for the operation and operation of the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as a transmission line sag calculation method. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a transmission line sag calculation method is implemented, including the steps of: identifying the attitude angle of the transmission line integrated sensor installed at the transmission line based on the XYZ coordinate system; obtaining the longitude, latitude and altitude of the installation point of the transmission line integrated sensor through real-time differential positioning; obtaining the longitude, latitude and altitude of tower A and tower B; based on the longitude and latitude of tower A and tower B, calculating the horizontal span between the first suspension point and the second suspension point; based on the longitude and latitude of the installation point, calculating the horizontal distance X between the installation point and tower B b and vertical height difference y b ; Based on X b ,y b and attitude angle information, and the sag of the transmission line is calculated by trigonometric functions and geometric properties of similar triangles, combined with the parabola model of the different length method. An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a transmission line sag calculation method is implemented, including the steps of: identifying the attitude angle of the transmission line integrated sensor installed at the transmission line based on the XYZ coordinate system; obtaining the longitude, latitude and altitude of the installation point of the transmission line integrated sensor through real-time differential positioning; obtaining the longitude, latitude and altitude of tower A and tower B; based on the longitude and latitude of tower A and tower B, calculating the horizontal span between the first suspension point and the second suspension point; based on the longitude and latitude of the installation point, calculating the horizontal distance X between the installation point and tower B. b and vertical height difference y b ; Based on X b ,y b The sag of the transmission line is calculated based on the attitude angle information, trigonometric functions and the geometric properties of similar triangles, combined with the parabola model of the different length method.

[0159] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in the present application and used in the embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0160] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for calculating the sag of a transmission line, characterized in that: include: Identify the attitude angle of the transmission line integrated sensor installed at the transmission line based on the XYZ coordinate system; Based on real-time differential positioning, obtain the longitude, latitude and altitude of the installation point of the transmission line integrated sensor; Get the longitude, latitude and altitude of tower A and tower B; Based on the longitude and latitude of tower A and tower B, the horizontal spacing between the first suspension point and the second suspension point is calculated; Based on the longitude and latitude of the installation point, calculate the horizontal distance X between the installation point and tower B b and vertical height difference y b ; X-based b ,y b The sag of the transmission line is calculated based on the attitude angle information, trigonometric functions and the geometric properties of similar triangles, combined with the parabola model of the different length method.

2. The method for calculating the sag of a transmission line according to claim 1, characterized in that: The step of identifying the attitude angle of the transmission line integrated sensor installed at the transmission line based on the XYZ coordinate system includes: sending a gyroscope start command to the power transmission line integrated sensor; The attitude angle of the transmission line integrated sensor in the XYZ coordinate system measured by the built-in gyroscope of the transmission line integrated sensor is obtained.

3. The method for calculating the sag of a transmission line according to claim 1, characterized in that: The step of obtaining the longitude, latitude and altitude of the installation point of the transmission line integrated sensor based on real-time differential positioning includes: receiving signals from satellites; Receive differential signals and correct the original satellite signals; The corrected signal is used to calculate the longitude, latitude and altitude of the installation point of the power transmission line integrated sensor.

4. The method for calculating the sag of a transmission line according to claim 1, characterized in that: The step of obtaining the longitude, latitude and altitude of tower A and tower B includes: Identify preset keywords in the ledger of transmission lines; The longitude, latitude and altitude of tower A and tower B are obtained through the preset keywords.

5. The method for calculating the sag of a transmission line according to claim 1, characterized in that: The step of calculating the horizontal span between the first suspension point and the second suspension point based on the longitude and latitude of tower A and tower B comprises: The horizontal spacing between the first suspension point and the second suspension point is calculated by the following formula: Wherein, L is the horizontal distance between the first suspension point and the second suspension point; Lon A is the longitude of Tower A; Lat A is the latitude of Tower A; Lon B is the longitude of Tower B; Lat B is the latitude of Tower B.

6. The method for calculating the sag of a transmission line according to claim 1, characterized in that: Based on the longitude and latitude of the installation point, the horizontal distance X between the installation point and tower B is calculated. b and vertical height difference y b The steps also include: The horizontal distance X between the installation point and tower B is calculated by the following formula 2 b and vertical height difference y b : y b =Hello B -Hello M Among them, Lon M is the longitude of the installation point; Lat M is the latitude of the installation point; Hei m is the altitude of the installation point; Lon B is the longitude of Tower B; Lat B is the latitude of Tower B; B is the altitude of Tower B.

7. The method for calculating the sag of a power transmission line according to claim 1, characterized in that: The X-based b ,y b , and attitude angle information, through trigonometric functions and geometric properties of similar triangles, combined with the parabola model of the different length method, the steps of calculating the sag of the transmission line include: X-based b ,y b , and attitude angle information, using trigonometric functions and similar triangle principles to solve X b and Y b The value of , we get formula 3: The conductor shape is approximated as a parabola, and the sag f1 of the transmission line is obtained by the parabolic formula of the different length method, that is, the sag f1 of the transmission line is calculated by formula 4, which is as follows: Where L is the horizontal distance between the first suspension point and the second suspension point; a is the height difference between the bottom of tower A and the suspension point; b is the distance from the installation point to the suspension point of tower B; α is the angle between the conductor and the horizontal plane, that is, the inclination angle of the conductor; X b Indicates the horizontal distance from the installation point to tower B; y b Indicates the vertical height difference from the installation point to tower B; Hei A Indicates that Tower A has a high altitude; M Indicates the altitude of the installation point.

8. A transmission line sag calculation device, characterized in that: include: An identification module, used for identifying the attitude angle of the transmission line integrated sensor installed at the transmission line based on the XYZ coordinate system; A first acquisition module is used to acquire the longitude, latitude and altitude of the installation point of the transmission line integrated sensor based on real-time differential positioning; The second acquisition module is used to obtain the longitude, latitude and altitude of tower A and tower B; A first calculation module is used to calculate the horizontal span between the first suspension point and the second suspension point based on the longitude and latitude of tower A and tower B; The second calculation module is used to calculate the horizontal distance X between the installation point and tower B based on the longitude and latitude of the installation point. b and vertical height difference y b ; Sag determination module for X-based b ,y b , and attitude angle information, through trigonometric functions and the geometric properties of similar triangles, combined with the parabola model of the different length method, the sag of the transmission line is calculated.

9. A transmission line sag calculation device, characterized in that: include: processor; Memory for storing computer programs; Wherein, when the processor executes the computer program, the transmission line sag calculation method described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for calculating the sag of a power transmission line according to any one of claims 1 to 7 is implemented.

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