Wire icing monitoring method based on radar

Abstract

The invention relates to a radar-based wire icing monitoring method, computer equipment and a computer readable storage medium, and relates to the technical field of power protection. Wherein a standby monitoring mode is introduced, and under the condition that the radar can detect the lowest point of the wire, inversion is carried out based on the height difference of the lowest point of the wire before and after icing, so that the icing thickness is determined. When a main monitoring means fails, the state of the wire before and after icing is determined by fitting the wire state equation, so that the icing condition of the wire can be monitored, and the reliability and the stability of the icing monitoring of the wire are improved. Through the mode, real-time monitoring on the icing condition of the wire is realized, the icing thickness of the wire can be accurately determined, monitoring on a plurality of wires in an acquisition range is supported, and a powerful guarantee is provided for safe operation of a power system.

Description

Technical Field

[0001] The present application relates to the field of power protection technology, and in particular to a radar-based wire icing monitoring method, computer equipment, and computer-readable storage medium. Background Art

[0002] With the development of power systems, the monitoring requirements for conductors are getting higher and higher. Due to the temperature changes in the environment where the conductors are located, the conductors may be covered with ice, causing the tower base to sink or the conductors to break, affecting the safety of the power system.

[0003] The target is generally to monitor the conductor status by manual inspection or simple deployment of sensors, which has problems such as low accuracy and poor real-time performance. Summary of the invention

[0004] Based on this, it is necessary to provide a radar-based conductor ice coverage monitoring method, computer equipment and computer-readable storage medium to address the above technical problems, which can accurately determine the ice coverage thickness of the conductor and realize real-time monitoring of the conductor ice coverage.

[0005] In a first aspect, the present application provides a radar-based wire ice coverage monitoring method, comprising:

[0006] When the radar is in a first state, first position information and second position information collected by the radar are obtained; wherein, in the first state, the radar can detect the position information of the lowest point of the conductor; the first position information is the position information of the lowest point of the conductor collected by the radar when the conductor is not covered with ice; the second position information is the position information of the lowest point of the conductor collected by the radar when the conductor is covered with ice;

[0007] Determining a first height difference of the conductor before and after ice coating based on the first position information and the second position information;

[0008] Inverting the ice thickness of the conductor in an ice-covered state according to the first height difference;

[0009] When the radar is in the second state, the third position information and the fourth position information collected by the radar are obtained; wherein, in the second state, the radar cannot detect the position information of the lowest point of the conductor; the third position information is the position information of at least two spacer bars collected by the radar when the conductor is not covered with ice; the second position information is the position information of at least two spacer bars collected by the radar when the conductor is covered with ice;

[0010] constructing a first conductor state equation in a conductor non-ice-covered state according to the third position information, and constructing a second conductor state equation in a conductor ice-covered state according to the fourth position information;

[0011] The ice thickness of the conductor in an ice-covered state is determined according to the first conductor state equation and the second conductor state equation.

[0012] In one embodiment, determining the ice thickness of the conductor in an ice-covered state according to the first conductor state equation and the second conductor state equation includes:

[0013] Determine a second height difference of the conductor before and after ice coating according to the first conductor state equation and the second conductor state equation;

[0014] The ice thickness of the conductor in the ice-covered state is inverted according to the second height difference.

[0015] In one embodiment, determining the ice thickness of the conductor in an ice-covered state according to the first conductor state equation and the second conductor state equation includes:

[0016] Determine the length of the conductor in an ice-covered state according to the second conductor state equation, and determine the elongation of the conductor in an ice-covered state according to the first conductor state equation and the second conductor state equation;

[0017] Establish a mechanical equilibrium equation, which is used to characterize the equilibrium relationship between tension, gravity and ice weight;

[0018] Obtaining conductor parameters; conductor parameters include elastic modulus, conductor cross-sectional area, and gravity per unit length of conductor;

[0019] According to the conductor parameters, conductor length and conductor elongation, the mechanical equilibrium equation is solved to obtain the equivalent cross-sectional area of ​​the conductor in the ice-covered state;

[0020] The ice thickness of the conductor under ice-covered state is calculated based on the equivalent cross-sectional area, the cross-sectional area of ​​the conductor, the density of ice and the density of the conductor.

[0021] In one embodiment, the method further comprises:

[0022] Collect the current temperature of the conductor;

[0023] According to the current temperature, determine the correction factor;

[0024] The initial elastic modulus is corrected according to the correction coefficient to obtain a corrected elastic modulus.

[0025] In one embodiment, a first conductor state equation in a conductor non-ice-covered state is constructed according to the third position information, and a second conductor state equation in a conductor ice-covered state is constructed according to the fourth position information, including:

[0026] Obtaining the span between two towers forming the conductor and the height of the suspension point of the conductor on the tower;

[0027] Determine the first suspension point position information and the second suspension point position information according to the gear span and the suspension point height;

[0028] According to the third position information, the first suspension point position information and the second suspension point position information, a first conductor state equation in a conductor un-ice-covered state is fitted by cubic spline interpolation;

[0029] According to the fourth position information, the first suspension point position information and the second suspension point position information, a second conductor state equation in the conductor ice-covered state is fitted by cubic spline interpolation.

[0030] In one embodiment, the method further comprises:

[0031] When the conductor is not covered with ice, if it is detected that the conductor does not dance, the radar is controlled to collect the position information of the lowest point of the conductor or the position information of at least two spacer bars;

[0032] When the conductor is covered with ice, if it is detected that the conductor is not dancing, the radar is controlled to collect the position information of the lowest point of the conductor or the position information of at least two spacer bars.

[0033] In one embodiment, the method further comprises:

[0034] Obtain multiple sets of position information of target spacer bars within a set time period;

[0035] According to the multiple sets of position information, the amplitude value and the frequency value of the target spacer are determined;

[0036] Determine whether the wire is galloping based on the amplitude and frequency values.

[0037] In one embodiment, the method further comprises:

[0038] When the conductor is not covered with ice, the position information of the lowest point of the conductor or the position information of at least two spacer bars is determined by performing fusion analysis based on the collected radar data and image data;

[0039] When the conductor is covered with ice, a fusion analysis is performed based on the collected radar data and image data to determine the position information of the lowest point of the conductor or the position information of at least two spacer bars.

[0040] In a second aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method described in the first aspect above are implemented.

[0041] In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in the first aspect above are implemented.

[0042] The above-mentioned radar-based conductor ice monitoring method, computer equipment and computer-readable storage medium introduce a backup monitoring method. When the radar can detect the lowest point of the conductor, the height difference between the lowest points of the conductor before and after ice coating is inverted to determine the ice thickness. When the main monitoring means fails, the state of the conductor before and after ice coating is determined by fitting the conductor state equation, which can maintain the monitoring of the conductor ice coating and improve the reliability and stability of the conductor ice coating monitoring. In this way, real-time monitoring of the conductor ice coating can be achieved, the thickness of the conductor ice coating can be accurately determined, and the monitoring of multiple conductors within the acquisition range can be supported, providing a strong guarantee for the safe operation of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0044] FIG1 is a diagram showing an application environment of a radar-based wire ice monitoring method in one embodiment;

[0045] FIG2 is a schematic diagram of a flow chart of a radar-based wire ice monitoring method in one embodiment;

[0046] FIG3 is a schematic diagram of a fitted wire curve in one embodiment;

[0047] FIG4 is a schematic diagram of a flow chart of a step of determining ice thickness in one embodiment;

[0048] FIG5 is a flow chart of dancing monitoring data processing in one embodiment;

[0049] FIG6 is a flowchart of ice monitoring data processing in one embodiment;

[0050] FIG7 is a schematic diagram of the structure of a collection device in one embodiment;

[0051] FIG. 8 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0052] 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.

[0053] The radar-based wire ice monitoring method provided in the embodiment of the present application can be applied to the application environment as shown in Figure 1. Therein, a wire is suspended between tower A and tower B, the suspension point of the wire on tower A is point a, and the suspension point of the wire on tower B is point b. The acquisition device 102 is installed on tower A or tower B (the acquisition device 102 shown in Figure 1 is installed on tower A) and is used to detect the position information of each point on the wire within the field of view. The acquisition device 102 communicates with the computer device 104 and transmits the collected data to the computer device 104 for processing. Based on the position information collected by the acquisition device 102, the computer device 104 executes the steps of the radar-based wire ice monitoring method provided in any embodiment of the present application to realize real-time monitoring of the wire ice condition.

[0054] The computer device 104 may be arranged at a remote end, and the acquisition device 102 communicates with the computer device 104 through a network. The computer device 104 may also be arranged on a pole tower, and the acquisition device 102 and the computer device 104 transmit data through a connecting line. The computer device 104 may also be integrated with the acquisition device 102. This embodiment is not limited to this.

[0055] Furthermore, the computer device 104 may be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, portable wearable devices, servers, and server clusters. The portable wearable device may be a smart watch, a smart bracelet, a head-mounted device, etc. The head-mounted device may be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The acquisition device 102 may be a radar device, or may be a device integrating multiple sensors (including at least a radar), which is not limited in this embodiment.

[0056] In an exemplary embodiment, as shown in FIG2 , a radar-based wire ice monitoring method is provided, which is described by taking the method applied to the computer device 104 in FIG1 as an example, including:

[0057] Step 202, when the radar is in a first state, obtain first position information and second position information collected by the radar; wherein, in the first state, the radar can detect the position information of the lowest point of the conductor; the first position information is the position information of the lowest point of the conductor collected by the radar when the conductor is not covered with ice; the second position information is the position information of the lowest point of the conductor collected by the radar when the conductor is covered with ice.

[0058] The computer device records the current state of the radar based on the information fed back by the radar, including a first state and a second state. In the first state, the radar can detect the position information of the lowest point of the wire; in the second state, the radar cannot detect the position information of the lowest point of the wire.

[0059] The computer device acquires the data collected by the radar, analyzes the data, determines the location information of the lowest point of the wire, and stores the data. Optionally, the radar collects data once every period of time and uploads it to the computer device for analysis. Optionally, in response to the user's operation, the computer device controls the radar to collect data.

[0060] In an optional implementation, the computer device estimates the wire state through the data collected by the micro-meteorological sensor, and the wire state includes the wire un-ice-covered state and the wire ice-covered state. If it is estimated that there is a probability that the wire is currently in the ice-covered state, the radar is controlled to collect data.

[0061] It can be understood that the first position information is reference data pre-stored in the computer device, and the second position information is information determined by analyzing the data currently collected by the radar. The position information can be a coordinate, based on which the horizontal distance of the lowest point of the wire from the radar and the height of the wire reference point from the ground can be determined. Optionally, step 202 includes: when the radar is in the first state, reading the first position information from the storage space; obtaining the data currently collected by the radar, analyzing the data, and determining the second position information.

[0062] Optionally, the radar of this embodiment can be used to measure distance, speed, azimuth, and height. Based on this characteristic, the height of the lowest point of the conductor from the ground can be directly measured. The radar can be a millimeter wave radar. Based on the data detected by the radar, the coordinates of the lowest point of the conductor in a specific coordinate system can be represented, that is, the position information of the lowest point of the conductor. The specific coordinate system is, for example, a coordinate system formed by a tower and the ground, a radar coordinate system, and the like.

[0063] On infrastructure such as power lines, ice may gradually accumulate, which can have a serious impact on the stability of the structure. This embodiment uses high-precision radar to accurately measure the height information of the lowest point of the conductor. When ice appears on the surface of the conductor, even a small height change of the conductor can be accurately monitored. The radar monitors the height changes of the conductor in real time, and promptly discovers the formation and development of ice, providing accurate data support for taking corresponding de-icing measures. In addition, compared with traditional contact measurement methods, non-contact measurement through radar will not cause any damage to the monitored object, and monitoring can be carried out without affecting the normal operation of the infrastructure, greatly improving the safety and reliability of monitoring.

[0064] Step 204: determining a first height difference of the conductor before and after ice coating based on the first position information and the second position information.

[0065] According to the first position information, the height of the lowest point of the conductor from the ground when the conductor is not covered with ice can be determined; similarly, according to the second position information, the height of the lowest point of the conductor from the ground when the conductor is covered with ice can be determined. The difference in height between the lowest point of the conductor and the ground before and after ice coating is calculated to obtain a first height difference.

[0066] Step 206: Invert the ice thickness of the conductor in an ice-covered state according to the first height difference.

[0067] Among them, constants and known parameters of the conductor are defined, such as the span between the two towers forming the conductor, the height of the conductor's suspension point on the tower, the elastic modulus, the conductor's cross-sectional area, the gravity of the conductor per unit length, the density of ice, the density of the conductor, the acceleration of gravity, etc. A mathematical model is established, which takes into account various factors, such as the physical properties of the conductor, the influence of meteorological conditions, the relationship between the height difference and the ice thickness, etc. The collected data is input into the mathematical model for inversion calculation, and the ice thickness of the conductor in the ice-covered state is output.

[0068] Optionally, a simulation program is used to simulate an un-iced conductor model based on known parameters and the first position information, and an ice model is iteratively added to the conductor model to simulate different conductor icing states. The ice thickness and height difference (the difference between the lowest point of the conductor and the lowest point of the conductor of the un-iced conductor model) corresponding to each iteration are recorded, and the ice thickness corresponding to the first height difference during the iteration process is determined, that is, the ice thickness of the conductor under the icing state.

[0069] Step 208, when the radar is in the second state, obtain the third position information and the fourth position information collected by the radar; wherein, in the second state, the radar cannot detect the position information of the lowest point of the conductor; the third position information is the position information of at least two spacer bars collected by the radar when the conductor is not covered with ice; the second position information is the position information of at least two spacer bars collected by the radar when the conductor is covered with ice.

[0070] When the radar cannot detect the lowest point of the conductor, the computer device of this embodiment determines the position information of the detectable spacer bars on the conductor by analyzing the data collected by the radar.

[0071] Similarly, the third position information is reference data pre-stored in the computer device, and the fourth position information is information determined by analyzing the data currently collected by the radar. Optionally, step 208 includes: when the radar is in the second state, reading the third position information from the storage space; obtaining the data currently collected by the radar, analyzing the data, and determining the fourth position information.

[0072] Step 210: construct a first conductor state equation in a conductor non-ice-covered state according to the third position information, and construct a second conductor state equation in a conductor ice-covered state according to the fourth position information.

[0073] The first conductor state equation can be used to describe the shape of the conductor in an un-ice-covered state; and the second conductor state equation can be used to describe the shape of the conductor in an ice-covered state.

[0074] Optionally, if the distance between the two towers forming the conductor is less than a set threshold, indicating that the distance between the two towers is small, the following parabolic equation is used to construct the second conductor state equation of the ice-covered state:

[0075] ;

[0076] In the formula, q is the weight of the length conductor, s is the spacing between the two towers forming the conductor, and T is the tension. Through the second conductor state equation, the conductor length in the ice-covered state and the conductor elongation in the ice-covered state can be described as expressions related to the tension T.

[0077] Step 212: Determine the ice thickness of the conductor in an ice-covered state according to the first conductor state equation and the second conductor state equation.

[0078] Optionally, based on the first conductor state equation and the second conductor state equation, the height of the lowest point of the conductor from the ground before and after ice coating can be determined respectively, thereby determining the height difference before and after ice coating, and then determining the ice thickness of the conductor in the ice coating state based on the inversion method explained in step 206.

[0079] Optionally, based on the first conductor state equation and the second conductor state equation, combined with the mechanical equilibrium equation, the equivalent cross-sectional area of ​​the conductor in the ice-covered state is solved, and then the ice thickness of the conductor in the ice-covered state is calculated.

[0080] Through the method of this embodiment, the ice thickness can be quickly calculated based on the position information of the conductor reference points before and after ice coating, providing data support for power system monitoring.

[0081] In an optional implementation, if the currently determined ice thickness exceeds a set thickness threshold, an early warning signal is issued. Optionally, an early warning message is sent to the target device, thereby prompting relevant departments to take timely measures to prevent ice from causing serious damage to infrastructure. For example, when it is monitored that the ice thickness on the power line reaches a dangerous level, the power department is immediately notified to perform de-icing operations to avoid accidents such as line breakage.

[0082] It is understandable that the acquisition equipment can simultaneously monitor the location information of points on multiple conductors within the field of view, and the computer equipment, based on the data corresponding to each conductor, executes the steps of the radar-based conductor icing monitoring method provided in the embodiment of the present application to determine the ice thickness of multiple conductors. Through multi-target monitoring, the monitoring efficiency can be improved, which is helpful to monitor the icing of large-area infrastructure. In addition, multi-target monitoring also helps to determine the distribution of icing and provides a basis for formulating reasonable deicing plans.

[0083] In the above radar-based conductor icing monitoring method, a backup monitoring method is introduced. When the radar can detect the lowest point of the conductor, the height difference between the lowest points of the conductor before and after icing is inverted to determine the thickness of the icing. When the main monitoring method fails, the conductor state equation is fitted to determine the state of the conductor before and after icing, which can maintain the monitoring of the conductor icing and improve the reliability and stability of the conductor icing monitoring. In this way, real-time monitoring of the conductor icing can be achieved, the thickness of the conductor icing can be accurately determined, and the monitoring of multiple conductors within the acquisition range can be supported, providing a strong guarantee for the safe operation of the power system.

[0084] In an exemplary embodiment, step 212 includes: determining a second height difference between the conductor before and after ice coating based on the first conductor state equation and the second conductor state equation; and inverting the ice thickness of the conductor in the ice coating state based on the second height difference.

[0085] According to the first conductor state equation, the height of the lowest point of the conductor from the ground when the conductor is not covered with ice can be determined; similarly, according to the second conductor state equation, the height of the lowest point of the conductor from the ground when the conductor is covered with ice can be determined; the difference between the height of the lowest point of the conductor from the ground before and after ice covering is calculated to obtain the second height difference. The inversion method is described in the explanation of step 206 and will not be repeated here.

[0086] In an exemplary embodiment, as shown in FIG3 , step 212 includes:

[0087] Step 302: Determine the length of the conductor in an ice-covered state according to the second conductor state equation, and determine the elongation of the conductor in an ice-covered state according to the first conductor state equation and the second conductor state equation.

[0088] Among them, by taking the derivative of the first conductor state equation and obtaining the arc length within a certain range through an integral formula, the conductor length in the un-iced state is determined; by taking the derivative of the second conductor state equation and obtaining the arc length within a certain range through an integral formula, the conductor length in the iced state is determined. The difference between the conductor length in the iced state and the conductor length in the un-iced state is obtained to obtain the conductor elongation in the iced state. For example, the integral formula is:

[0089] ;

[0090] Where L is the length of the wire (i.e. arc length), is the derivative of the conductor state equation (the first conductor state equation or the second conductor state equation), and is the horizontal coordinate corresponding to the two towers where the conductors are suspended.

[0091] Step 304: Establish a mechanical equilibrium equation, which is used to characterize the equilibrium relationship between tension, gravity and ice weight.

[0092] Among them, in the vertical direction, the tension, gravity and ice weight on the wire are balanced. For the entire wire, the vertical mechanical equilibrium equation can be expressed by the following formula:

[0093] ;

[0094] In the formula, T is tension, G is gravity, and W is ice weight. is the angle between the tension direction and the horizontal direction. Optionally, by taking the derivative of the second conductor state equation, the slope of the conductor at each point can be determined, and the maximum slope is taken as , can further determine Optionally, the suspension point position and the lowest point position are determined according to the second wire state equation, and the slope of the straight line formed by the suspension point position and the lowest point position is determined as , can further determine .

[0095] In an optional implementation, the mechanical equilibrium equation can be expressed by the following formula:

[0096] ;

[0097] Where T is tension, G is gravity, W is ice weight, and L is the length of the conductor when the conductor is covered with ice. is the maximum sag value of the conductor.

[0098] The tension T is expressed by the following formula:

[0099] ;

[0100] Where E is the elastic modulus, A is the cross-sectional area of ​​the conductor, L is the length of the conductor when it is covered with ice, and △L is the elongation of the conductor.

[0101] Gravity G is expressed by the following formula:

[0102] ;

[0103] Where q is the gravity of the conductor, and L is the length of the conductor when it is covered with ice.

[0104] The ice weight W is expressed by the following formula:

[0105] ;

[0106] In the formula, is the density of ice, is the equivalent cross-sectional area after ice coating, and L is the length of the conductor in the ice-covered state.

[0107] Step 306, obtaining conductor parameters; the conductor parameters include elastic modulus, conductor cross-sectional area, and gravity per unit length of the conductor.

[0108] The conductor parameters are pre-stored parameters, including elastic modulus E, conductor cross-sectional area A, and gravity q per unit length of the conductor.

[0109] Step 308, solving the mechanical equilibrium equation according to the conductor parameters, the conductor length, and the conductor elongation to obtain the equivalent cross-sectional area of ​​the conductor in the ice-covered state.

[0110] The actual elastic modulus E, the conductor cross-sectional area A, the gravity q per unit length of the conductor, the conductor length L and the conductor elongation △L are substituted into the above formula, and the mechanical equilibrium equation is solved based on the equilibrium relationship between tension, gravity and ice weight to determine the equivalent cross-sectional area in the ice-covered state. .

[0111] Step 310, calculating the ice thickness of the conductor in an ice-covered state according to the equivalent cross-sectional area, the conductor cross-sectional area, the ice density and the conductor density.

[0112] The ice thickness is calculated by the following formula:

[0113] ;

[0114] In the formula, is the ice thickness, is the equivalent cross-sectional area of ​​the conductor in ice-covered state, is the cross-sectional area of ​​the conductor, is the density of the wire. The density of the wire is a parameter stored in advance.

[0115] In the above-mentioned radar-based conductor ice monitoring method, the position information of the spacer bars on the conductor is collected in the un-iced state and the iced state respectively. With the position information as a reference, the conductor state equation and the mechanical balance equation in different states are constructed in turn. By solving the mechanical balance equation, the equivalent cross-sectional area of ​​the conductor in the iced state is determined, and then the ice thickness of the conductor in the iced state is calculated. In this way, real-time monitoring of the conductor ice condition is achieved, the ice thickness of the conductor can be accurately determined, and the monitoring of multiple conductors within the collection range is supported, providing a strong guarantee for the safe operation of the power system.

[0116] In an exemplary embodiment, the method further includes: collecting the current temperature of the conductor; determining a correction coefficient according to the current temperature; and correcting the initial elastic modulus according to the correction coefficient to obtain a corrected elastic modulus.

[0117] The temperature of the wire will affect the elastic modulus of the wire. An increase in temperature will cause the elastic modulus to decrease and the wire to elongate. A mapping relationship between the wire temperature range and the correction coefficient is preset in advance. By querying the mapping relationship based on the current temperature, the correction coefficient corresponding to the current temperature can be determined. Considering the effect of temperature on the elastic modulus, the elastic modulus E in the mechanical equilibrium equation and tension equation is corrected to E(T). , r is the correction coefficient.

[0118] In an exemplary embodiment, step 210 includes: obtaining the span of two towers forming the conductor and the height of the suspension point of the conductor on the tower; determining the first suspension point position information and the second suspension point position information according to the span and the suspension point height; fitting the first conductor state equation in the conductor un-iced state through cubic spline interpolation according to the third position information, the first suspension point position information and the second suspension point position information; fitting the second conductor state equation in the conductor iced state through cubic spline interpolation according to the fourth position information, the first suspension point position information and the second suspension point position information.

[0119] The height of the lowest point of the conductor from the ground can be directly detected by radar. When the radar cannot detect the lowest point of the conductor, this embodiment uses the known span, suspension point height, and position information of the detectable spacer on the conductor to fit the conductor state equation through a cubic spline interpolation strategy. The specific steps are as follows:

[0120] 1. Determine the coordinates of several points based on the known span, suspension point height, and position information of the detectable spacer bars on the conductor: , , …, , x is the position coordinate along the wire direction, y is the height coordinate. The coordinates of several points are used as interpolation nodes.

[0121] 2. Construct a cubic spline interpolation function. The cubic spline interpolation function is expressed as a cubic polynomial on each interval, that is, ,in .

[0122] 3. To determine the coefficients of these polynomials, the following conditions need to be met:

[0123] 1) The value of the function at a node is equal to the height coordinate of the node, that is, ;

[0124] 2) The function has continuous first-order and second-order derivatives in the interval to ensure the smoothness of the curve;

[0125] According to the above conditions, a linear equation system can be established to solve the coefficients , , , .

[0126] 4. For n nodes, there are n-1 intervals, each interval has four coefficients, and there are a total of 4(n-1) unknowns.

[0127] 5. Through condition 1), n ​​equations can be obtained, and by using 2), 3(n-2) equations can be obtained. In addition, if boundary conditions (such as natural boundary conditions or fixed boundary conditions) are set, a linear equation group containing 4(n-1) equations can be formed.

[0128] 6. Solve the linear equation system containing 4 (n-1) equations to obtain the values ​​of the coefficients, thereby determining the cubic spline interpolation function, and thus determining the first conductor state equation in the un-iced state or the second conductor state equation in the iced state.

[0129] Optionally, based on the solved cubic spline interpolation function Derivative, let the derivative , solve the possible extreme point. Substitute the value of the possible extreme point into the curve function , and get the corresponding height value. Compare these height values ​​and find the point coordinates corresponding to the minimum value, which is the coordinates of the lowest point of the conductor. Then determine the second height difference of the conductor before and after ice coating; and invert the ice thickness of the conductor in the ice coating state based on the second height difference.

[0130] It can be understood that, referring to FIG. 4 , by using the known span, the height of the two suspension points and the coordinates of several points on the conductor, the conductor state curve shown in FIG. 4 can be fitted by cubic spline interpolation and the coordinates of the lowest point can be determined.

[0131] In an exemplary embodiment, the radar-based conductor ice-covering monitoring method further includes: when the conductor is not covered with ice, if it is detected that the conductor is not dancing, the radar is controlled to collect the position information of the lowest point of the conductor or the position information of at least two spacer bars; when the conductor is covered with ice, if it is detected that the conductor is not dancing, the radar is controlled to collect the position information of the lowest point of the conductor or the position information of at least two spacer bars.

[0132] The galloping refers to the low-frequency, large-amplitude self-excited vibration phenomenon of the conductor under the action of lateral wind force. When the conductor is not covered with ice, the condition for collecting the first position information or the third position information is that the conductor is not galloping.

[0133] Optionally, when the conductor is not covered with ice, if it is necessary to monitor the position information of the conductor reference point, it is necessary to first combine the data and image data collected by the micrometeorological sensor to comprehensively determine whether the conductor is dancing. If no dancing occurs, the position information of the lowest point of the conductor is collected as the first position information, or the position information of at least two spacer bars on the conductor is collected as the third position information.

[0134] Optionally, when the conductor is not covered with ice, radar data collected by the radar within a certain period of time is used to determine whether the conductor is dancing. If no dancing occurs, the position information of the lowest point of the conductor is collected as the first position information, or the position information of at least two spacer bars on the conductor is collected as the third position information.

[0135] Wherein, when the wire is covered with ice, the condition for collecting the second position information or the fourth position information is that the wire is not dancing. Similarly, when the wire is covered with ice, it can be judged whether the wire is dancing based on the data and image data collected by the micro-meteorological sensor, or it can be judged based on the radar data, and this embodiment does not limit this.

[0136] In this embodiment, by collecting the position information of each point on the conductor when the conductor is not dancing, the influence of wind on ice monitoring can be reduced and the accuracy of ice thickness can be improved.

[0137] In an exemplary embodiment, the method further includes: obtaining multiple sets of position information of the target spacer within a set time period; determining the amplitude value and frequency value of the target spacer based on the multiple sets of position information; and determining whether the conductor is dancing based on the amplitude value and frequency value.

[0138] Among them, the target spacer is any spacer set on the conductor. The radar collects radar data within a set time period (a parameter set in advance, which can be adjusted according to actual conditions, such as 30 seconds) and sends it to the computer device. The computer device analyzes the radar data, determines multiple sets of position information of the target spacer within the set time period, and calculates the amplitude value and frequency value of the target spacer by analyzing the multiple sets of position information. According to the amplitude value and the frequency value, it is determined whether the conductor is dancing. Specifically, if the amplitude value is greater than the first threshold or the frequency value is greater than the second threshold, it is determined that the conductor is dancing; if the amplitude value is not greater than the first threshold and the frequency value is not greater than the second threshold, it is determined that the conductor is not dancing; the first threshold and the second threshold are parameters set according to actual conditions, and this embodiment does not limit the specific values.

[0139] In an optional implementation, referring to Figure 5, the radar end sends the original point cloud data to the computer device; the computer device selects the target area and sends the boundary area to the radar end; the radar end collects and stores data based on the boundary area; the radar end forwards the stored data to the computer device; the computer device uses a clustering algorithm to calculate the amplitude of the Y-axis or Z-axis within 30 seconds to obtain the amplitude value, and uses FFT (Fast Fourier Transform) to calculate the frequency value of the Y-axis or Z-axis to obtain the frequency value.

[0140] In an exemplary embodiment, the method further includes: when the conductor is not covered with ice, performing a fusion analysis based on the collected radar data and image data to determine the position information of the lowest point of the conductor or the position information of at least two spacers; when the conductor is covered with ice, performing a fusion analysis based on the collected radar data and image data to determine the position information of the lowest point of the conductor or the position information of at least two spacers.

[0141] Wherein, if the radar is in the first state, the computer device determines the position information of the lowest point of the conductor; if the radar is in the second state, the computer device determines the position information of at least two spacers. Optionally, referring to FIG6, in the case of no ice-covered state and no dancing of the conductor, the radar self-calibration is performed through the installation height and angle of the radar, and the camera is installed to ensure that the camera position and angle match the radar; the radar and the camera authorization time are synchronized; the radar scans the target area, and the camera shoots the target area; for the radar data, mean filtering and denoising are performed to determine the three-dimensional coordinates of the target (corresponding to the reference point of the conductor); for the image data, image enhancement, denoising, and color correction are performed to determine the image data of the target; the radar data and the image data are aligned with the coordinate system; the three-dimensional coordinates and image data of the target within 30 seconds are detected and data is accumulated; the coordinate information of the target detected by the radar and the coordinate information of the target monitored by the camera are determined by the centroid algorithm; the Kalman filter method is used for fusion analysis to determine the first position information in the un-ice-covered state. In the case of ice-covered state and no dancing of the conductor, the second position information in the ice-covered state is determined in the same way. The computer device determines the height difference of the conductor before and after ice coating based on the first position information and the second position information, and establishes a mathematical model to inversely calculate the ice thickness of the conductor when it is ice coated.

[0142] In this embodiment, radar and vision fusion can more accurately monitor targets and obtain more accurate location information, thereby improving the accuracy of ice thickness.

[0143] In an exemplary embodiment, the embodiment of the present application also provides a radar-based conductor ice monitoring system, which includes a collection device and a computer device that are communicatively connected; the collection device is installed on a first pole tower and is used for position information of a reference point on the conductor, which is suspended between the first pole tower and the second pole tower; the computer device is used to execute the steps of the radar-based conductor ice monitoring method provided in any embodiment of the present application.

[0144] In an optional implementation, referring to FIG7 , the acquisition equipment includes a main control board, a battery solar panel, a 4G module, a data storage processing module, a relay, a radar, a camera module, and a micro-meteorological sensor. Among them, the acquisition equipment communicates with other devices through the 4G module; the battery solar panel is used to power the acquisition equipment; the data storage processing module is used to process the data collected by the radar, the camera module, and the micro-meteorological sensor. Optionally, the camera module is provided with a heating function to avoid frost and fog. Based on the acquisition equipment shown in FIG7 , the radar-based wire icing monitoring system can provide wire dancing data, wind speed, wind direction, air pressure, humidity, temperature, ice thickness data, pole tower displacement reference data, etc., to provide more comprehensive data support for the health status of the power pole tower system.

[0145] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0146] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG8. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device 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 an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store various location information and intermediate data used in the processing process. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication 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 radar-based wire ice monitoring method is implemented.

[0147] Those skilled in the art will understand that the structure shown in FIG. 8 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0148] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: when the radar is in a first state, obtaining first position information and second position information collected by the radar; wherein, in the first state, the radar can detect the position information of the lowest point of the conductor; the first position information is the position information of the lowest point of the conductor collected by the radar when the conductor is not covered with ice; the second position information is the position information of the lowest point of the conductor collected by the radar when the conductor is covered with ice; determining a first height difference of the conductor before and after ice coating based on the first position information and the second position information; inverting the height difference of the conductor based on the first height difference The ice thickness in the ice-covered state; when the radar is in the second state, obtaining the third position information and the fourth position information collected by the radar; wherein, in the second state, the radar cannot detect the position information of the lowest point of the conductor; the third position information is the position information of at least two spacer bars collected by the radar when the conductor is not ice-covered; the second position information is the position information of at least two spacer bars collected by the radar when the conductor is ice-covered; according to the third position information, constructing the first conductor state equation when the conductor is not ice-covered, and according to the fourth position information, constructing the second conductor state equation when the conductor is ice-covered; according to the first conductor state equation and the second conductor state equation, determining the ice thickness of the conductor in the ice-covered state.

[0149] In one embodiment, when the processor executes the computer program, the following steps are also implemented: according to the first conductor state equation and the second conductor state equation, a second height difference of the conductor before and after ice coating is determined; and according to the second height difference, the ice thickness of the conductor in the ice coating state is inverted.

[0150] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining the length of the wire in the ice-covered state according to the second wire state equation, and determining the elongation of the wire in the ice-covered state according to the first wire state equation and the second wire state equation; establishing a mechanical equilibrium equation, which is used to characterize the equilibrium relationship between tension, gravity and ice weight; obtaining wire parameters; the wire parameters include elastic modulus, wire cross-sectional area and gravity per unit length of the wire; solving the mechanical equilibrium equation according to the wire parameters, wire length and wire elongation to obtain the equivalent cross-sectional area of ​​the wire in the ice-covered state; calculating the ice thickness of the wire in the ice-covered state according to the equivalent cross-sectional area, the wire cross-sectional area, the density of ice and the density of the wire.

[0151] In one embodiment, when the processor executes the computer program, the following steps are also implemented: collecting the current temperature of the wire; determining a correction coefficient according to the current temperature; and correcting the initial elastic modulus according to the correction coefficient to obtain a corrected elastic modulus.

[0152] In one embodiment, when the processor executes the computer program, the following steps are also implemented: obtaining the span of two towers forming the conductor and the height of the suspension point of the conductor on the tower; determining the first suspension point position information and the second suspension point position information according to the span and the suspension point height; fitting the first conductor state equation in the conductor un-iced state through cubic spline interpolation according to the third position information, the first suspension point position information and the second suspension point position information; fitting the second conductor state equation in the conductor iced state through cubic spline interpolation according to the fourth position information, the first suspension point position information and the second suspension point position information.

[0153] In one embodiment, when the processor executes the computer program, the following steps are also implemented: when the conductor is not covered with ice, if it is monitored that the conductor is not dancing, the radar is controlled to collect the position information of the lowest point of the conductor or the position information of at least two spacer bars; when the conductor is covered with ice, if it is monitored that the conductor is not dancing, the radar is controlled to collect the position information of the lowest point of the conductor or the position information of at least two spacer bars.

[0154] In one embodiment, when the processor executes the computer program, the following steps are also implemented: obtaining multiple sets of position information of the target spacer within a set time period; determining the amplitude value and frequency value of the target spacer based on the multiple sets of position information; and determining whether the conductor is dancing based on the amplitude value and the frequency value.

[0155] In one embodiment, when the processor executes the computer program, the following steps are also implemented: when the conductor is not covered with ice, a fusion analysis is performed based on the collected radar data and image data to determine the position information of the lowest point of the conductor or the position information of at least two spacer bars; when the conductor is covered with ice, a fusion analysis is performed based on the collected radar data and image data to determine the position information of the lowest point of the conductor or the position information of at least two spacer bars.

[0156] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: when the radar is in a first state, first position information and second position information collected by the radar are obtained; wherein, in the first state, the radar can detect the position information of the lowest point of the conductor; the first position information is the position information of the lowest point of the conductor collected by the radar when the conductor is not covered with ice; the second position information is the position information of the lowest point of the conductor collected by the radar when the conductor is covered with ice; based on the first position information and the second position information, a first height difference of the conductor before and after ice coating is determined; based on the first height difference, the height difference of the conductor in the ice-covered state is inverted Ice thickness; when the radar is in the second state, obtaining third position information and fourth position information collected by the radar; wherein, in the second state, the radar cannot detect the position information of the lowest point of the conductor; the third position information is the position information of at least two spacer bars collected by the radar when the conductor is not covered with ice; the second position information is the position information of at least two spacer bars collected by the radar when the conductor is covered with ice; according to the third position information, constructing a first conductor state equation when the conductor is not covered with ice, and according to the fourth position information, constructing a second conductor state equation when the conductor is covered with ice; according to the first conductor state equation and the second conductor state equation, determining the ice thickness of the conductor when it is covered with ice.

[0157] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: according to the first conductor state equation and the second conductor state equation, a second height difference of the conductor before and after ice coating is determined; and according to the second height difference, the ice thickness of the conductor in the ice coating state is inverted.

[0158] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the length of the wire in the ice-covered state according to the second wire state equation, and determining the elongation of the wire in the ice-covered state according to the first wire state equation and the second wire state equation; establishing a mechanical equilibrium equation, which is used to characterize the equilibrium relationship between tension, gravity and ice weight; obtaining wire parameters; the wire parameters include elastic modulus, wire cross-sectional area and gravity per unit length of the wire; solving the mechanical equilibrium equation according to the wire parameters, wire length and wire elongation to obtain the equivalent cross-sectional area of ​​the wire in the ice-covered state; calculating the ice thickness of the wire in the ice-covered state according to the equivalent cross-sectional area, the wire cross-sectional area, the density of ice and the density of the wire.

[0159] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: collecting the current temperature of the wire; determining a correction coefficient according to the current temperature; and correcting the initial elastic modulus according to the correction coefficient to obtain a corrected elastic modulus.

[0160] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining the span of two towers forming the conductor, and the height of the suspension point of the conductor on the tower; determining the first suspension point position information and the second suspension point position information according to the span and the suspension point height; fitting the first conductor state equation in the conductor un-iced state through cubic spline interpolation according to the third position information, the first suspension point position information and the second suspension point position information; fitting the second conductor state equation in the conductor iced state through cubic spline interpolation according to the fourth position information, the first suspension point position information and the second suspension point position information.

[0161] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the conductor is not covered with ice, if it is monitored that the conductor is not dancing, the radar is controlled to collect the position information of the lowest point of the conductor or the position information of at least two spacer bars; when the conductor is covered with ice, if it is monitored that the conductor is not dancing, the radar is controlled to collect the position information of the lowest point of the conductor or the position information of at least two spacer bars.

[0162] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining multiple sets of position information of the target spacer within a set time period; determining the amplitude value and frequency value of the target spacer based on the multiple sets of position information; and determining whether the conductor is dancing based on the amplitude value and the frequency value.

[0163] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the conductor is not covered with ice, a fusion analysis is performed based on the collected radar data and image data to determine the position information of the lowest point of the conductor or the position information of at least two spacer bars; when the conductor is covered with ice, a fusion analysis is performed based on the collected radar data and image data to determine the position information of the lowest point of the conductor or the position information of at least two spacer bars.

[0164] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0165] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile 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 the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0166] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0167] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A radar-based wire ice monitoring method, characterized in that: The method comprises: When the radar is in a first state, first position information and second position information collected by the radar are obtained; wherein, in the first state, the radar can detect the position information of the lowest point of the conductor; the first position information is the position information of the lowest point of the conductor collected by the radar when the conductor is not covered with ice; the second position information is the position information of the lowest point of the conductor collected by the radar when the conductor is covered with ice; Determining a first height difference of the conductor before and after ice coating according to the first position information and the second position information; Inverting the ice thickness of the conductor in an ice-covered state according to the first height difference; When the radar is in the second state, the third position information and the fourth position information collected by the radar are obtained; wherein, in the second state, the radar cannot detect the position information of the lowest point of the conductor; the third position information is the position information of at least two spacers collected by the radar when the conductor is not covered with ice; the second position information is the position information of at least two spacers collected by the radar when the conductor is covered with ice; constructing a first conductor state equation in a conductor non-ice-covered state according to the third position information, and constructing a second conductor state equation in a conductor ice-covered state according to the fourth position information; The ice thickness of the conductor in an ice-covered state is determined according to the first conductor state equation and the second conductor state equation.

2. The method according to claim 1, characterized in that The step of determining the ice thickness of the conductor in an ice-covered state according to the first conductor state equation and the second conductor state equation includes: Determining a second height difference of the conductor before and after ice coating according to the first conductor state equation and the second conductor state equation; The ice thickness of the conductor in the ice-covered state is inverted according to the second height difference.

3. The method according to claim 1, characterized in that The step of determining the ice thickness of the conductor in an ice-covered state according to the first conductor state equation and the second conductor state equation includes: Determine the length of the conductor in an ice-covered state according to the second conductor state equation, and determine the elongation of the conductor in an ice-covered state according to the first conductor state equation and the second conductor state equation; Establishing a mechanical equilibrium equation, wherein the mechanical equilibrium equation is used to characterize the equilibrium relationship between tension, gravity and ice weight; Obtaining conductor parameters; the conductor parameters include elastic modulus, conductor cross-sectional area, and gravity per unit length of the conductor; Solving the mechanical equilibrium equation according to the conductor parameters, the conductor length, and the conductor elongation to obtain an equivalent cross-sectional area of ​​the conductor in an ice-covered state; The ice thickness of the conductor in an ice-covered state is calculated according to the equivalent cross-sectional area, the cross-sectional area of ​​the conductor, the density of ice and the density of the conductor.

4. The method according to claim 3, characterized in that The method further comprises: Collect the current temperature of the conductor; Determining a correction factor according to the current temperature; The initial elastic modulus is corrected according to the correction coefficient to obtain a corrected elastic modulus.

5. The method according to claim 1, characterized in that The step of constructing a first conductor state equation in a conductor non-ice-covered state according to the third position information, and constructing a second conductor state equation in a conductor ice-covered state according to the fourth position information, comprises: Obtaining the span between two towers forming the conductor and the height of the suspension point of the conductor on the tower; Determining first suspension point position information and second suspension point position information according to the gear span and the suspension point height; According to the third position information, the first suspension point position information and the second suspension point position information, a first conductor state equation in a conductor un-ice-covered state is fitted by cubic spline interpolation; According to the fourth position information, the first suspension point position information and the second suspension point position information, a second conductor state equation in the conductor ice-covered state is fitted by cubic spline interpolation.

6. The method according to claim 1, characterized in that The method further comprises: When the conductor is not covered with ice, if it is detected that the conductor does not dance, the radar is controlled to collect the position information of the lowest point of the conductor or the position information of at least two spacer bars; When the conductor is covered with ice, if it is detected that the conductor does not dance, the radar is controlled to collect position information of the lowest point of the conductor or position information of at least two spacer bars.

7. The method according to claim 6, characterized in that The method further comprises: Obtain multiple sets of position information of target spacer bars within a set time period; Determining the amplitude value and frequency value of the target spacer bar according to the multiple sets of position information; Whether the wire gallops is determined according to the amplitude value and the frequency value.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: When the conductor is not covered with ice, the position information of the lowest point of the conductor or the position information of at least two spacer bars is determined by performing fusion analysis based on the collected radar data and image data; When the conductor is covered with ice, a fusion analysis is performed based on the collected radar data and image data to determine the position information of the lowest point of the conductor or the position information of at least two spacer bars.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

10. A 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 the method according to any one of claims 1 to 8 are implemented.

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