A transmission line sag measurement system based on Beidou positioning technology

Abstract

The invention belongs to the technical field of sag measurement, and specifically relates to a transmission line sag measurement system based on Beidou positioning technology. The system consists of a sag measuring trolley and a control center, wherein a Beidou positioning device and an environment acquisition terminal are arranged on the sag measuring trolley. By introducing the Beidou positioning technology and the sag measuring trolley device into the sag measurement of the transmission line, the Beidou positioning device and the environment acquisition terminal are equipped on the sag measuring trolley. When the sag measuring trolley moves on the transmission line, relevant data collection is carried out and sag calculation is performed with the help of the installed Beidou positioning device and the environment acquisition terminal, so as to achieve the purpose of flexible, dynamic and targeted measurement of the sag of the transmission line, which can not only improve the accuracy of the measurement result, but also enhance the timeliness of the measurement, and at the same time can adapt to the subsequent changes of the line to the maximum extent to realize on-demand measurement, which is conducive to saving measurement resources and measurement costs to a certain extent.

Description

Technical Field

[0001] The invention belongs to the technical field of sag measurement, and in particular relates to a transmission line sag measurement system based on Beidou positioning technology. Background Art

[0002] Transmission line sag refers to the vertical distance between the lowest point of the conductor and the line connecting the two suspension points between two adjacent transmission towers. When this distance exceeds the predetermined allowable distance, the minimum safe spacing between the conductors will be insufficient, thereby causing electrical discharge and threatening the stable operation of the power system. Therefore, accurate transmission line sag measurement is of great safety significance.

[0003] In the prior art, a Chinese invention patent with publication number CN105823424B discloses an online measurement method for the sag of a transmission line. The method installs a sag measurement device for the transmission line on a pole tower, specifically an infrared sensor, and uses the measurement device to obtain the position coordinate value of the suspension point of the transmission line, and then calculates the sag value of the transmission line according to the parabola equation of the road. The device used in this measurement method to obtain the position coordinates is an infrared sensor, which indirectly calculates the coordinates by distance measurement and other methods. It is easily affected by environmental factors (such as light interference, surface reflection characteristics of objects, etc.), resulting in large errors in distance measurement, which in turn affects the accuracy of the calculation of the coordinates of the suspension point. In addition, this method is difficult to directly obtain three-dimensional coordinates, and a coordinate system needs to be constructed, which introduces too many errors caused by assumptions and geometric calculations to a certain extent.

[0004] In addition, this measurement method requires a fixed installation of the measuring device. After installation, its measuring position and measuring range are basically fixed, and sag measurement can only be performed near its installation point. On the one hand, it is difficult to cover all areas of the line, and on the other hand, it is difficult to adapt to subsequent changes in the line. On the other hand, the fixedly installed measuring device may miss some sag changes in the middle of the span or in areas far from the installation point.

[0005] Furthermore, this measurement method lacks consideration of environmental factors, which can directly affect the physical properties of the conductor (such as temperature, humidity, wind speed, etc.). For example, as the temperature rises, the conductor will expand, which will cause the sag to increase; conversely, when the temperature drops, the conductor will contract and the sag will decrease accordingly. If these factors are not taken into account during the measurement process, the obtained measurement results are likely to be biased, thereby reducing the validity of the measurement results. In addition, due to the lack of consideration of environmental factors, when sag occurs, it is impossible to provide sufficient data support for the prediction of sag-causing factors. Summary of the invention

[0006] In view of this, the present invention aims to propose a transmission line sag measurement system based on Beidou positioning technology, which effectively avoids the drawbacks of transmission line sag measurement in the prior art by introducing Beidou positioning technology and a sag measuring pulley device into the transmission line sag measurement work.

[0007] The purpose of the present invention can be achieved through the following technical solutions: a transmission line sag measurement system based on Beidou positioning technology, consisting of a sag measurement pulley and a control center, the system includes the following modules: a transmission line panoramic image acquisition module, used to acquire a panoramic image of the transmission line.

[0008] The initial measurement sequence determination module is used to segment the panoramic image of the power transmission line into regional images, and then extract the visual sag state of each line segment to determine the initial measurement sequence.

[0009] The data acquisition module is used to collect Beidou positioning data and environmental correlation data of the patrol route section when the sag measurement pulley is controlled by the control center to patrol for the first time according to the initial measurement sequence.

[0010] The cloud database is used to store the conductor attribute data, allowable sag length and safety environment related data corresponding to each line segment.

[0011] The sag measurement and evaluation module is used to calculate the sag length of the patrol line section by combining Beidou positioning data, environmental correlation data and conductor attribute data, and to judge whether the warning state has been reached.

[0012] The evaluation and processing module is used to predict the sag-inducing factors when identifying the risk section during the first round of inspection. If it is not identified, the measurement sequence is re-determined and the trend of environmental correlation changes is analyzed.

[0013] The measurement sequence classification adjustment module is used to dynamically adjust the measurement sequence based on sag-inducing factors when there is a risk section in the first patrol, and vice versa to determine the measurement sequence for the next patrol.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention introduces Beidou positioning technology and a sag measuring pulley device into the sag measurement of transmission lines, and equips the sag measuring pulley with Beidou positioning equipment and an environmental acquisition terminal. When the sag measuring pulley moves on the transmission line, the installed Beidou positioning equipment and the environmental acquisition terminal are used to collect relevant data and perform sag calculations, thereby achieving flexible, dynamic and targeted measurement of the sag of the transmission line. It can not only improve the accuracy of the measurement results, but also enhance the timeliness of the measurement. At the same time, it can adapt to the subsequent changes of the line to the maximum extent to realize on-demand measurement, which is conducive to saving measurement resources and measurement costs to a certain extent.

[0015] 2. When the sag occurs in a certain line section by using the sag measuring pulley based on Beidou positioning data and environmental correlation data, the present invention uses environmental correlation data to predict the sag-inducing factors, which can provide a reliable reference for risk source processing and is conducive to improving processing efficiency and processing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the connection of each module of the system of the present invention.

[0018] Figure 2 This is a connection block diagram of the sag measuring pulley and the control center used in the sag measurement of the present invention.

[0019] Figure 3 The figure is a schematic diagram of the layout of the detection points of each line segment from the middle point to the hanging points at both ends in the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The present invention proposes a transmission line sag measurement system based on Beidou positioning technology, which consists of a sag measuring pulley and a control center, wherein the sag measuring pulley is provided with Beidou positioning equipment, an environment collection terminal and a wireless communication equipment, wherein the environment collection terminal specifically includes a visual sensor, a temperature sensor, a humidity sensor and a wind speed sensor.

[0022] As an application description of the above solution, the sag measuring trolley can move autonomously on the transmission line and automatically collect various sensor data, reducing the frequency and errors of manual operation. In addition, the collected data can be transmitted through wireless communication, and the operation and maintenance personnel can monitor the status of the transmission line in real time in the control center, reducing the danger of on-site operations. The control center can receive the data transmitted by the wireless communication equipment for evaluation and analysis, and can also send instructions to remotely control the movement of the trolley, data collection and other operations, thereby greatly reducing the workload of on-site staff and improving efficiency. In addition, the control center can store data and establish historical records to facilitate subsequent analysis and query.

[0023] As another application description of the above solution, Beidou positioning equipment receives signals from multiple Beidou satellites and uses differential positioning technology to achieve high-precision positioning at the centimeter or even millimeter level. At the same time, Beidou positioning is not restricted by terrain, landforms and meteorological conditions. Whether in mountainous areas, plains, jungles or in severe weather conditions, as long as the Beidou satellite signal can be received, the coordinates of the suspension points of the transmission lines can be measured. In addition, Beidou positioning can obtain the coordinate information of the suspension points in real time, and can promptly reflect the changes in the position of the suspension points.

[0024] As another application description of the above solution, the visual sensor in the environment acquisition terminal is a camera with a wide-angle lens, which can ensure that the sag measurement trolley can capture the widest possible field of view of the transmission line, thereby fully covering the key information of the transmission line. This not only improves the accuracy and efficiency of detection, but also makes image processing more convenient.

[0025] The temperature sensor, humidity sensor and wind speed sensor are used to collect the temperature, humidity and wind speed of the moving position of the sag measurement pulley respectively.

[0026] It should be understood that the use of temperature sensors, humidity sensors and wind speed sensors as the components of the environment collection terminal in the environment collection is because the environment-related data such as temperature, humidity and wind speed collected by the temperature sensors, humidity sensors and wind speed sensors have a direct impact on the sag measurement, in which the change in temperature will cause the thermal expansion and contraction of the wire. When the temperature rises, the wire will expand, resulting in an increase in sag; when the temperature drops, the wire will shrink, resulting in a decrease in sag. When the humidity is high, water droplets may condense on the wire, increasing the weight of the wire and causing an increase in sag. When the wind speed increases, the wire will be affected by the lateral wind load, causing it to swing and bend. At the same time, when the wind speed is high, eddy currents will be generated around the wire, resulting in eddy current shedding, causing the wire to vibrate, resulting in an increase in sag. Therefore, by using the temperature, humidity and wind speed information collected by the temperature sensor, humidity sensor and wind speed sensor, the sag state of the wire of the transmission line can be more accurately evaluated and measured.

[0027] The sag measurement pulley used in the above sag measurement is connected to the control center. Figure 2 shown.

[0028] The specific implementation of the present invention includes the following modules: a transmission line panoramic image acquisition module, an initial measurement sequence determination module, a data acquisition module, a cloud database, a sag measurement evaluation module, an evaluation processing module, and a measurement sequence classification adjustment module.

[0029] See also Figure 1As shown, the transmission line panoramic image acquisition module is connected to the initial measurement sequence determination module, the initial measurement sequence determination module is connected to the data acquisition module, the data acquisition module is connected to the sag measurement judgment module, the sag measurement judgment module is connected to the judgment processing module, the judgment processing module and the initial measurement sequence determination module are both connected to the measurement sequence classification adjustment module, and the cloud database is respectively connected to the sag measurement judgment module and the judgment processing module.

[0030] The transmission line panoramic image acquisition module is used to use a visual sensor to acquire a panoramic image of the transmission line before the sag measurement trolley moves, wherein the panoramic image includes the entire transmission line and the transmission towers along the line.

[0031] The initial measurement sequence determination module is used to divide the collected panoramic image of the power transmission line into a number of regional images, each regional image corresponding to a line segment, thereby extracting the visual sag state of each line segment to determine the initial measurement sequence.

[0032] In the specific implementation of the above solution, segmenting the collected panoramic image of the transmission line into several regional images is specifically implemented as follows: identifying the transmission tower from the panoramic image of the transmission line, and extracting the outline of the conductor using an edge detection algorithm.

[0033] In the innovative implementation of the above scheme, the panoramic image of the power transmission line must first be preprocessed before segmentation, specifically denoising and enhancement, where denoising is to remove noise in the image using filtering technology. Enhancement is to use image enhancement technology (such as histogram equalization) to improve image contrast.

[0034] As an example of the recognition of the transmission tower mentioned above: first, pre-trained target detection models are used. These models can recognize specific types of objects, in this case, transmission towers, thereby obtaining the structural characteristics of the transmission towers, and then edge detection, texture analysis and other technologies are used to highlight the structural characteristics of the transmission towers. Finally, template matching technology can be used to find similar structures in the image.

[0035] As an embodiment of extracting the outline of the conductor in the above-mentioned example, a straight line fitting algorithm is used to detect the approximate direction of the transmission line, and then an edge detection algorithm is used to extract the outline of the conductor.

[0036] Path tracing is performed along the extracted wire contour until the position of the next transmission tower, thereby segmenting the panoramic image into multiple parts according to the path tracing result, each part containing a line segment from one transmission tower to another transmission tower.

[0037] Each region image is cropped from the transmission line panorama image based on the segmented bounding box.

[0038] In further implementation of the above scheme, the visual sag state of each line segment is extracted by referring to the following process: the wire is separated from the background by using image segmentation technology in each area image, and the outline of the wire is detected by edge detection algorithm.

[0039] The position of the hanging point is found from the detected wire contour through image processing technology (such as corner point detection and feature point detection), thereby extracting the hanging point and marking the position of the hanging point.

[0040] Based on the position of the suspension points, focus the images of each area on the wires corresponding to the adjacent suspension points, mark the middle points of the corresponding wires, and then evenly arrange the detection points from the middle point to the suspension points at both ends to ensure that the entire line section is covered. Figure 3 As shown in the figure, the vertical distances between each detection point and the suspension point are summarized into a set of vertical distances of the wires corresponding to the adjacent suspension points in each regional image, and then the maximum vertical distance is extracted from the set. This distance reflects the most serious sag condition in the line segment and can be used as a representative indicator to summarize the sag state of the entire line segment.

[0041] It is important to understand that in a transmission line, the suspension point usually refers to the point where the conductor is fixed on the transmission tower, rather than the absolute two end points of the conductor. Specifically, the suspension point refers to the location where the conductor is fixed on the transmission tower or other supporting structure, and these locations are usually equipped with special suspension devices (such as insulator strings, hardware, etc.) to fix the conductor. There can be multiple suspension points, not just the two end points of the conductor.

[0042] In the example explained above, it is assumed that there is a transmission tower A and a transmission tower B. There are suspension points on tower A and tower B on the line segment between them, and there may also be multiple suspension points on the wire between tower A and tower B. Generally speaking, there are only two suspension points when the line segment is short, and multiple suspension points may be arranged when the line segment is long to ensure the stability of the wire.

[0043] The maximum vertical distance corresponding to each regional image is taken as the visual sag state of the line segment to which each regional image belongs.

[0044] In a further implementation of the above scheme, the initial measurement sequence is determined as follows: locate the current position of the sag measuring pulley, and locate the center point position of each line segment, thereby obtaining the distance between the center point position of each line segment and the current position of the sag measuring pulley as the nearest distance of each line segment;

[0045] The nearest distance and visual sag state of each line segment are expressed as

[0046] Calculate the movement urgency of each line segment , where , They respectively represent the proximity distance and visual sag status of the line segment. , They respectively represent the sum of the proximity distances and the sum of the visual sag states of all line segments. From this formula, we can see that the shorter the proximity distance of a line segment, the greater the visual sag state, and the greater the movement urgency of the line segment.

[0047] Arrange the line segments in descending order of mobility urgency, and use the arrangement result as the initial measurement order.

[0048] Before using the sag measuring pulley to measure the transmission line, the present invention first uses a visual sensor to collect a panoramic image of the transmission line to obtain the visual sag state of each line section, and then combines it with the distance between each line section and the current position of the sag measuring pulley to determine the initial measurement order, and gives priority to measuring the line section that is closest to the current position of the sag measuring pulley and has a larger visual sag state. On the one hand, it can ensure that those line sections that may have higher risks are processed first, thereby improving the pertinence and effectiveness of the measurement work and optimizing resource allocation; on the other hand, giving priority to measuring the line section that is closest to the current position of the pulley can reduce unnecessary long-distance movement of the pulley, improve measurement efficiency, and enable the pulley to complete more measurement tasks within a limited time.

[0049] It should be added that although the initial measurement sequence is planned based on the principle of proximity and risk priority, in actual operation it is still possible that the situation may arise where it is necessary to move to a farther line segment before returning. In order to avoid the low measurement efficiency caused by this situation, the sag measurement trolley can plan the optimal path based on the position of the next line segment in the initial measurement sequence after measuring each line segment, and only plan the path to the next line segment each time, avoiding the complexity brought by global path planning. This method can not only improve measurement efficiency, but also ensure that the trolley always moves towards the line segment that needs to be measured most, thereby improving overall work efficiency and accuracy.

[0050] The data acquisition module is used to remotely control the sag measurement pulley from the control center to collect Beidou positioning data and environment-related data for the line section when it moves on the transmission line for the first time according to the initial measurement sequence using Beidou positioning equipment and environment acquisition terminals, wherein the Beidou positioning data includes the location coordinates of the transmission tower and the location coordinates of the conductor suspension point, and the environment-related data includes temperature, humidity, and wind speed.

[0051] The sag measurement and evaluation module is used to combine Beidou positioning data and environmental correlation data with the conductor attribute data corresponding to each line segment stored in the cloud database to calculate the sag length of the line segment where the sag measurement pulley is located, and identify whether the warning state is reached.

[0052] The conductor attribute data mentioned above may be mass per unit length.

[0053] It should be noted that the specific calculation of the sag length also includes the conductor tension data. Specifically, a tension sensor can be set on the sag measuring pulley to collect the conductor tension, and the sag length calculation is obtained through the existing calculation model. The calculation process will not be elaborated here.

[0054] Applied to the above scheme, the identification of whether the warning state is reached is implemented as follows: the sag length of the line section where the sag measuring pulley is located is compared with the allowable sag length. If the sag length of a certain line section is greater than or equal to the allowable sag length, it is identified that the warning state is reached.

[0055] It should be pointed out that the allowable sag length is set with reference to the design specifications of the transmission line and can be specifically extracted from the design documents of the transmission line.

[0056] The evaluation and processing module is used to record the line section as a risk section when the sag length of a certain line section reaches the warning state during the first round of evaluation, and predict the sag-inducing factors of the risk section. Otherwise, the panoramic image of the transmission line is re-collected to determine the measurement sequence, and when moving according to the measurement sequence, a time series of environmental correlation data is constructed for the line section, thereby analyzing the trend of environmental correlation changes.

[0057] In the optimized implementation of the above scheme, the sag-inducing factors of the risk section are predicted as follows: the environmental correlation data of the risk section are compared with the safe environment correlation data. If any environmental correlation data is higher than the safe environment correlation data, the environmental correlation data is used as the sag-inducing factor. At the same time, the surface attachments, surface defects, and loose hanging points of the conductor are identified from the regional image of the risk section. If attachments, surface defects, or loose hanging points are identified on the surface of the conductor, the identification information is used as the sag-inducing factor of the risk section.

[0058] It should be pointed out that the safety environment-related data is also set with reference to the design specifications of the transmission line, and can be specifically extracted from the design documents of the transmission line.

[0059] In the example of the above scheme, it is assumed that the real-time temperature of the risk section is 30°C, the real-time humidity is 65%, and the real-time wind speed is 4m / s. The safety environment associated data is: safety temperature standard: 25°C, safety humidity standard: 70%, and safety wind speed standard: 5m / s. At this time, the analysis and comparison are as follows: Temperature comparison: The real-time temperature (30°C) is higher than the safety temperature standard (25°C), so the temperature is used as a sag inducing factor. Humidity comparison: The real-time humidity (65%) is lower than the safety humidity standard (70%), so the humidity is not used as a sag inducing factor. Wind speed comparison: The real-time wind speed (4m / s) is lower than the safety wind speed standard (5m / s), so the wind speed is not used as a sag inducing factor.

[0060] In another example of the above solution, if it is identified that there are attachments on the surface of the conductor in the risk section, the attachments are regarded as the sag inducing factor of the risk section.

[0061] It needs to be understood that when there are attachments on the surface of the conductor (such as frost, bird droppings, dust, etc.), the weight of the conductor will increase, causing the conductor to sag more obviously under the action of gravity, thereby causing sag; when there are defects on the surface of the conductor (such as cracks, scratches, corrosion, etc.), it will cause stress concentration, making the conductor more prone to plastic deformation or breakage at these locations, thereby increasing sag; when the suspension point of the conductor is loose, it will cause uneven distribution of tension in the conductor, causing the tension of the conductor in certain locations to decrease, thereby increasing sag. Therefore, when there are attachments on the surface of the conductor, surface defects, and loose suspension points, they may cause or aggravate sag problems. This is because these factors will affect the weight, mechanical properties, and structural stability of the conductor.

[0062] In further optimization implementation, the time series of environment-related data is constructed as follows: when the sag measurement pulley moves to a certain line section, it stays for a set time period. For example, the set time period can be 10 minutes, and the environment-related data is collected in real time during this time period to form a time series of each item of environment-related data.

[0063] In further optimization implementation, the changing trend of environmental correlation is analyzed as follows: the time series of various environmental correlation data corresponding to the line section where the sag measurement pulley is located is divided into several time windows according to adjacent collection moments, and each time window is arranged in chronological order.

[0064] As a specific example, assuming that the collection times between the start collection time and the end collection time in the environment-related data time series are t1, t2, t3, t4, t5, t6, and t7, the divided time windows are , , , , , By using adjacent collection moments to divide the time window, the data in each window can have a certain degree of continuity and integrity, which can better analyze the time series data, thereby more accurately analyzing the changing trend of environmental-related data, and will not cause misjudgment or omission of important information due to data discontinuity. In addition, using adjacent collection moments to divide the time window makes data analysis more real-time and dynamic. By continuously dividing the time window, the real-time changes of environmental-related data can be captured more sensitively.

[0065] In each time window corresponding to the time series, the next environment-related data is subtracted from the previous environment-related data, and the difference is divided by the previous environment-related data to obtain the change rate of the environment-related data corresponding to each time window in the time series.

[0066] The change rate of environmental related data corresponding to each time window in the time series of each environmental related data is calculated using the trend fluctuation formula Get the trend fluctuation of each environmental related data, where , They respectively represent the maximum change rate and the minimum change rate of the change rate of the environment-related data corresponding to each time window in the time series of each environment-related data. Represents a natural constant. From the formula, we can see that the greater the difference between the maximum rate of change and the minimum rate of change, the greater the trend volatility.

[0067] It should be understood that the calculation of the environment-related data change rate in the present invention is signed, wherein a positive environment-related data change rate indicates that the environment-related data is on an upward trend, and a negative environment-related data change rate indicates that the environment-related data is on a downward trend.

[0068] The trend fluctuation of each environmental-related data is compared with the critical fluctuation set by the system, wherein the setting purpose of the critical fluctuation is to assist in obtaining the changing trend of the environmental-related data. If the trend fluctuation of a certain environmental-related data reaches the critical fluctuation set by the system, it means that the environmental-related data fluctuates greatly in a short period of time. Then, the maximum change rate is selected from the environmental-related data change rates corresponding to each time window in the time series of the environmental-related data as the changing trend of the environmental-related data. This is because in this case, the maximum change rate reflects the maximum amplitude of the environmental data fluctuation, and the drastic changes in the environmental data can be discovered in time. Otherwise, it means that the environmental-related data changes relatively smoothly in a short period of time. Then, the environmental-related data change rate corresponding to the last time window is extracted from the time windows divided by the time series of the environmental-related data as the changing trend of the environmental-related data. This is because the change rate of the last time window reflects the changes in the environmental data in the recent period of time, and can reflect the latest dynamics of the environmental data. Even if the change is not large, it is necessary to pay attention to the recent changing trend.

[0069] It needs to be explained that when the sag measuring pulley performs sag measurement on the transmission line for the first time, the time series of environmental associated data is not collected. Instead, the sag measurement is performed in combination with Beidou positioning data after collecting environmental associated data. When the sag is found to have reached the warning state in all line sections during the first measurement, the time series of environmental associated data is collected for the line section to analyze the trend of environmental associated data changes. The reason for this is that the main purpose of the first measurement is to determine the sag state of the current line section. If the sag is not found to have reached the warning state in the first measurement, the emergency situation can be temporarily excluded. On the premise that no emergency situation is found in the first measurement, the time series of environmental associated data is collected again, and the impact of environmental changes on sag can be gradually and deeply analyzed. In addition, the first measurement does not require a large amount of resources to collect environmental data for a long time, saving manpower and material resources. After the first measurement finds that there is no emergency situation, the time series of environmental data is collected again, and resources can be allocated in a targeted manner. In general, this method can not only quickly identify the current sag state, but also analyze the impact of environmental changes on sag in a more targeted manner in subsequent monitoring, providing a scientific basis for the subsequent sag measurement arrangement.

[0070] The measurement sequence classification adjustment module is used to dynamically adjust the measurement sequence based on the sag-inducing factors of the risk section using the control center when there is a risk section, and to determine the measurement sequence of the next patrol based on the environmental correlation change trend of each line section using the control center when there is no risk section.

[0071] In the specific operation of the above scheme, the control center dynamically adjusts the measurement sequence based on the sag-inducing factors of the risk section as follows: based on the location of the risk section, the unmoved line section is extracted from the initial measurement sequence as the line section to be measured.

[0072] If the sag inducing factor of the risk section is not environmentally related data, the line section to be tested that meets the sag inducing factor is identified from the regional image corresponding to the line section to be tested, and the identified line sections to be tested are arranged from near to far according to the distance from the risk section, and then the measurement sequence is adjusted according to the arrangement result. In this way, the line sections with similar sag inducing factors as the risk section can be measured first, and limited resources and time can be concentrated on the most critical positions, which improves the pertinence of measurement and is conducive to improving the efficiency of sag investigation.

[0073] If the sag-inducing factor of the risk section is environmentally related data, high-frequency collection of sag-inducing factors is performed when moving to the line section to be tested according to the initial measurement sequence. In this way, high-frequency collection of environmentally related data can capture environmental changes more precisely and discover potential risks in a timely manner.

[0074] In another specific operation of the above scheme, the following process is determined based on the environmental correlation change trend of each line segment using the control center to perform the measurement sequence of the next patrol: the change trend of each environmental correlation data in each line segment is weighted and accumulated to obtain the comprehensive environmental change trend of each line segment. The weight value of each environmental correlation data in the weighted accumulation is determined based on expert experience and historical data analysis. Specifically, the weight value of each environmental correlation data can be set to 1. For example, the temperature weight is 0.4, the humidity weight is 0.3, and the wind speed weight is 0.3.

[0075] When the next round of inspection is carried out, the line sections will be arranged in descending order according to the comprehensive environmental change trend, and the measurement order will be determined based on the arrangement results. In this way, those line sections with greater environmental change trends can be processed first, and possible problems can be checked and handled more efficiently.

[0076] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. A transmission line sag measurement system based on Beidou positioning technology, characterized in that: Composed of a sag measuring trolley and a control center, the system includes the following modules: A transmission line panoramic image acquisition module, used for acquiring a transmission line panoramic image; An initial measurement sequence determination module is used to segment the panoramic image of the power transmission line into regional images, and then extract the visual sag state of each line segment to determine the initial measurement sequence; The data acquisition module is used to collect Beidou positioning data and environmental correlation data of the patrol route section when the sag measurement trolley is controlled by the control center to patrol for the first time according to the initial measurement sequence; Cloud database, used to store the conductor attribute data, allowable sag length and safety environment related data corresponding to each line segment; The sag measurement and evaluation module is used to calculate the sag length of the patrol line section by combining Beidou positioning data, environmental correlation data and conductor attribute data, and to judge whether the warning state has been reached; The evaluation and processing module is used to predict the sag-inducing factors when identifying the risk section during the first round of inspection. If it is not identified, the measurement sequence is re-determined, and the trend of environmental correlation changes is analyzed; The measurement sequence classification adjustment module is used to dynamically adjust the measurement sequence based on sag-inducing factors when there is a risk section in the first round of inspection, and vice versa to determine the measurement sequence for the next round of inspection; The extraction of the visual sag state of each line segment refers to the following process: The wire is separated from the background using image segmentation technology in each area image, and the outline of the wire is detected using an edge detection algorithm; Extracting hanging points from the detected wire contour and marking the positions of the hanging points; Based on the position of the suspension point, each regional image is focused on the wires corresponding to the adjacent suspension points, and the middle points of the corresponding wires are marked. Then, the detection points are evenly arranged from the middle point to the two end suspension points. The vertical distances between each detection point and the suspension point are obtained and summarized into a vertical distance set of the wires corresponding to the adjacent suspension points in each regional image, and then the maximum vertical distance is extracted from the set. The maximum vertical distance corresponding to each regional image is used as the visual sag state of the line segment to which each regional image belongs; The initial measurement sequence is determined as follows: Locate the current position of the sag measuring pulley and locate the center point position of each line segment, thereby obtaining the distance between the center point position of each line segment and the current position of the sag measuring pulley as the nearest distance of each line segment; The nearest distance and visual sag state of each line segment are expressed as Calculate the movement urgency of each line segment , where , They respectively represent the proximity distance and visual sag status of the line segment. , They represent the sum of the proximity distance and the sum of the visual sag states of all line segments respectively; Arrange the line segments in descending order of mobility urgency, and use the arrangement result as the initial measurement order.

2. A transmission line sag measurement system based on Beidou positioning technology as claimed in claim 1, characterized in that: The specific implementation of performing regional image segmentation on the panoramic image of the power transmission line is as follows: Transmission towers are identified from the transmission line panoramic image and the conductor outlines are extracted using edge detection algorithms; Performing path tracing along the extracted wire contour until the position of the next transmission tower, thereby segmenting the panoramic image into a plurality of parts according to the result of the path tracing, each part including a line segment from one transmission tower to another transmission tower; Each regional image is cropped from the transmission line panoramic image based on the segmented bounding box, and each regional image corresponds to a line segment.

3. The transmission line sag measurement system based on Beidou positioning technology as claimed in claim 1, characterized in that: The judgment of whether the alert state is reached is implemented as follows: The sag length of the line section where the sag measuring pulley is located is compared with the allowable sag length stored in the cloud database. If the sag length of a line section is greater than or equal to the allowable sag length, it is recognized that an alert state has been reached.

4. The transmission line sag measurement system based on Beidou positioning technology as claimed in claim 1, characterized in that: The process of predicting sag-inducing factors during the first round of risk identification is as follows: The line sections judged to be in a warning state are recorded as risk sections; The environmental correlation data of the risk section is compared with the safe environment correlation data in the cloud database. If any environmental correlation data is higher than the safe environment correlation data, the environmental correlation data is used as the sag inducing factor. At the same time, the surface attachments, surface defects, and loose hanging points of the conductor are identified from the regional image of the risk section. If attachments, surface defects, or loose hanging points are identified on the surface of the conductor, the identification information is used as the sag inducing factor of the risk section.

5. The transmission line sag measurement system based on Beidou positioning technology as claimed in claim 1, characterized in that: The analysis of the environmental correlation change trend also includes constructing a time series of environmental correlation data of the line section where the sag measurement pulley is located during its movement. The specific operations are as follows: When the sag measuring pulley moves to a certain line section, it stays for a set time, and collects environmental related data in real time during the time to form a time series of various environmental related data.

6. A transmission line sag measurement system based on Beidou positioning technology as claimed in claim 5, characterized in that: The analysis of the change trend of the environment association is as follows: The time series of various environmental related data corresponding to the line section where the sag measurement pulley is located is divided into a number of time windows according to adjacent collection times, and the time windows are arranged in chronological order; In each time window corresponding to the time series, the next environment-related data is subtracted from the previous environment-related data, and the difference is divided by the previous environment-related data to obtain the change rate of the environment-related data corresponding to each time window in the time series; The change rate of environmental related data corresponding to each time window in the time series of each environmental related data is calculated using the trend fluctuation formula Get the trend fluctuation of each environmental related data, where , They respectively represent the maximum change rate and the minimum change rate of the change rate of the environment-related data corresponding to each time window in the time series of each environment-related data. represents a natural constant; The trend fluctuation of each item of environment-related data is compared with the critical fluctuation set by the system. If the trend fluctuation of a certain item of environment-related data reaches the critical fluctuation set by the system, the maximum change rate is selected from the environment-related data change rates corresponding to each time window in the time series of the environment-related data as the change trend of the environment-related data. Otherwise, the environment-related data change rate corresponding to the last time window is extracted from the time windows divided by the time series of the environment-related data as the change trend of the environment-related data.

7. The transmission line sag measurement system based on Beidou positioning technology as claimed in claim 4, characterized in that: The process of dynamically adjusting the measurement sequence based on sag-inducing factors when there is a risk section in the first round of inspection is as follows: Extracting the unmoved line segment from the initial measurement sequence as the line segment to be measured based on the location of the risk segment; If the sag inducing factor of the risk section is not environment-related data, the line section to be tested that meets the sag inducing factor is identified from the regional image corresponding to the line section to be tested, and the identified line sections to be tested are arranged from near to far according to the distance from the risk section, and the measurement order is adjusted according to the arrangement result; If the sag inducing factor of the risk section is environment-related data, high-frequency collection of the sag inducing factor is performed when moving to the line section to be measured according to the initial measurement sequence.

8. The transmission line sag measurement system based on Beidou positioning technology as claimed in claim 6, characterized in that: The process of determining the next patrol measurement sequence is as follows: The change trends of various environmental related data in each line segment are weighted and accumulated to obtain the comprehensive environmental change trend of each line segment; When the next round of inspection is carried out, each line section will be arranged in order from large to small according to the comprehensive environmental change trend, and the measurement order will be determined based on the arrangement results.

Images