Analysis method for power transmission line tower and conductor sag modeling based on fusion of three-dimensional modeling and parametric modeling

Abstract

The invention provides a power transmission line tower and conductor sag modeling analysis method based on fusion of three-dimensional modeling and parametric modeling, which comprises the following steps: acquiring three-dimensional model data of a built tower part, generating a three-dimensional point cloud model, and fusing the three-dimensional point cloud model with a preset conductor hanging point, generating a visual three-dimensional conductor sag model based on a sag calculation formula according to the two-point coordinates of the input conductor hanging points; and fusing the conductor sag model into a built tower, and constructing a construction scene model in which a three-dimensional real scenic spot cloud model and virtual construction are fused.

Description

Technical Field

[0001] The present invention belongs to the technical field of power transmission lines, and in particular relates to an analysis method for power transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling. Background Art

[0002] During the construction of transmission lines, the conductors are usually laid in a suspended form through the support of poles and towers. In this arrangement, the wires are fixed between two support points A and B. Considering the flexible characteristics of the wire material (i.e., the wire does not bear obvious bending stress), the wire will form a natural drooping shape when subjected to force. For this case, when the length of the wire is long and the span used (i.e., the horizontal distance between support points A and B) is large enough, the rigidity effect of the wire material can be ignored. In this case, the wire is mainly subjected to loads uniformly distributed along the length of the line, such as its own weight, environmental factors (such as wind load), etc. Therefore, the hanging shape of the wire can be approximately regarded as a catenary shape. In actual transmission line construction projects, in some cases, the poles and wires have not been completed, and in some cases, the poles have been completed, but the wire work has not been completed. The existing technology still lacks a solution that can accurately and reliably simulate, analyze and evaluate the safety of transmission line towers and wires to eliminate unsafe factors that may be involved in the construction of transmission lines. Summary of the invention

[0003] In view of the gaps and deficiencies in the prior art, the present invention provides a solution for integrating the three-dimensional terrain collected from the real scene with the parametric pole tower modeling, thereby modeling and analyzing the transmission line pole tower and the conductor sag in advance. The three-dimensional model data of the built pole tower part is collected based on sensors such as laser radar and visible light camera to generate a three-dimensional point cloud model, and the three-dimensional point cloud model is integrated with the preset conductor hanging point. According to the two-point coordinates of the input conductor hanging point, a visual three-dimensional sag power line model is generated based on the sag calculation formula, and the conductor sag model is integrated into the built pole tower for joint measurement and simulation early warning analysis, so as to construct a construction scene integrating the three-dimensional real-life point cloud model and virtual construction. Furthermore, the hanging points can be marked and connected according to the outline of the tower modeling, and the Dwg format file supported by AutoCAD can be exported according to the geometric information of the software modeling (tower, conductor hanging point, sag), the catenary is calculated in three-dimensional space according to the conductor swing formula, the conductor swing trajectory is simulated, and the conductor swing and its felling surface range are intuitively indicated according to the vertical distance and clearance distance allowed by the specification.

[0004] The present invention specifically adopts the following technical solutions: An analysis method for transmission line tower and conductor sag modeling based on the fusion of 3D modeling and parametric modeling, which collects 3D model data of the built tower part and generates a 3D point cloud model, merges the 3D point cloud model with the preset conductor hanging points, and generates a visualized 3D conductor sag model based on the sag calculation formula according to the two-point coordinates of the input conductor hanging points; then, the conductor sag model is merged into the built tower to construct a construction scene model that merges the 3D real-life point cloud model with the virtual construction.

[0005] Furthermore, the specific process of generating the three-dimensional point cloud model includes: Use drones equipped with visible light cameras and airborne laser radars for data collection; Then, data preprocessing is performed, including data cleaning, filtering and registration: First, the statistical outlier filtering algorithm is used to remove noise points in the point cloud; then the voxel grid filtering algorithm is applied to downsample the point cloud to reduce the amount of data; the image data is color corrected, denoised and geometrically corrected; then the LiDAR data and image data are synchronized in time and spatially registered to ensure that the two types of data correspond accurately; The pre-processed point cloud data is segmented and classified using machine learning algorithms to identify the various components of the transmission line.

[0006] Furthermore, the three-dimensional point cloud model is integrated with the preset wire hanging points, and a visualized three-dimensional wire sag model is generated based on the sag calculation formula according to the two-point coordinates of the input wire hanging points: In the three-dimensional modeling of conductor sag, the key parameters including conductor horizontal stress, wire load ratio, span, and height difference are first determined, and then the sag is calculated using a mathematical model. Next, a support point model is created and a three-dimensional curve of the conductor is drawn between them. The conductor properties and additional components are adjusted according to actual needs, and the model accuracy is evaluated and optimized before outputting a three-dimensional model of the transmission line conductor.

[0007] Furthermore, the conductor sag model is integrated into the built tower to construct a construction scene integrating the three-dimensional real-time cloud model and virtual construction. Through the two stages of coarse registration and fine registration, the tower parametric model based on relative position relationship is integrated with the three-dimensional real terrain: Rough registration is to register the parameterized tower model with the actual terrain position, and transform the parameterized tower data to be registered into a unified coordinate system through a rotation and translation transformation matrix to provide initial values ​​for registration; Based on the coarse registration, the fine registration uses an algorithm based on singular value decomposition to minimize the spatial position difference between the parameterized tower model and the actual tower after construction, and obtain a more accurate rotation and translation transformation matrix.

[0008] Furthermore, the specific implementation process of the algorithm based on singular value decomposition is: Define two data feature point groups P = {p1,p2,…, pn}, Q = {q1,q2,…,n}, where P is the reference data feature point group and Q is the real scene data feature point group; the registration process is to obtain the target P through a series of rotations and translations of Q, construct a least squares problem, transform the registration into an optimization problem with the sum of the distances of all matching feature point pairs as the objective function to be solved, and use singular value decomposition to obtain R and t that minimize the sum of squares of the following objective function errors; obtain the rotation matrix and translation vector; and finally obtain the conversion parameters to merge the model established by tower parameterization with the three-dimensional real scene terrain: Among them, w i Represents the weight of each point. SO(d) is the set of all rotation matrices in d-dimensional space. These matrices have the following properties: They are orthogonal matrices, mathematically expressed as: SO(d) = {R∈Rd×d |RTR = RRT = I, det(R) = 1} where R is the rotation matrix, I is the identity matrix, and det represents the determinant. The meaning of d: spatial dimension.

[0009] Furthermore, based on the construction scene model, the hanging points are marked and connected according to the outline of the tower modeling, and the engineering drawings are exported according to the modeled geometric information, so as to calculate the catenary according to the wire swing formula in three-dimensional space, simulate the wire swing trajectory, and display the range of the wire swing and the felling surface according to the vertical distance and clearance distance allowed by the specifications.

[0010] Furthermore, the process of marking and connecting the hanging points according to the outline of the tower modeling and deriving the engineering drawings according to the modeled geometric information includes: (1) Geometric data preparation First, verify the integrity and accuracy of the geometric data in the modeling system, including: Tower data: tower type, height, cross arm length, tower vertex coordinates; Wire hanging point data: three-dimensional coordinates of each hanging point; Sag data: conductor sag parameters; (2) Data structure conversion Convert internal data structures into geometric entities recognizable by AutoCAD: Convert the tower into a combination of 3D polylines or 3D faces; Convert wire hanging points into 3D point entities; Approximate the sag using a 3D spline or a series of 3D polylines; (3) DWG file generation Use AutoCAD's API to write the generated entities to a DWG file.

[0011] Furthermore, the three-dimensional space calculates the catenary according to the conductor swing formula, simulates the conductor swing trajectory, and displays the conductor swing and the range of the felling surface according to the vertical distance and clearance distance allowed by the specification. The process includes: first, using the catenary equation to describe the initial shape of the conductor, and determining the tension and weight relationship of the conductor by calculating the catenary state equation; then, considering factors including wind force and temperature changes, simulating the conductor swing trajectory, using numerical methods or analytical methods to update the position of the conductor and checking boundary conditions; then, calculating the vertical distance and clearance distance when the conductor swings according to the specification to ensure that the conductor swings within the allowable range; finally, using a graphic tool to draw the conductor swing trajectory and the felling surface range, and analyzing whether the results meet the requirements of the specification to determine whether parameters need to be adjusted to optimize the conductor swing trajectory and the felling surface range.

[0012] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of an analysis method for sag modeling of transmission line towers and conductors based on the fusion of three-dimensional modeling and parametric modeling are implemented as described above.

[0013] A non-transitory computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of an analysis method for sag modeling of power transmission line towers and conductors based on the fusion of three-dimensional modeling and parametric modeling as described above.

[0014] Compared with the prior art, the present invention and its preferred solution realize the generation of a visualized three-dimensional sag power line model, integrate the conductor sag model into the built tower for joint measurement and simulation early warning analysis, construct a construction scene integrating the three-dimensional real-life cloud model and virtual construction, and further realize the simulation of the conductor swing trajectory. According to the vertical distance and clearance distance allowed by the specification, the conductor swing and the felling surface range are intuitively illustrated. Through fusion analysis with the actual terrain, the safe distance between the conductor and interference objects such as trees can be determined before the implementation of the line stringing project, thereby improving the safety and efficiency of the transmission line construction project. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: Figure 1 This is a catenary cross-section diagram.

[0016] Figure 2 An example of a three-dimensional model of a transmission line conductor is generated according to an embodiment of the present invention.

[0017] Figure 3 This is a schematic diagram of an algorithm based on singular value decomposition according to an embodiment of the present invention.

[0018] Figure 4 The model is established for the parameterization of the tower in the embodiment of the present invention.

[0019] Figure 5 It is an actual three-dimensional topographic map.

[0020] Figure 6 This is a model diagram of the integration of pole towers, conductor sag, and three-dimensional real scenes in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] Hereinafter, the specific embodiments of the present application will be described in detail with reference to the accompanying drawings. According to these detailed descriptions, those skilled in the art can clearly understand the present application and can implement the present application. Without violating the principles of the present application, the features in the various embodiments can be combined to obtain new implementations, or certain features in certain embodiments can be replaced to obtain other preferred implementations.

[0022] In order to make the features and advantages of this patent more obvious and easy to understand, the following embodiments are specifically described in detail with the accompanying drawings as follows: In the solution provided by the embodiment of the present invention, based on laser radar, visible light camera and other sensors, the three-dimensional model data of the built tower part is collected and a three-dimensional point cloud model is generated, and the three-dimensional point cloud model is integrated with the preset wire hanging point. According to the two-point coordinates of the input wire hanging point, a visual three-dimensional sag power line model is generated based on the sag calculation formula, and the wire sag model is integrated into the built tower for joint measurement and simulation early warning analysis. A construction scene integrating the three-dimensional real-life point cloud model and virtual construction is constructed, and the hanging points are marked and connected according to the outline of the tower modeling. According to the geometric information of the software modeling (tower, wire hanging point, sag), a Dwg format file supported by AutoCAD is exported, and the catenary is calculated in three-dimensional space according to the wire swing formula, the wire swing trajectory is simulated, and the wire swing and the felling surface range are intuitively illustrated according to the vertical distance and clearance distance allowed by the specification.

[0023] As a preferred solution of this embodiment, the specific process of collecting the 3D model data of the built tower part and generating the 3D point cloud model based on sensors such as laser radar and visible light camera includes: Data collection 3D modeling of transmission line corridors begins with comprehensive data collection. This process is usually carried out using drones equipped with visible light and airborne lidar. The lidar system emits laser pulses and obtains precise distance information by measuring the laser return time, thereby generating high-density point cloud data. At the same time, high-resolution visible light cameras capture image data along the line. The synergy of these two sensors can provide rich spatial and visual information.

[0024] Data preprocessing After the raw data is collected, the next step is data preprocessing. This stage mainly includes data cleaning, filtering and registration. First, the Statistical Outlier Removal (SOR) algorithm is used to remove noise points in the point cloud. Then, the voxel grid filtering algorithm is applied to downsample the point cloud to reduce the amount of data and improve the efficiency of subsequent processing.

[0025] For image data, color correction, denoising and geometric correction are required. Then the time synchronization and spatial registration of LiDAR data and image data are carried out to ensure that the two data can correspond accurately.

[0026] Generate 3D point cloud model The pre-processed point cloud data is segmented and classified using machine learning algorithms to accurately identify the various components of the transmission line, including major categories such as ground, vegetation, transmission towers, transmission lines, and buildings.

[0027] As a preferred solution of this embodiment, the specific implementation process of marking and connecting the hanging points according to the outline of the tower modeling, and generating a visualized three-dimensional sag power line model based on the sag calculation formula according to the input of two-point coordinates includes: The catenary is a typical curve in mathematical physics, characterized by the shape formed by a flexible rope, chain or cable with uniform linear density that is freely suspended between two fixed points. Unlike a parabola, the curvature of a catenary is not constant, but varies with position, depending mainly on the tension and length of the rope and the load it bears. For transmission lines, the shape of the catenary not only ensures the mechanical stability of the wire, but also effectively reduces the sag of the wire by optimizing its tension and suspension height, thereby preventing the wire from sagging excessively or coming into contact with the ground, trees and other objects, and ensuring the safety and stability of the line. Figure 1 This is a catenary model starting from point A: set up: There are the following relations: Length of inner line: Horizontal distance between the lowest point of the wire and the hanging point: .

[0028] In the 3D modeling of conductor sag, it is necessary to first determine the key parameters such as conductor horizontal stress, wire load ratio, span, height difference, etc., and then use the mathematical model to calculate the sag. Then, create a support point model and draw the 3D curve of the conductor between them. Adjust the conductor properties and additional components according to actual needs, verify the model accuracy and optimize it through software analysis tools, and finally output a 3D model of the transmission line conductor that highly restores the real situation, such as Figure 2 shown.

[0029] Furthermore, the conductor sag model is integrated into the built tower for joint measurement and simulation early warning analysis, and a construction scene integrating the three-dimensional real-life point cloud model and virtual construction is constructed.

[0030] The models established by tower parametricization are all based on relative position relationships. In order to integrate with the three-dimensional real terrain, they can be divided into two stages: coarse alignment and fine alignment.

[0031] Rough registration refers to the registration of the parameterized tower model with the actual terrain position, finding a rotation and translation transformation matrix that can make the parameterized model relatively approximate, and then converting the parameterized tower data to be registered into a unified coordinate system, which can provide a good initial value for fine registration.

[0032] Fine registration means minimizing the spatial position difference between the parameterized tower model and the actual tower after construction on the basis of coarse registration, so as to obtain a more accurate rotation and translation transformation matrix. The running speed of the algorithm and its convergence to global optimization depend to a large extent on the given initial transformation estimate and the establishment of the corresponding relationship during the iteration process. Therefore, various coarse registration techniques are needed to provide a better position for the algorithm. Establishing the correct corresponding point set during the iteration process can avoid the iteration from falling into the local extreme value, which determines the convergence speed of the algorithm and the final registration accuracy.

[0033] In order to improve the convergence speed and the final registration accuracy, this embodiment adopts an algorithm based on singular value decomposition, such as Figure 3 shown.

[0034] Algorithm principle: Given a reference data feature point P and a real scene data feature point Q (given an initial estimate R, t), the algorithm finds the nearest point of the corresponding feature point in P for each feature point in Q to form a matching point pair. Then, the sum of the distances of all matching feature point pairs is used as the objective function to be solved, and singular value decomposition is used to find R and t to minimize the objective function. A new Q' is obtained according to the R, t conversion, and the corresponding feature point pair is found again, and so on.

[0035] Define two data feature point groups P = {p1,p2,…, pn}, Q = {q1,q2,…,n}, where P is the reference data feature point group and Q is the real scene data feature point group. Registration is to obtain the target P by a series of rotations and translations of Q. In fact, the two data sets are not exactly the same, so it is often impossible to get accurate R and t to make the two completely overlap, but the transformed Q can be made as close to P as possible. The state equation is as follows: That is, construct a least squares problem and transform it into an optimization problem of the objective function, and find R and t that make the sum of squares of the following objective function errors reach a minimum. i Represents the weight of each point, and calculates the rotation matrix and translation vector. Finally, the conversion parameters are obtained to integrate the model established by the tower parameterization with the three-dimensional real terrain. The process and effect are as follows Figure 4-Figure 6 shown.

[0036] In this embodiment, the detailed process of exporting the DWG format file supported by AutoCAD according to the geometric information of software modeling (tower, conductor hanging point, sag) includes: (1) Geometric data preparation First, you need to ensure that the geometric data in the software modeling system is complete and accurate. This usually includes: Tower data: tower type, height, cross arm length, tower vertex coordinates, etc.

[0037] Wire hanging point data: the three-dimensional coordinates of each hanging point.

[0038] Sag data: conductor sag parameters, such as maximum sag, conductor length, etc.

[0039] (2) Data structure conversion Convert internal data structures into geometric entities recognizable by AutoCAD: Tower: Usually converted into a combination of 3D polylines (3DPOLYLINE) or 3D faces (3DFACE).

[0040] Wire hanging point: Convert to 3D point (POINT) entity.

[0041] Sag: Approximate using a 3D spline (3DSPLINE) or a series of 3D polylines.

[0042] (3) DWG file generation The code to write the generated entity to the DWG file using AutoCAD API is as follows: using Autodesk.AutoCAD.ApplicationServices; using Autodesk.AutoCAD.DatabaseServices; using Autodesk.AutoCAD.Runtime; using Autodesk.AutoCAD.Geometry; [CommandMethod("AddLineToDWG")] public static void AddLineToDWG() { / / Get the current document and database Document doc = Application.DocumentManager.MdiActiveDocument; Database db = doc.Database; / / Start transaction using (Transaction trans = db.TransactionManager.StartTransaction()) { / / Open the model space block table record BlockTable bt = (BlockTable)trans.GetObject(db.BlockTableId,OpenMode.ForRead); BlockTableRecord btr =(BlockTableRecord)trans.GetObject(bt[BlockTableRecord.ModelSpace], OpenMode.ForWrite); / / Create a line entity Line line = new Line(new Point3d(0, 0, 0), new Point3d(100,100, 0)); / / Add the line to model space btr.AppendEntity(line); trans.AddNewlyCreatedDBObject(line, true); / / Commit the transaction trans.Commit(); } / / Save the file doc.Editor.Command("_.QSAVE"); } In this embodiment, the catenary is calculated in three-dimensional space according to the wire swing formula, the wire swing trajectory is simulated, and the detailed process of the wire swing and the felling surface range is intuitively illustrated according to the vertical distance and clearance distance allowed by the specification, including: The process of simulating the conductor's swing trajectory and illustrating the felling range includes: first, using the catenary equation to describe the initial shape of the conductor, and determining the relationship between the conductor's tension and weight by calculating the catenary state equation; then, considering factors such as wind force and temperature changes, simulating the conductor's swing trajectory, using numerical or analytical methods to update the conductor's position and check boundary conditions; then, calculating the vertical distance and clearance distance of the conductor when it swings according to the specifications to ensure that the conductor swings within the allowable range; finally, using graphic tools to intuitively draw the conductor's swing trajectory and its felling range, analyzing whether the results meet the specifications, and adjusting parameters if necessary to optimize the conductor's swing trajectory and felling range.

[0043] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0044] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0045] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0046] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0047] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0048] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

[0049] This patent is not limited to the above-mentioned optimal implementation mode. Anyone can derive various other forms of analysis methods for transmission line tower and conductor sag modeling based on the integration of three-dimensional modeling and parametric modeling under the inspiration of this patent. All equal changes and modifications made according to the scope of the patent application of the present invention should be covered by this patent.

Claims

1. An analysis method for transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling, characterized in that: Collect the 3D model data of the built tower part and generate a 3D point cloud model, merge the 3D point cloud model with the preset wire hanging points, and generate a visual 3D wire sag model based on the sag calculation formula according to the two-point coordinates of the input wire hanging points; then merge the wire sag model into the built tower to construct a construction scene model that integrates the 3D real-life point cloud model and virtual construction.

2. The analysis method for transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling according to claim 1 is characterized in that: The specific process of generating the three-dimensional point cloud model includes: Use drones equipped with visible light cameras and airborne laser radars for data collection; Then, data preprocessing is performed, including data cleaning, filtering and registration: First, the statistical outlier filtering algorithm is used to remove noise points in the point cloud; then the voxel grid filtering algorithm is applied to downsample the point cloud to reduce the amount of data; the image data is color corrected, denoised and geometrically corrected; then the LiDAR data and image data are synchronized in time and spatially registered to ensure that the two types of data correspond accurately; The pre-processed point cloud data is segmented and classified using machine learning algorithms to identify the various components of the transmission line.

3. The analysis method for transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling according to claim 1 is characterized in that: The three-dimensional point cloud model is integrated with the preset wire hanging point, and a visualized three-dimensional wire sag model is generated based on the sag calculation formula according to the two-point coordinates of the input wire hanging point, specifically: In the three-dimensional modeling of conductor sag, the key parameters including conductor horizontal stress, wire load ratio, span, and height difference are first determined, and then the sag is calculated using a mathematical model. Next, a support point model is created and a three-dimensional curve of the conductor is drawn between them. The conductor properties and additional components are adjusted according to actual needs. After evaluating the accuracy of the model and optimizing it, the three-dimensional model of the transmission line conductor is output.

4. The analysis method for transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling according to claim 1 is characterized in that: The conductor sag model is integrated into the built tower to build a construction scene that integrates the 3D real-time cloud model with virtual construction. Specifically: Through the two stages of coarse registration and fine registration, the tower parametric model based on relative position relationship is integrated with the three-dimensional real terrain: Rough registration is to register the parameterized tower model with the actual terrain position, and transform the parameterized tower data to be registered into a unified coordinate system through a rotation and translation transformation matrix to provide initial values ​​for registration; Based on the coarse registration, the fine registration uses an algorithm based on singular value decomposition to minimize the spatial position difference between the parameterized tower model and the actual tower after construction, and obtain a more accurate rotation and translation transformation matrix.

5. The analysis method for transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling according to claim 4 is characterized in that: The specific implementation process of the algorithm based on singular value decomposition is: Define two data feature point groups P = {p1,p2,…, pn}, Q = {q1,q2,…,n}, where P is the reference data feature point group and Q is the real scene data feature point group; the registration process is to obtain the target P through a series of rotations and translations of Q, construct a least squares problem, and transform the registration into an optimization problem with the sum of the distances of all matching feature point pairs as the objective function to be solved. Use singular value decomposition to obtain R and t that minimize the sum of squares of the following objective function errors; obtain the rotation matrix and translation vector; and finally obtain the conversion parameters to merge the model established by tower parameterization with the three-dimensional real scene terrain: Among them, w i Represents the weight of each point; SO(d) is the set of all rotation matrices in d-dimensional space.

6. The analysis method for transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling according to claim 5 is characterized by: Based on the construction scene model, the hanging points are marked and connected according to the outline of the tower modeling, and the engineering drawings are exported according to the modeled geometric information, so as to calculate the catenary according to the wire swing formula in three-dimensional space, simulate the wire swing trajectory, and display the range of the wire swing and the felling surface according to the vertical distance and clearance distance allowed by the specifications.

7. The analysis method for transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling according to claim 6 is characterized by: The process of marking and connecting the hanging points according to the outline of the tower modeling and exporting the engineering drawings according to the modeling geometric information includes: (1) Geometric data preparation First, verify the integrity and accuracy of the geometric data in the modeling system, including: Tower data: tower type, height, cross arm length, tower vertex coordinates; Wire hanging point data: three-dimensional coordinates of each hanging point; Sag data: conductor sag parameters; (2) Data structure conversion Convert internal data structures into geometric entities recognizable by AutoCAD: Convert the tower into a combination of 3D polylines or 3D faces; Convert wire hanging points into 3D point entities; Approximate the sag using a 3D spline or a series of 3D polylines; (3) DWG file generation Use AutoCAD's API to write the generated entities to a DWG file.

8. The analysis method for transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling according to claim 7 is characterized by: The three-dimensional space calculates the catenary according to the conductor swing formula, simulates the conductor swing trajectory, and displays the conductor swing and the range of the felling surface according to the vertical distance and clearance distance allowed by the specification. The process includes: first, using the catenary equation to describe the initial shape of the conductor, and determining the tension and weight relationship of the conductor by calculating the catenary state equation; then, considering factors including wind force and temperature changes, simulating the conductor swing trajectory, using numerical methods or analytical methods to update the position of the conductor and check boundary conditions; then, according to the specification, calculating the vertical distance and clearance distance when the conductor swings, ensuring that the conductor swings within the allowable range; finally, using a graphic tool to draw the conductor swing trajectory and the felling surface range, and analyzing whether the results meet the requirements of the specification to determine whether it is necessary to adjust parameters to optimize the conductor swing trajectory and felling surface range.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of an analysis method for transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling as described in any one of claims 1-8 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of an analysis method for transmission line tower and conductor sag modeling based on the fusion of three-dimensional modeling and parametric modeling as described in any one of claims 1 to 8 are implemented.

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