Transmission conductor galloping monitoring point determination method, galloping monitoring quantitative analysis method, galloping monitoring control method and device

Abstract

The invention belongs to the field of intelligent operation inspection of power transmission lines, and particularly relates to a power transmission line galloping monitoring point determination method, a galloping monitoring quantitative analysis method, a galloping monitoring control method and devices. The method for determining the galloping monitoring point of the power transmission conductor comprises the following steps: acquiring and fusing image data and point cloud data of the power transmission conductor; selecting N monitoring points on the power transmission conductor for judging the galloping and half-wave number of the power transmission conductor; and in the fusion data, the position of each monitoring point in the image data is determined based on the position of each monitoring point in the point cloud data, the sag and pixel difference value of each monitoring point in the image data and the point cloud data are calculated respectively, and the physical size represented by each pixel of each monitoring point is calculated according to the sag difference value and the pixel difference value. According to the method, the problems of accurate identification of galloping, accurate tracking of the maximum amplitude point, large conversion error between the number of amplitude pixels and the physical amplitude and the like in video-based conductor galloping monitoring are solved, quantitative analysis of galloping is realized, and the power transmission stability and the intelligent operation inspection level are improved.

Description

[0001] This application is a divisional application with application number 202410690724.7, application date 2024.05.30, and invention name "Method for determining dancing monitoring points of transmission line, quantitative analysis method for dancing monitoring, and dancing monitoring control method and device". Technical Field

[0002] The present invention belongs to the field of intelligent operation and inspection of power transmission lines, and more specifically, relates to a method for determining dancing monitoring points of power transmission lines, a method for quantitatively analyzing dancing monitoring, and a method and device for controlling dancing monitoring. Background Art

[0003] As an important part of the power grid, transmission lines span long distances and are in the wild environment for a long time. They are easily affected by wind, rain, snow, and fog, which can cause periodic vibrations in the conductors, including low-frequency and large-amplitude dancing of 0.1 to 3 Hz, medium-frequency and medium-amplitude sub-span vibrations of 3 to 5 Hz, and high-frequency and slight breeze vibrations of 5 to 150 Hz. Among them, due to the large amplitude of the dancing, the harm is the most serious, and the harm it causes is multifaceted, including line flashover, tripping, damage to hardware and insulators, broken strands and wires of conductors, loosening and falling off of tower bolts, and in severe cases, the towers will collapse, causing major power grid accidents. For example, in the winter of 2023, due to the influence of extreme weather, line power supply anomalies caused by conductor dancing occurred in many places.

[0004] Galloping is a low-frequency, large-amplitude self-excited vibration of the conductor, with an amplitude of more than 10m. The motion characteristic of a point on the conductor is an elliptical trajectory with a small inclination angle. Its vertical galloping amplitude is several times that of the horizontal galloping amplitude. The vertical motion of this point conforms to the characteristics of a sine wave in the time dimension. In engineering applications, only the vertical galloping amplitude is generally monitored, so the vertical galloping amplitude is generally referred to as amplitude or amplitude. Galloping of 1 to 4 half-waves is common on site, 5 half-waves is rare, and 6 half-waves are occasionally seen. There is no video data of galloping with more half-waves. Among them, the galloping of 5 or more half-waves has a small accompanying galloping amplitude due to the large number of nodes, and rarely causes line accidents.

[0005] The use of sensor monitoring is currently the main means of online monitoring of transmission line sway, including methods based on sensors such as accelerometers and gyroscopes, line tension, and vibration. These methods are theoretically feasible, but it is difficult to build a high-precision model in practical applications. Taking wind load analysis as an example, on the one hand, because the monitoring samples are discrete data, it is impossible to solve the momentum influence caused by instantaneous wind speed and wind direction. In terms of engineering applications, the main problems are high cost, difficult installation, and difficulty in batch application. On the other hand, the live installation operation process is complicated, and because there are circuits inside the sensor, the live installation is susceptible to electromagnetic interference. The power outage installation requires waiting for the planned line maintenance, and the time window is tight. After installation, data collection abnormalities often occur due to unstable CT power supply.

[0006] At present, the most reliable system in terms of principle, model construction and comprehensive effect evaluation is the power transmission monitoring system based on fiber grating sensors. It can monitor temperature and stress-related changes, such as wind deviation, icing, dancing, conductor temperature, etc. It has very powerful functions, but this kind of monitoring equipment is expensive and very complicated to deploy. It is rarely used on site and is generally used to verify and detect other monitoring methods. Its monitoring accuracy for the maximum amplitude of dancing can reach centimeters.

[0007] Drawing on the idea of ​​monitoring ice and dancing at the ice observation station, researchers began to explore video monitoring and analysis 20 years ago. However, due to the limitations of the technology at the time, such as bulky equipment, inability to solve power supply problems, low image resolution, and poor video analysis accuracy, this direction has not been put into practical use. In recent years, with the large-scale installation of transmission tower image monitoring equipment, the development of edge computing and image processing technology, video-based online monitoring of conductor dancing has made great progress and has been initially applied. The advantages of this method are low cost and convenient installation, but at present, this monitoring method is still in the auxiliary stage of qualitative analysis and has poor reliability. It mainly has the following defects: when tracking and analyzing the monitoring point, it is impossible to accurately distinguish between dancing and sub-span vibration; it is impossible to ensure that the monitoring point is the point with the largest dancing amplitude; there is a large error in the conversion of the number of pixels of the dancing amplitude based on reference objects or manual experience. Therefore, the next improvement will be in the direction of quantitative analysis.

[0008] At present, a lot of technical accumulation has been made in the field of video-based online monitoring of conductor dancing.

[0009] For example, "A Transmission Line Dancing Monitoring Method Based on Optical Flow Field", Huang Xinbo, "Electric Power Automation Equipment", Vol. 32, No. 7, pp. 99-103, proposed a transmission line dancing monitoring method based on optical flow field. It takes multiple frames of continuous images captured from the transmission line dancing video as the research object, uses the pyramid optical flow method to calculate the optical flow value of each point in the image, and uses the closing operation in morphological filtering to filter out isolated noise points. The area threshold is set to extract the dancing wires in the image, and then the dancing is analyzed.

[0010] In addition, Chinese patent document CN102155933A discloses a method for measuring the dancing of transmission line conductors based on video difference analysis. By processing the video and image of the dancing of the transmission line conductors collected online by the camera, a transmission line image that conforms to the optical flow field operation is obtained, and the optical flow velocity value of the pixel points on the conductor is calculated using the pyramid optical flow field algorithm. Then, through camera calibration, the actual displacement of the conductor dancing is calculated.

[0011] In addition, Chinese patent document CN113096063A discloses a method for detecting the dancing of a power transmission line based on short videos, which obtains a short video of the power transmission line, uses an optical flow analysis algorithm to track the key points of the line, and uses Fourier transform to analyze the frequency and amplitude of the dancing of the line.

[0012] In addition, Chinese patent document CN115272917A discloses a method, device, equipment and medium for warning of conductor galloping based on transmission lines, which obtains multiple frames of transmission line images containing conductors, detects conductors in the multiple frames of transmission line images, and tracks the detected conductors to obtain the motion trajectory of the conductors, determines the state of the conductors according to the motion trajectory, and sends a warning message to the monitoring node if the state of the conductor is a galloping state.

[0013] In addition, Chinese patent document CN112561968A discloses a method and device for monitoring the dancing of a transmission line based on monocular vision. Based on the wind speed exceeding a preset threshold or based on a preset time interval, a monitoring device installed on a transmission tower is controlled to record a video image of a transmission line scene. In the first frame of the transmission line scene video image, the position information of the transmission line is extracted and clustered, and the position information of each spacer on each group of transmission lines in the first frame is determined. According to the pixel information of each spacer, the tracking pixel position information of each spacer in each frame of the scene video image except the first frame is obtained; according to the change of the tracking pixel position information of each spacer in each frame of the scene video image over time, the dancing amplitude and dancing frequency of the transmission line are determined.

[0014] Also, Chinese patent document CN117710902A discloses a method and device for monitoring wind damage to power transmission lines based on data analysis and calibration objects. An O-xyz spatial coordinate system is constructed based on the transmission line and the tower on which the transmission line is mounted. Calibration objects are fixedly installed on the transmission line. Image monitoring equipment is used to obtain image frame data containing complete calibration objects for transmission line dancing analysis and transmission line deicing and jumping analysis. The calibration objects in the image frame data are identified using a target detection algorithm, and the number of pixels occupied by the side length of the side where the target point is located and the position and number of pixels in each frame image are obtained. The dancing parameters and deicing and jumping parameters of the transmission line are calculated and compared with the corresponding thresholds to analyze whether the wire dancing or deicing and jumping occur.

[0015] However, none of the above documents and other public information mentions how to solve the problems of accurately distinguishing dancing, accurately tracking the maximum amplitude point, and solving the large error in the conversion between the number of amplitude pixels and the physical amplitude in video-based wire dancing monitoring.

[0016] In summary, how to solve the above key problems and realize quantitative analysis of wire dancing is the key to making video-based wire dancing monitoring technology an efficient, low-cost, stable, reliable, and batch-applicable monitoring method, and is one of the problems that technical personnel in this field urgently need to solve.

[0017] The technical route of the present invention uses sag monitoring, multi-source data fusion mapping technology, etc. There are some public technologies in related aspects, and the present invention draws on them and develops a suitable solution.

[0018] For example, Chinese patent document CN117274818A discloses a method and device for sag monitoring and icing judgment of a transmission line, which constructs a coordinate system of a span to be monitored to obtain the initial coordinate points of a calibration object, then obtains an image of the calibration object, and identifies the position change of the calibration object in the image in the current monitoring round based on a target detection algorithm, and then calculates the sag value at the maximum sag of the transmission line based on the initial coordinate points of the calibration object and the position change in the current monitoring round. This operation is repeated to obtain the sag change at the maximum sag of the transmission line in multiple rounds of monitoring, and finally the maximum value of the sag change is screened out and compared with a preset threshold value to determine whether the line is covered with ice.

[0019] In addition, Chinese patent document CN117589069A discloses a transmission line inspection method and device based on data analysis and laser radar, which constructs a coordinate system, obtains any two points on the transmission line based on the laser radar, and determines the coordinate values ​​of the two points based on the coordinate system, and calculates the physical coordinate height of any point on the transmission line based on the coordinate values ​​of the two points to calculate the sag value at the maximum sag of the transmission line. In multiple rounds of monitoring, the sag change at the maximum sag of the transmission line on the current monitoring date and the historical adjacent monitoring date in the same time period is obtained, and compared with the preset threshold value. If the sag change exceeds the preset threshold value in the same time period of the icing-prone season, it is determined that the transmission line is iced.

[0020] In addition, Chinese patent document CN115994854A discloses a method and system for aligning a marker point cloud and image, which sets initial values ​​of camera parameters, processes preprocessed point cloud data into a first depth map according to the initial values, uses a trained image detection model to detect a visible light image to obtain first detection information, and uses a trained depth map detection model to detect the first depth map to obtain second detection information. If the target marker is detected in both the visible light image and the depth map detection, the camera parameters are calibrated according to the first detection information and the second detection information, and the point cloud data is converted to the calibrated camera coordinate system to obtain a second depth map. The point cloud and visible light image are aligned by fusing the second depth map with the visible light image.

[0021] In view of this, the present invention proposes a new wire dancing monitoring method to solve the problems existing in the above-mentioned video-based wire dancing monitoring, such as how to accurately identify the dancing, precisely track the maximum amplitude point, and solve the large error in the conversion between the amplitude pixel number and the physical amplitude. Summary of the invention

[0022] The present invention aims to overcome at least one defect of the above-mentioned prior art and provides a method for determining the monitoring point of transmission line dancing, a method for quantitative analysis of dancing monitoring, a method and device for controlling dancing monitoring, so as to solve technical problems such as wire dancing determination, determination of maximum amplitude point, and large amplitude conversion error.

[0023] The detailed technical scheme of the present invention is as follows:

[0024] A method for determining a transmission line galloping monitoring point, the method comprising:

[0025] S10, respectively acquiring image data and point cloud data of the transmission line, and fusing the image data and point cloud data; wherein the image data is a two-dimensional image, acquired by an image monitoring device fixedly installed on a pole tower at either end of the transmission line; the point cloud data is a three-dimensional array representing spatial point coordinates, acquired by scanning with a laser radar mounted on a drone, and point cloud data with an acquisition time of less than 2 years does not need to be re-acquired, but re-scanning and acquisition is required in other cases;

[0026] S11. Select N monitoring points on the transmission line to determine the transmission line galloping and half-wave number, denoted as p n ={p1, p2, ..., p N}, where n∈[1,N], and n and N are both positive integers;

[0027] S12, in the fused data, determining the position of each monitoring point on the transmission line in the image data based on the position of each monitoring point on the transmission line in the point cloud data, and calculating the sag difference of each monitoring point in the image data and the point cloud data, respectively, recorded as Δf n ={Δf1, Δf2, ..., Δf N}, and calculate the pixel difference between each monitoring point in the image data and the point cloud data, denoted as Δc n ={Δc1, Δc2, ..., Δc N}, according to the sag difference Δf n and pixel difference Δc n Calculate the physical size represented by each pixel at each monitoring point, recorded as v n = {v1, v2, ..., v N}.

[0028] Preferably, according to the present invention, in step S11, the number of half waves in the dancing form of the transmission line is 1 to M, M>1 and is a positive integer, and in each half-wave dancing form, the number of monitorable points on the transmission line is at least one.

[0029] Preferably, according to the present invention, in step S11, the number of half waves of the transmission line in the galloping state is 1 to 6, and:

[0030] For a half-wave dancing pattern, the monitorable point on the transmission line is {l / 2};

[0031] For the dancing form of 2 half waves, the monitorable points on the transmission line are {l / 4, 3l / 4};

[0032] For the dancing form of 3 half waves, the monitorable points on the transmission line are {l / 6, 3l / 6, 5l / 6};

[0033] For the dancing form of 4 half waves, the monitorable points on the transmission line are {l / 8, 3l / 8, 5l / 8, 7l / 8};

[0034] For the five half-wave dancing patterns, the monitorable points on the transmission line are {l / 10, 3l / 10, 5l / 10, 7l / 10, 9l / 10};

[0035] For the dancing form of 6 half waves, the monitorable points on the transmission line are {l / 12, 3l / 12, 5l / 12, 7l / 12, 9l / 12, 11l / 12};

[0036] Among them, l represents the spacing between the pole towers at both ends of the transmission line; and the selected monitorable points are different under different half-wave dancing forms.

[0037] Preferably, in step S11, N monitoring points are selected from the monitorable points of the transmission line under different half-wave dancing forms to determine the dancing of the transmission line and the number of half-waves, and the N monitoring points are p n ={l / 6, l / 4, 3l / 10, 3l / 8, 5l / 12, l / 2}.

[0038] Preferably according to the present invention, the method also includes: constructing an xoy coordinate system based on the transmission line and the mounting tower, wherein the xoy coordinate system takes the base of the tower on this side where the image monitoring equipment is installed as the origin o, the extension direction of the transmission line as the x-axis, and the direction perpendicular to the tower base as the y-axis.

[0039] Preferably, according to the present invention, the method further comprises: constructing a conductor equation of the transmission line in a static state based on the constructed xoy coordinate system, wherein the conductor equation of the transmission line in a static state conforms to the parabola equation, that is, y0=ax 2 +bx+c, the line equation between the mounting points at both ends of the transmission line is y1=kx+m, then:

[0040]

[0041] In formulas (1) and (2), h1 represents the vertical distance between the mounting point of the transmission line on the tower on the same side and the origin o, h2 represents the vertical distance between the mounting point of the transmission line on the tower on the opposite side and the origin o, l represents the span, and a, b, c, k, and m are all equation coefficients;

[0042] Moreover, the conductor sag equation of the transmission line in a static state is: f0(x)=y1-y0=-ax 2 +alx, the sag of any point of the transmission line at the time of image acquisition is obtained by monitoring, and the value a is calculated. Here, the maximum sag value f of the transmission line in a static state is used. max Calculate the value of a and derive the conductor sag equation f0(x) of the transmission line in a static state to obtain:

[0043] f0′(x)=-2ax+al, let f′(x)=0, then x=l / 2, that is, the maximum sag of the transmission line in the static state is at l / 2 of the transmission line, then: f max =-al 2 / 4+al 2 / 2, we get: a = 4f max / l 2 ;

[0044] Substituting the above a value into y0, the conductor equation of the transmission line in the static state is:

[0045]

[0046] Substituting the above value of a into f0(x), the conductor sag equation of the transmission line in the static state is obtained as follows:

[0047]

[0048] According to a preferred embodiment of the present invention, in step S12, the position of each monitoring point on the transmission line in the image data is determined based on the position of each monitoring point on the transmission line in the point cloud data, and the sag difference Δf of each monitoring point in the image data and the point cloud data is calculated respectively. n , including:

[0049] In the fused data, points corresponding to the monitoring points in the point cloud data in the vertical direction are found in the image data, which are the corresponding monitoring points in the image data, and the horizontal position coordinates of the monitoring points in the image data on the transmission line are determined according to the horizontal position coordinates of the monitoring points in the point cloud data on the transmission line;

[0050] Substituting the horizontal position coordinates of each monitoring point on the transmission line in the image data into the conductor sag equation f0(x) of the transmission line in a static state, and calculating the sag value of each monitoring point in the image data;

[0051] Calculate the difference between the sag value of each monitoring point in the image data and the sag value of each corresponding monitoring point in the point cloud data, that is, obtain the sag difference Δf n .

[0052] According to a preferred embodiment of the present invention, in step S12, according to the sag difference Δf n and pixel difference Δc n Calculate the physical size of each pixel at each monitoring point, specifically: v n =Δf n / Δc n .

[0053] A method for quantitative analysis of dancing monitoring, which quantitatively analyzes the dancing of a transmission line based on N monitoring points obtained by the method for determining the dancing monitoring points of a transmission line, wherein the N monitoring points are p n ={1 / 6, 1 / 4, 31 / 10, 31 / 8, 51 / 12, 1 / 2}; the method comprises:

[0054] S20, constructing a conductor equation of the transmission line in a dancing state based on the dancing characteristic parameters of the transmission line, and calculating the vertical position of each monitoring point of the transmission line in different half-wave dancing forms based on the conductor equation of the transmission line in the dancing state;

[0055] S21, sequentially comparing the relative size relationship of the vertical positions of two adjacent monitoring points of the transmission line to determine the characteristics of the transmission line under different half-wave dancing forms;

[0056] S22, determining whether the transmission line is dancing and the number of half-waves of the dancing according to the characteristics of the transmission line in different half-wave dancing forms;

[0057] S23. According to the half-wave number of the transmission line dancing and the amplitude of the peak point under the transmission line dancing state, the monitoring points to be tracked in this transmission line dancing monitoring are determined, and the monitoring points to be tracked are continuously tracked and monitored by using image monitoring equipment.

[0058] Preferably, in step S20, the dancing characteristic parameters of the transmission line include amplitude A, frequency f and initial phase ψ, and the amplitude of the crest point of the transmission line when dancing satisfies:

[0059] A max (t) = Asin(2πft+ψ) (5);

[0060] In formula (5), A max (t) represents the amplitude of the peak point at time t, denoted by A max ;

[0061] Moreover, the transmission line conforms to the sine wave form in the dancing state, and the conductor equation of the transmission line in the dancing state is:

[0062]

[0063] In formula (6), A max It represents the amplitude of the peak point of the transmission line when it is in a dancing state, n represents the number of dancing half waves, and l represents the span.

[0064] Preferably, in step S20, the number of half waves of the transmission line in the galloping state is 1 to 6, and the calculation of the vertical position of each monitoring point of the transmission line in different half-wave galloping states based on the conductor equation of the transmission line in the galloping state specifically includes:

[0065] 1) When the transmission line is in the galloping state of one half wave, that is, n=1, according to the conductor equation of the transmission line in the galloping state, the vertical position of each monitoring point is obtained as follows:

[0066] f(p1)=f(l / 6)=0.5A max ;

[0067] f(p2)=f(l / 4)≈0.707A max ;

[0068] f(p3)=f(3l / 10)≈0.809A max ;

[0069] f(p4)=f(3l / 8)≈0.924A max ;

[0070] f(p5)=f(5l / 12)≈0.966A max ;

[0071] f(p6)=f(l / 2)=A max ;

[0072] 2) When the transmission line is in the galloping state of 2 half waves, that is, n=2, according to the conductor equation of the transmission line in the galloping state, the vertical position of each monitoring point is obtained as follows:

[0073] f(p1)=f(l / 6)≈0.866A max ;

[0074] f(p2)=f(l / 4)=A max ;

[0075] f(p3)=f(3l / 10)≈0.951A max ;

[0076] f(p4)=f(3l / 8)≈0.707A max ;

[0077] f(p5)=f(5l / 12)=0.5A max ;

[0078] f(p6)=f(l / 2)=0;

[0079] 3) When the transmission line is in the galloping state of 3 half waves, that is, n=3, according to the conductor equation of the transmission line in the galloping state, the vertical position of each monitoring point is obtained as follows:

[0080] f(p1)=f(l / 6)=A max ;

[0081] f(p2)=f(l / 4)≈0.707A max ;

[0082] f(p3)=f(3l / 10)≈0.309A max ;

[0083] f(p4)=f(3l / 8)≈-0.383A max ;

[0084] f(p5)=f(5l / 12)≈-0.707A max ;

[0085] f(p6)=f(l / 2)=-A max ;

[0086] 4) When the transmission line is in the galloping state of 4 half waves, that is, n=4, according to the conductor equation of the transmission line in the galloping state, the vertical position of each monitoring point is obtained as follows:

[0087] f(p1)=f(l / 6)≈0.866A max ;

[0088] f(p2)=f(l / 4)=0;

[0089] f(p3)=f(3l / 10)≈-0.588A max ;

[0090] f(p4)=f(3l / 8)=-A max ;

[0091] f(p5)=f(5l / 12)≈-0.866A max ;

[0092] f(p6)=f(l / 2)=0;

[0093] 5) The transmission line is in the galloping state of 5 half waves, that is, n = 5. According to the conductor equation of the transmission line in the galloping state, the vertical position of each monitoring point is obtained as follows:

[0094] f(p1)=f(l / 6)=0.5A max ;

[0095] f(p2)=f(l / 4)≈-0.707A max ;

[0096] f(p3)=f(3l / 10)=-A max ;

[0097] f(p4)=f(3l / 8)≈-0.383A max ;

[0098] f(p5)=f(5l / 12)≈0.259A max ;

[0099] f(p6)=f(l / 2)=A max ;

[0100] 6) The transmission line is in the galloping state of 6 half waves, that is, n=6. According to the conductor equation of the transmission line in the galloping state, the vertical position of each monitoring point is obtained as follows:

[0101] f(p1)=f(l / 6)=0;

[0102] f(p2)=f(l / 4)=-A max ;

[0103] f(p3)=f(3l / 10)≈-0.588A max ;

[0104] f(p4)=f(3l / 8)≈0.707A max ;

[0105] f(p5)=f(5l / 12)=A max;

[0106] f(p6)=f(l / 2)=0.

[0107] Preferably, in step S21, the relative size relationship of the vertical positions of two adjacent monitoring points of the transmission line is compared in sequence, and it is agreed that:

[0108] If |f(p n+1 )|>|f(p n )|, recorded as “>”;

[0109] If |f(p n+ 1)|=|f(p n )|, recorded as "=";

[0110] If |f(p n+1 )|<|f(p n )|, recorded as "○";

[0111] The characteristics of the transmission line in the 1 to 6 half-wave dancing forms are:

[0112] 1) When the transmission line is in the dancing state of one half wave, that is, n = 1, we have:

[0113] |f(p2)|>|f(p1)|、|f(p3)|>|f(p2)|、|f(p4)|>|f(p3)|、|f(p5)|>|f(p4)|、|f(p6)|>|f(p5|; recorded as feature {>>>>>};

[0114] 2) When the transmission line is in the dancing state of 2 half waves, that is, n = 2, we have:

[0115] f(p2)|>|f(p1)|、|f(p3)|<|f(p2)|、|f(p4)|<|f(p3)|、|f(p5)|<|f(p4)|、|f(p6)|<|f(p5|; recorded as feature {>○○○○};

[0116] 3) When the transmission line is in the dancing state of 3 half waves, that is, n=3, we have:

[0117] |f(p2)|<|f(p1)|、|f(p3)|<|f(p2)|、|f(p4)|>|f(p3)|、|f(p5)|>|f(p4)|、|f(p6)|>|f(p5|; recorded as feature {○○>>>};

[0118] 4) When the transmission line is in the dancing state of 4 half waves, that is, n=4, we have:

[0119] |f(p2)|<|f(p1)|、|f(p3)|>|f(p2)|、|f(p4)|>|f(p3)|、|f(p5)|<|f(p4)|、|f(p6)|<|f(p5|;denoted as feature {○>>○○};

[0120] 5) When the transmission line is in the dancing state of 5 half waves, that is, n=5, we have:

[0121] |f(p2)|>|f(p1)|、|f(p3)|>|f(p2)|、|f(p4)|<|f(p3)|、|f(p5)|<|f(p4)|、|f(p6)|>|f(p5|; recorded as feature {>>○○>};

[0122] 6) When the transmission line is in the dancing state of 6 half-waves, that is, n=6, we have:

[0123] |f(p2)|>|f(p1)|, |f(p3)|<|f(p2)|, |f(p4)|>|f(p3)|, |f(p5)|>|f(p4)|, |f(p6)|<|f(p5)|; recorded as feature {>○>>○}.

[0124] Preferably, in step S22, whether the transmission line is dancing is determined according to the characteristics of the transmission line in different half-wave dancing forms, specifically:

[0125] Perform K consecutive monitoring on each monitoring point of the transmission line. If the characteristics of the transmission line monitoring point monitored for m consecutive times are all the same dancing characteristics, it is determined that the transmission line is dancing; wherein K≥m, and K and m are both positive integers.

[0126] Preferably, in step S22, the number of half-waves of the dancing of the transmission line is determined according to the characteristics of the transmission line in different half-wave dancing forms, specifically:

[0127] If the characteristics of each monitoring point of the transmission line are {>>>>>}, it is determined to be 1 half-wave galloping;

[0128] If the characteristics of each monitoring point of the transmission line are {>○○○○}, it is determined to be 2 half-wave dancing;

[0129] If the characteristics of each monitoring point of the transmission line are {○○>>>}, it is determined to be 3 half-wave dancing;

[0130] If the characteristics of each monitoring point of the transmission line are {○>>○○}, it is determined to be 4 half-wave dancing;

[0131] If the characteristics of each monitoring point of the transmission line are {>>○○>}, it is determined to be 5 half-wave dancing;

[0132] If the characteristics of each monitoring point on the transmission line are {>○>>○}, it is determined to be 6 half-wave dancing.

[0133] Preferably, in step S23, the monitoring point to be tracked in this transmission line galloping monitoring is determined according to the half-wave number of the transmission line galloping and the amplitude of the peak point in the transmission line galloping state, specifically:

[0134] The vertical position of the transmission line in the 1 to 6 half-wave dancing form meets the amplitude A of the wave crest point max The monitoring points are determined as the monitoring points to be tracked in this transmission line dancing monitoring, namely:

[0135] 1) When the transmission line is a dancing half wave, f(p6) = f(l / 2) = A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p6;

[0136] 2) When the transmission line has two dancing half waves, f(p2) = f(l / 4) = A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p2;

[0137] 3) When the transmission line has three dancing half waves, f(p1) = f(l / 6) = A max And f(p6)=f(l / 2)=-A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p1 or p6;

[0138] 4) When the transmission line has 4 dancing half waves, f(p4) = f(3l / 8) = -A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p4;

[0139] 5) When the transmission line has 5 dancing half waves, f(p3) = f(3l / 10) = -A max and f(p6)=f(l / 2)=A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p3 or p6;

[0140] 6) When the transmission line has 6 dancing half waves, f(p2) = f(l / 4) = -A max And f(p5)=f(5l / 12)=A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p2 or p5.

[0141] Preferably, in step S23, according to the number of half-waves of the power transmission line dancing, and in combination with the amplitude of the crest point in the power transmission line dancing state, a monitoring point to be tracked in this power transmission line dancing monitoring is selected, and the selected monitoring points are different in the dancing forms of different half-waves, that is, there are:

[0142] 1) When the transmission line is dancing for one half wave, the monitoring point to be tracked in this transmission line dancing monitoring is p6;

[0143] 2) When the transmission line has two half-waves of dancing, the monitoring point to be tracked in this transmission line dancing monitoring is p2;

[0144] 3) When the transmission line has three half-waves of dancing, the monitoring point to be tracked in this transmission line dancing monitoring is p1;

[0145] 4) When the transmission line has 4 half-waves of dancing, the monitoring point to be tracked in this transmission line dancing monitoring is p4;

[0146] 5) When the transmission line has 5 half-waves of dancing, the monitoring point to be tracked in this transmission line dancing monitoring is p3;

[0147] 6) When the transmission line has 6 dancing half-waves, the monitoring point to be tracked in this transmission line dancing monitoring is p5.

[0148] A dancing monitoring and control method is applied to a cloud-edge collaborative control system, wherein the cloud-edge collaborative control system includes a cloud server and an edge end image monitoring device for acquiring transmission line image data, and the method includes:

[0149] The cloud server establishes communication with the image monitoring device;

[0150] The cloud server controls the image monitoring device to collect image data of the power transmission line based on the monitoring strategy and transmits the image data back to the cloud server;

[0151] The cloud server determines whether the power transmission line is dancing based on the monitoring strategy and the image data, and if so, controls the image monitoring device to continuously track and monitor the monitoring points on the power transmission line, otherwise controls the image monitoring device to stop monitoring;

[0152] The monitoring strategy includes setting the image monitoring device to collect image data of the power transmission line at a regular interval, and setting the cloud server to determine whether the power transmission line is dancing based on the image data monitored for m consecutive times.

[0153] A device for implementing a method for determining a transmission line galloping monitoring point, the device comprising:

[0154] A data acquisition module is used to respectively acquire image data and point cloud data of the transmission line, and fuse the image data and point cloud data; wherein the image data is a two-dimensional image, acquired by an image monitoring device fixedly installed on a tower at either end of the transmission line; the point cloud data is a three-dimensional array representing the coordinates of a space point, acquired by scanning with a laser radar mounted on a drone;

[0155] The monitoring point determination module is used to select N monitoring points on the transmission line to determine the transmission line galloping and half-wave number, denoted as p n ={p1, p2, ..., p N}, where n∈[1,N], and n and N are both positive integers;

[0156] The first calculation module is used to determine the position of each monitoring point on the transmission line in the image data based on the position of each monitoring point on the transmission line in the point cloud data in the fused data, and calculate the sag difference between each monitoring point in the image data and the point cloud data, recorded as Δf n ={Δf1, Δf2, ..., Δf N}, and calculate the pixel difference between each monitoring point in the image data and the point cloud data, denoted as Δc n ={Δc1, Δc2, ..., Δc N}, according to the sag difference Δf n and pixel difference Δc n Calculate the physical size represented by each pixel at each monitoring point, recorded as v n = {v1, v2, ..., v N}.

[0157] A device for implementing a dancing monitoring and quantitative analysis method, the device comprising:

[0158] The second calculation module is used to construct a conductor equation of the transmission line in a dancing state based on the dancing characteristic parameters of the transmission line, and calculate the vertical position of each monitoring point of the transmission line in different half-wave dancing forms based on the conductor equation of the transmission line in the dancing state;

[0159] A comparison module is used to sequentially compare the relative size relationship of the vertical positions of two adjacent monitoring points of the transmission line to determine the characteristics of the transmission line under different half-wave dancing forms;

[0160] A judgment module, used to judge whether the transmission line is dancing and the number of half-waves of the dancing according to the characteristics of the transmission line in different half-wave dancing forms;

[0161] The module for determining the monitoring points to be tracked is used to determine the monitoring points to be tracked in this transmission line dancing monitoring according to the half-wave number of the transmission line dancing and the amplitude of the peak point under the transmission line dancing state, and use image monitoring equipment to continuously track and monitor the monitoring points to be tracked.

[0162] An electronic device, comprising:

[0163] at least one processor; and

[0164] A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to execute the above-mentioned method for determining the transmission line dancing monitoring point, the method for quantitative analysis of the dancing monitoring, and the method for controlling the dancing monitoring.

[0165] A machine-readable storage medium stores executable instructions, which, when executed, enable the machine to execute the above-mentioned method for determining the transmission line's galloping monitoring points, the method for quantitatively analyzing the galloping monitoring, and the method for controlling the galloping monitoring.

[0166] Compared with the prior art, the present invention has the following beneficial effects:

[0167] (1) The present invention provides a video-based wire dancing monitoring method that is efficient, low-cost, stable, and can be applied in batches. Compared with the traditional sensor-based dancing monitoring method, this method does not require live work, has low cost, simple construction, and extremely high stability. It avoids the problem that the sensor needs to be installed with a power outage or is susceptible to electromagnetic interference during live work, as well as the problem of unstable data acquisition after installation. At the same time, compared with the existing video-based wire dancing monitoring technology, this method realizes reliable dancing quantitative analysis, as well as reuse and empowerment of image monitoring equipment.

[0168] (2) The present invention is based on the parabola principle characteristics of the conductor and the characteristics of the dancing motion morphology, carries out modeling calculations and determines monitoring points, thus solving the problem of determining the point with the maximum amplitude.

[0169] (3) The present invention is based on the conductor dancing characteristics and analyzes the position size relationship between adjacent monitoring points to determine the conductor dancing and the number of dancing half-waves, thereby solving the problem of dancing determination.

[0170] (4) The present invention designs a method for accurately converting the number of amplitude pixels and the physical amplitude in wire dancing monitoring, and uses multi-source data fusion technology to solve the problem of large amplitude error in existing analysis methods.

[0171] (5) The present invention utilizes cloud-edge collaborative control technology to determine monitoring points, judge dancing, and calculate physical dimensions on the cloud server, and to monitor dancing amplitude and calculate dancing frequency on the image monitoring device, thereby solving the problems of large video transmission traffic and low computing power of image monitoring equipment.

[0172] (6) The present invention makes use of and empowers image monitoring equipment. Currently, image monitoring equipment has been widely used in a large number of lines, especially 220kV and above lines. The method of the present invention does not require the addition of hardware. The reused image monitoring equipment only requires algorithm deployment and system upgrade to achieve quantitative analysis of dancing monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0173] Figure 1 It is a flow chart of the method for determining the dancing monitoring points of the transmission line described in the present invention.

[0174] Figure 2 It is a flow chart of the dancing monitoring and quantitative analysis method described in the present invention.

[0175] Figure 3 It is a schematic diagram of the installation position and shooting range of the image monitoring device in the present invention.

[0176] Figure 4 It is a schematic diagram of the coordinate system and related formulas required for the mathematical model in the present invention.

[0177] Figure 5 It is a schematic diagram of the position of a point on the wire in the time dimension when dancing in the present invention.

[0178] Figure 6 It is a schematic diagram of various shapes of conductor dancing without considering sag in the present invention.

[0179] Figure 7 It is a schematic diagram of the dancing shapes of the four half-wave conductors in the present invention.

[0180] Figure 8 It is a schematic diagram of an optional monitoring point for half-wave dancing in the present invention.

[0181] Fig. 9 It is a schematic diagram of two optional monitoring points for half-wave dancing in the present invention.

[0182] Fig.10 It is a schematic diagram of three optional monitoring points for half-wave dancing in the present invention.

[0183] Fig.11 It is a schematic diagram of four optional monitoring points for half-wave dancing in the present invention.

[0184] Fig.12 It is a schematic diagram of five optional monitoring points for half-wave dancing in the present invention.

[0185] Fig.13 It is a schematic diagram of six optional monitoring points for half-wave dancing in the present invention.

[0186] Fig.14 It is a schematic diagram of the locations of the monitoring points determined by analysis in the present invention.

[0187] Fig.15 It is a schematic diagram of the positions of the monitoring points when one half-wave dances in the present invention.

[0188] Fig.16 It is a schematic diagram of the positions of the monitoring points when the two half-waves dance in the present invention.

[0189] Fig.17 It is a schematic diagram of the positions of the monitoring points when the three half-waves dance in the present invention.

[0190] Fig.18 It is a schematic diagram of the positions of the monitoring points when the four half-waves dance in the present invention.

[0191] Fig.19 It is a schematic diagram of the positions of the monitoring points when the five half-waves dance in the present invention.

[0192] Fig. 20 It is a schematic diagram of the positions of the monitoring points when the six half-waves dance in the present invention.

[0193] Fig.21 It is a schematic diagram of determining the physical size of the pixels of the monitoring points in the present invention.

[0194] Fig. 22 It is a schematic diagram of the conductors, monitoring points, etc. in the on-site image of the present invention.

[0195] Fig.23 It is the stationary conductor and monitoring point position in the present invention that are scaled in proportion to the physical size.

[0196] Fig.24 It is the physical diagram of the static wire tracing that integrates data in the present invention.

[0197] Fig.25 It is a schematic diagram of the positions of the monitoring points of the three monitoring conductors in the present invention.

[0198] Fig.26 The present invention is a tertiary monitoring conductor, a stationary conductor, and a monitoring point position that are scaled in proportion to the physical size.

[0199] Fig. 27 It is a schematic diagram of the positions of the tertiary monitoring conductors, the static conductors and the monitoring points in the present invention.

[0200] Fig.28 It is a physical diagram of the line drawing of the three-time monitoring conductor and the static conductor by integrating data in the present invention. DETAILED DESCRIPTION

[0201] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0202] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0203] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0204] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0205] In view of the defects existing in the prior art, the present invention designs a new method for monitoring the dancing of transmission line, including the determination of dancing monitoring points, quantitative analysis of dancing monitoring, etc., uses image monitoring equipment to collect conductor image / video data, combines the parabola principle characteristics of the conductor and the characteristics of the dancing motion morphology, and uses data analysis methods to determine the number and positions of monitoring points, accurately distinguishes dancing from other wind-affected conductor movements, combines multi-source data fusion technology to achieve precise conversion between amplitude pixel number and physical amplitude, and adopts cloud-edge collaborative control technology to monitor and analyze multiple specific points, and quantitatively analyze the frequency, half-wave number, and amplitude of the dancing.

[0206] The present invention solves the problems of accurately identifying conductor dancing, precisely tracking the maximum amplitude point, and solving the large error in the conversion between the number of amplitude pixels and the physical amplitude in video-based conductor dancing monitoring, and realizes quantitative analysis of the dancing, providing reliable data support for operation and maintenance personnel to determine response strategies and improve power transmission stability and intelligent operation and maintenance levels.

[0207] The method and device of the present invention are further described below in conjunction with specific embodiments.

[0208] Embodiment 1,

[0209] Ginseng Figure 1 This embodiment provides a method for determining a transmission line dancing monitoring point, the method comprising:

[0210] S10. Acquire image data and point cloud data of the transmission line respectively, and fuse the image data and point cloud data; wherein, the image data is a two-dimensional image, acquired by an image monitoring device fixedly installed on a pole tower at either end of the mounted transmission line; the point cloud data is a three-dimensional array representing the coordinates of a spatial point, acquired by scanning with a laser radar mounted on an unmanned aerial vehicle. Point cloud data with an acquisition time of less than 2 years does not need to be re-acquired, but re-scanning and acquisition is required in other cases.

[0211] Image monitoring equipment is commonly used to detect hidden dangers such as mechanical damage, fireworks, and foreign objects in the transmission channel. It has been widely installed and deployed on transmission towers. Image monitoring equipment is installed on the transmission tower used to mount the transmission wire. The height is generally flush with the lowest point of the wire sag. It mainly monitors the transmission channel between the tower on this side and the tower on the opposite side. In some special scenarios, up to 3 channels can be monitored. During the dancing monitoring and analysis, if the image monitoring equipment has been installed, it can be reused.

[0212] By multiplexing / installing image monitoring equipment on the pole tower to collect transmission line image / video data, the collected image data is a two-dimensional image.

[0213] Image monitoring equipment can collect image and video data, and can interact with cloud servers. It has policy control functions, can upload images, video data, structured data, etc., and receive cloud server instructions. Furthermore, image monitoring equipment can capture images and videos on a scheduled or active basis, and can also continuously shoot videos. The shooting time of video data can be set, and generally 15 to 60 seconds of video data will be collected. The video frame rate is generally 25 frames per second, which can be adjusted to 60 frames per second as needed. Image monitoring equipment has computing power, which is commonly 1 to 4 TOPS.

[0214] In this embodiment, the installation position, shooting range, etc. of the image monitoring device are as follows: Figure 3 shown.

[0215] Since image monitoring equipment collects two-dimensional images without depth information, it is impossible to directly locate monitoring points on the transmission line and analyze physical amplitudes. The laser point cloud data scanned by LiDAR has depth information, but its timeliness is not strong and it is extremely difficult to achieve online scanning. Therefore, the fusion of the two types of data can give spatial information to the entities in the two-dimensional image.

[0216] In this embodiment, the fusion of image data and point cloud data belongs to a publicly commonly used method in the direction of multi-source data fusion, such as document CN115994854A, whose technical solution is to set initial values ​​of camera parameters, process the preprocessed point cloud data into a first depth map according to the initial values, use the trained image detection model to detect the visible light image to obtain first detection information, and use the trained depth map detection model to detect the first depth map to obtain second detection information. If the target marker is detected in both the visible light image and the depth map detection, the camera parameters are calibrated according to the first detection information and the second detection information, and the point cloud data is converted to the calibrated camera coordinate system to obtain a second depth map. The point cloud and the visible light image are aligned by fusing the second depth map with the visible light image. This embodiment draws on the disclosed method to fuse point cloud and image. The technical route is to adjust the field of view angle and scaling ratio of the point cloud data, and based on the fixed entities in the image data, such as the opposite side tower, ground fixtures, etc., complete the mapping and fusion of the two types of data, so that each pixel of the key entity in the two-dimensional image has spatial physical information, and the spatial positioning of the relevant pixels is realized. This process is essentially a process of translating, rotating and scaling the point cloud data, and the final result is a set of depth information comparison table data, which can be used to restore the spatial position of the pixel points in the image in the three-dimensional coordinate system.

[0217] It should be understood that this step only needs to be performed once after the image monitoring device is installed, to map and fuse the collected image data with the point cloud data. Under the premise that the image monitoring device does not move, the pixel mapping relationship of each entity will not change. When the image monitoring device is moved or replaced, this step needs to be repeated.

[0218] S11. Select N monitoring points on the transmission line to determine the transmission line galloping and half-wave number, denoted as p n ={p1, p2, ..., p N}, where n∈[1,N], and n and N are both positive integers.

[0219] Specifically, the number of half waves in the dancing form of the transmission line is 1 to M, M>1 and is a positive integer, and in each half-wave dancing form, the number of monitorable points on the transmission line is at least one.

[0220] In this embodiment, as described in the background technology, the galloping is a low-frequency, large-amplitude self-excited vibration generated by the conductor. Galloping of 1 to 4 half-waves is common on site, 5 half-waves is rare, and 6 half-waves are occasionally seen. In this embodiment, in order to achieve quantitative analysis of the conductor galloping, it is necessary to distinguish the sub-span vibration, so it is necessary to monitor all possible half-wave forms of the conductor galloping, that is, in this embodiment, the number of half-waves under the galloping form of the transmission line is 1 to 6. Since the galloping of different half-wave forms needs to be quantitatively analyzed, it is necessary to monitor the points where the maximum amplitude will appear in different half-waves as possible monitoring points.

[0221] Therefore, when the half-wave number of the transmission line is 1 to 6 in the galloping state, the monitorable points on the transmission line can be:

[0222] For a half-wave dancing pattern, the monitorable points on the transmission line are {l / 2}, such as Figure 8 As shown;

[0223] For the dancing form of 2 half waves, the monitorable points on the transmission line are {l / 4, 3l / 4}, such as Fig. 9 As shown;

[0224] For the three half-wave dancing pattern, the monitorable points on the transmission line are {l / 6, 3l / 6, 5l / 6}, such as Fig.10 As shown, in order to distinguish the monitoring of several half-wave numbers, the denominator is uniformly expressed as twice the half-wave, and the fraction is not simplified;

[0225] For the dancing form of 4 half waves, the monitorable points on the transmission line are {l / 8, 3l / 8, 5l / 8, 7l / 8}, such as Fig.11 As shown;

[0226] For the dancing form of 5 half waves, the monitorable points on the transmission line are {l / 10, 3l / 10, 5l / 10, 7l / 10, 9l / 10}, such as Fig.12 As shown;

[0227] For the dancing form of 6 half waves, the monitorable points on the transmission line are {l / 12, 3l / 12, 5l / 12, 7l / 12, 9l / 12, 11l / 12}, such as Fig.13 As shown;

[0228] Among them, l represents the spacing between the pole towers at both ends of the transmission line; and the selected monitorable points are different under different half-wave dancing forms.

[0229] It should be understood that for distinguishing the monitoring points selected for a half-wave, different monitoring points need to be selected when analyzing other half-waves. For example, if 1 / 2 of 1 half-wave is monitored, this point cannot continue to be used for monitoring 3 or 5 half-waves.

[0230] Furthermore, it is necessary to combine the position of the monitoring point in the two-dimensional image. Since the image monitoring equipment is installed on one side of the tower and has a vertical field of view angle limitation, the wires that are too close to the tower on this side may not be captured. In addition, the clarity of the wires close to the tower on the opposite side is slightly poor, and due to the perspective principle, the physical value represented by a single pixel is large, which will affect the accuracy of quantitative analysis.

[0231] Based on this, it can be known that the more appropriate monitoring interval is [l / 8, l / 2]. In this interval, the following N monitoring points are selected from the above-mentioned monitorable points to distinguish the monitoring of 1 to 6 half waves: {l / 2, l / 4, l / 6, 3l / 8, 3l / 10, 5l / 12}, sorted from small to large as p n ={l / 6,l / 4,3l / 10,3l / 8,5l / 12,l / 2}, denoted as p n ={p1, p2, p3, p4, p5, p6}, such as Fig.14 shown.

[0232] In addition, other monitoring point combinations can also be selected as long as they can distinguish different half waves, such as {l / 2, l / 4, l / 6, l / 8, 3l / 10, 5l / 12}.

[0233] S12, in the fused data, determining the position of each monitoring point on the transmission line in the image data based on the position of each monitoring point on the transmission line in the point cloud data, and calculating the sag difference of each monitoring point in the image data and the point cloud data, respectively, recorded as Δf n ={Δf1, Δf2, ..., Δf N}, and calculate the pixel difference between each monitoring point in the image data and the point cloud data, denoted as Δc n ={Δc1, Δc2, ..., Δc N}, according to the sag difference Δf n and pixel difference Δc n Calculate the physical size represented by each pixel at each monitoring point, recorded as v n = {v1, v2, ..., v N}.

[0234] Specifically, when the method based on multi-source data fusion is used to measure the distance of mechanical external damage hazards and monitor the distance between trees and lines, the conductor position in the point cloud data can be used, and the error is within an acceptable range.

[0235] Since the point cloud acquisition time is different from the image acquisition time, the sag of the wire is different, and direct mapping of the wire cannot be achieved. In addition, the difference between the sag of the wire in the point cloud and the sag in the image is very small in the pixel difference in the image, and the depth information in the vertical direction is consistent within this range.

[0236] Therefore, based on the N monitoring points p selected in step S11 n , its position on the transmission line in the point cloud data is known. Therefore, according to the position of each monitoring point on the transmission line in the point cloud data, the point corresponding to each monitoring point in the point cloud data in the vertical direction can be found in the image data, which is the corresponding monitoring point in the image data, such as Fig.21 At the same time, the horizontal position coordinates of each monitoring point on the transmission line in the image data can also be determined according to the horizontal position coordinates of each monitoring point on the transmission line in the point cloud data.

[0237] Furthermore, the point cloud data has its own latitude, longitude and altitude information, so the sag value of each monitoring point in the point cloud data can be directly obtained without calculation. In this way, when calculating the sag difference between each monitoring point in the image data and the point cloud data, it is only necessary to calculate the sag value of each monitoring point in the image data. To this end, the coordinate system required by this embodiment is first constructed to further construct the conductor equation and conductor sag equation of the transmission line in a static state, and store them in the cloud server.

[0238] Specifically, an xoy coordinate system can be constructed based on the transmission line and the mounting tower, wherein the xoy coordinate system takes the tower base on the side where the image monitoring equipment is installed as the origin o, the extension direction of the transmission line as the x-axis, and the direction perpendicular to the tower base as the y-axis.

[0239] Then, based on the constructed xoy coordinate system, the conductor equation of the transmission line in a static state is constructed. Figure 4 , let the span be l, the vertical distance between the near-end wire mounting point and the origin o be h1, that is, point (0, h1), the vertical distance between the other wire mounting point and the origin o be h2, that is, point (l, h2), and the maximum sag value is f max .

[0240] It is known that the conductor equation of the transmission line in a static state conforms to the parabola equation, that is, y0 = ax 2 +bx+c, the line equation between the mounting points at both ends of the transmission line is y1=kx+m, then:

[0241]

[0242] In equations (1) and (2), h1 represents the vertical distance from the mounting point of the transmission line on the tower on the same side to the origin o, h2 represents the vertical distance from the mounting point of the transmission line on the tower on the opposite side to the origin o, l represents the span, and a, b, c, k, and m are all equation coefficients.

[0243] For formulas that cannot be directly presented in the xoy coordinate system, y is not used. n Series description for easy distinction.

[0244] The sag equation of the transmission line in a static state is: f0(x) = y1-y0 = -ax 2 In this embodiment, the sag of any point of the transmission line at the time of image acquisition is obtained by monitoring to calculate the value a, where the maximum sag value f of the transmission line in a static state can be used. max Calculate the a value. The specific monitoring method can be to use the method disclosed in the document CN117274818A or CN117589069A to obtain the sag value at the maximum sag of the transmission line, that is, the maximum sag value f max , and then calculate the value of a.

[0245] It is known that the conductor is in a catenary state. Since the sag is less than the span, it is expressed as a parabola in the national grid standards and engineering. The vertical distance between the point on the sag guide line and the line connecting the mounting points at both ends of the conductor, combined with the principle characteristics of the conductor parabola, the conductor has the largest sag at the span of l / 2. The verification method is: take the derivative of the conductor sag equation f0(x) of the transmission conductor in a static state and get f0′(x)=-2ax+al, let f′(x)=0, get x=l / 2, that is, the maximum sag of the transmission conductor in a static state is at l / 2 of the transmission conductor, then: f max =-al 2 / 4+al 2 / 2, we get: a = 4f max / l 2 .

[0246] Substituting the above a value into y0, the conductor equation of the transmission line in the static state can be obtained as follows:

[0247]

[0248] Substituting f0(x) at the same time, the sag equation of the transmission line in the static state is obtained as follows:

[0249]

[0250] Moreover, the horizontal position coordinates of each monitoring point on the transmission line in the image data have been determined based on the horizontal position coordinates of each monitoring point on the transmission line in the point cloud data. Therefore, the horizontal position coordinates of each monitoring point on the transmission line in the image data can be directly substituted into the conductor sag equation f0(x) of the transmission line in a static state to calculate the sag value of each monitoring point in the image data.

[0251] Finally, the difference between the sag value of each monitoring point in the image data and the sag value of each corresponding monitoring point in the point cloud data is calculated, that is, the sag difference Δf is obtained. n , denoted as Δf n={Δf1, Δf2, ..., Δf N}.

[0252] Furthermore, in this embodiment, the pixel values ​​of each monitoring point in the image data and the point cloud data can be directly obtained from the fused data, and then the pixel difference Δc between the two can be calculated. n , denoted as Δc n ={Δc1, Δc2, ..., Δc N}.

[0253] Finally, according to the calculated sag difference Δf n and pixel difference Δc n , calculate the physical size represented by each pixel at each monitoring point, specifically: v n =Δf n / Δc n , denoted as v n ={v1, v2, v3, v4, v5, v6}, such as Fig.21 shown.

[0254] There are some public technologies for related point cloud analysis and pixel calculation, such as the method disclosed in the Chinese patent document CN115994854A mentioned in the background technology. The method of this embodiment draws on and develops a suitable solution. The difference is that the pixels and point clouds of each monitoring point of the wire are not completely corresponding after mapping, and the spatial information cannot be directly obtained. However, for a plane with consistent depth information of the image monitoring device, the adjacent point cloud in the plane can be used to determine the depth information of the corresponding wire point in the two-dimensional image.

[0255] Based on the above disclosed method for determining the dancing monitoring points of the power transmission line, the position information of each monitoring point on the power transmission line and the physical size represented by each pixel at each monitoring point can be obtained.

[0256] It should be understood that since the two-dimensional image is larger near and smaller far, the physical size of each pixel at each monitoring point is different. The wire in the point cloud of the field image, the wire position in the image, and the position diagram of each monitoring point are as follows: Fig. 22 shown.

[0257] In summary, this embodiment discloses a method for determining the maximum amplitude point in dancing monitoring, that is, using the parabola principle characteristics of the wire and the dancing motion morphology characteristics to carry out modeling calculations and determine monitoring points, thereby solving the problem of determining the maximum amplitude point. At the same time, it also discloses a method for accurately converting the number of amplitude pixels and the physical amplitude in wire dancing monitoring, and uses multi-source data fusion technology to solve the problem of large amplitude errors in existing analysis methods.

[0258] Embodiment 2,

[0259] Ginseng Figure 2This embodiment provides a method for quantitative analysis of dancing monitoring, which quantitatively analyzes the dancing of a transmission line based on N monitoring points obtained by the method for determining the dancing monitoring points of a transmission line described in Example 1, wherein the N monitoring points are p n ={l / 6, l / 4, 3l / 10, 3l / 8, 5l / 12, l / 2}.

[0260] The method comprises:

[0261] S20. Constructing a conductor equation of the transmission line in a dancing state based on the dancing characteristic parameters of the transmission line, and calculating the vertical position of each monitoring point of the transmission line in different half-wave dancing forms based on the conductor equation of the transmission line in the dancing state.

[0262] Dancing has a development process. After stabilization, its half-wave number, amplitude and frequency remain stable for a certain period of time, usually tens of minutes to several hours.

[0263] In the time dimension, the dancing of a certain point on the wire is a one-dimensional vibration in the vertical direction, and its characteristics conform to the sine or cosine function. Figure 5 shown.

[0264] In this embodiment, the characteristic parameters of the galloping of the transmission line include amplitude A, frequency f and initial phase ψ, so its amplitude-time function A(t) can be expressed as: A(t)=Asin(2πft+ψ); referring to this formula, the amplitude-time function of the peak point when the transmission line gallops can be defined as:

[0265] A max (t) = Asin(2πft+ψ) (5);

[0266] In formula (5), A max (t) represents the amplitude of the peak point at time t, denoted by A max .

[0267] Since the method of this embodiment involves monitoring the amplitude and frequency of the conductor dancing wave crest, and does not involve the derivation of the movement of a certain point or wave crest in the time dimension, the subsequent steps involve A(t), A max (t) The related applications are not expanded in formulas. During the dancing of the wire, at time t0, the amplitude of the peak point is A max (t0), abbreviated as A max The constraint condition at time t0 selected by the method of this embodiment is A max ≠0.

[0268] In the spatial dimension, the analysis of each point on the conductor in the dancing state shows that the conductor is sinusoidal in shape without considering the sag of the conductor, such as Figure 6 shown.

[0269] Assuming the number of half-waves during dancing is n, the conductor equation of the transmission line in the dancing state is:

[0270]

[0271] In formula (6), A max It represents the amplitude of the peak point of the transmission line when it is in a dancing state, n represents the number of dancing half waves, and l represents the span.

[0272] Based on the above formula (6), the vertical position of each monitoring point on the transmission line in the dancing state can be calculated.

[0273] Since the actual dancing of a wire is a superposition of a sine wave and a parabola, taking the dancing of four half waves as an example, the wire in a stationary state and the wire position when the dancing occurs, the point where the dancing amplitude is the largest is the wave crest, and the stationary point is called a node, such as Figure 7 The parabolic shape of the superimposed conductor, at this time, the calculation formula for the vertical position of each monitoring point on the transmission line can be expressed as:

[0274]

[0275] That is, when the conductor is dancing, the calculation of the position of each point on the conductor conforms to the above formula. Then, when subsequently calculating the position of each monitoring point of the transmission line in the dancing state, the result of formula (7) is subtracted from the static state value of each monitoring point calculated by formula (3) to obtain the result of formula (6). This verifies that it is easy and accurate to calculate and subtract the static state value of a certain point on the conductor.

[0276] After obtaining the above-mentioned conductor equation f(x) of the transmission line in the dancing state, combined with the selected N monitoring points p n ={l / 6,l / 4,3l / 10,3l / 8,5l / 12,l / 2}, to quantitatively analyze the galloping of transmission lines.

[0277] It is known that the half-wave number of the transmission line under the galloping form is 1 to 6. Considering that the focus of the analysis is the amplitude, the analysis can be based on the absolute value of the amplitude of the crest point when the transmission line is galloping. Although the amplitude value A of the crest point at different times is max Different, but the relative position of each monitoring point is unchanged, therefore, without considering the conductor sag, the vertical position of each monitoring point under different half-wave dancing forms of the transmission line can be calculated by constructing the conductor equation of the transmission line under the dancing state. Specifically:

[0278] 1) The transmission line is in the dancing state of one half wave, that is, n = 1. At this time, the conductor equation of the transmission line in the dancing state is The vertical position of each monitoring point is as follows: Fig.15As shown,

[0279] f(p1)=f(l / 6)=0.5A max ;

[0280] f(p2)=f(l / 4)≈0.707A max ;

[0281] f(p3)=f(3l / 10)≈0.809A max ;

[0282] f(p4)=f(3l / 8)≈0.924A max ;

[0283] f(p5)=f(5l / 12)≈0.966A max ;

[0284] f(p6)=f(l / 2)=A max ;

[0285] 2) The transmission line is in the dancing state of 2 half waves, that is, n = 2. At this time, the conductor equation of the transmission line in the dancing state is The vertical position of each monitoring point is as follows: Fig.16 As shown,

[0286] f(p1)=f(l / 6)≈0.866A max ;

[0287] f(p2)=f(l / 4)=A max ;

[0288] f(p3)=f(3l / 10)≈0.951A max ;

[0289] f(p4)=f(3l / 8)≈0.707A max ;

[0290] f(p5)=f(5l / 12)=0.5A max ;

[0291] f(p6)=f(l / 2)=0;

[0292] 3) The transmission line is in the dancing state of 3 half waves, that is, n = 3. At this time, the conductor equation of the transmission line in the dancing state is The vertical position of each monitoring point is as follows: Fig.17 As shown,

[0293] f(p1)=f(l / 6)=A max ;

[0294] f(p2)=f(l / 4)≈0.707A max ;

[0295] f(p3)=f(3l / 10)≈0.309A max ;

[0296] f(p4)=f(3l / 8)≈-0.383A max ;

[0297] f(p5)=f(5l / 12)≈-0.707A max ;

[0298] f(p6)=f(l / 2)=-A max ;

[0299] 4) The transmission line is in the dancing state of 4 half waves, that is, n = 4. At this time, the conductor equation of the transmission line in the dancing state is The vertical position of each monitoring point is as follows: Fig.18 As shown,

[0300] f(p1)=f(l / 6)≈0.866A max ;

[0301] f(p2)=f(l / 4)=0;

[0302] f(p3)=f(3l / 10)≈-0.588A max ;

[0303] f(p4)=f(3l / 8)=-A max ;

[0304] f(p5)=f(5l / 12)≈-0.866A max ;

[0305] f(p6)=f(l / 2)=0;

[0306] 5) The transmission line is in the dancing state of 5 half waves, that is, n = 5. At this time, the conductor equation of the transmission line in the dancing state is The vertical position of each monitoring point is as follows: Fig.19 As shown,

[0307] f(p1)=f(l / 6)=0.5A max ;

[0308] f(p2)=f(l / 4)≈-0.707A max ;

[0309] f(p3)=f(3l / 10)=-A max ;

[0310] f(p4)=f(3l / 8)≈-0.383A max ;

[0311] f(p5)=f(5l / 12)≈0.259A max ;

[0312] f(p6)=f(l / 2)=A max ;

[0313] 6) The transmission line is in the dancing state of 6 half waves, that is, n = 6. At this time, the conductor equation of the transmission line in the dancing state is The vertical position of each monitoring point is as follows: Fig. 20 As shown,

[0314] f(p1)=f(l / 6)=0;

[0315] f(p2)=f(l / 4)=-A max ;

[0316] f(p3)=f(3l / 10)≈-0.588A max ;

[0317] f(p4)=f(3l / 8)≈0.707A max ;

[0318] f(p5)=f(5l / 12)=A max ;

[0319] f(p6)=f(l / 2)=0.

[0320] S21. Compare the relative size relationships of the vertical positions of two adjacent monitoring points on the transmission line in turn to determine the characteristics of the transmission line under different half-wave dancing forms.

[0321] In this embodiment, for the convenience of representation, it is agreed that:

[0322] If |f(p n+1 )|>|f(p n )|, recorded as “>”;

[0323] If |f(p n+1 )|=|f(p n )|, recorded as "=";

[0324] If |f(p n+1 )|<|f(p n )|, for the convenience of symbol distinction, “○” is used to represent less than, recorded as “○”.

[0325] According to the vertical positions of the monitoring points of the transmission line under the 1-6 half-wave dancing forms calculated in step S20, the characteristics of the transmission line under the 1-6 half-wave dancing forms can be obtained as follows:

[0326] 1) When the transmission line is in the dancing state of one half wave, that is, n = 1, we have:

[0327] |f(p2)|>|f(p1)|、|f(p3)|>|f(p2)|、|f(p4)|>|f(p3)|、|f(p5)|>|f(p4)|、|f(p6)|>|f(p5|; recorded as feature {>>>>>};

[0328] 2) When the transmission line is in the dancing state of 2 half waves, that is, n = 2, we have:

[0329] f(p2)|>|f(p1)|、|f(p3)|<|f(p2)|、|f(p4)|<|f(p3)|、|f(p5)|<|f(p4)|、|f(p6)|<|f(p5|; recorded as feature {>○○○○};

[0330] 3) When the transmission line is in the dancing state of 3 half waves, that is, n=3, we have:

[0331] |f(p2)|<|f(p1)|、|f(p3)|<|f(p2)|、|f(p4)|>|f(p3)|、|f(p5)|>|f(p4)|、|f(p6)|>|f(p5|; recorded as feature {○○>>>};

[0332] 4) When the transmission line is in the dancing state of 4 half waves, that is, n=4, we have:

[0333] |f(p2)|<|f(p1)|、|f(p3)|>|f(p2)|、|f(p4)|>|f(p3)|、|f(p5)|<|f(p4)|、|f(p6)|<|f(p5|; recorded as feature {○>>○○};

[0334] 5) When the transmission line is in the dancing state of 5 half waves, that is, n=5, we have:

[0335] |f(p2)|>|f(p1)|、|f(p3)|>|f(p2)|、|f(p4)|<|f(p3)|、|f(p5)|<|f(p4)|、|f(p6)|>|f(p5|; recorded as feature {>>○○>};

[0336] 6) When the transmission line is in the dancing state of 6 half-waves, that is, n=6, we have:

[0337] |f(p2)|>|f(p1)|, |f(p3)|<|f(p2)|, |f(p4)|>|f(p3)|, |f(p5)|>|f(p4)|, |f(p6)|<|f(p5)|; recorded as feature {>○>>○}.

[0338] From the above analysis, we can see that there are a total of 6 possible characteristics when dancing occurs, namely {>>>>>, >○○○○, ○○>>>, ○>>○○, >>○○>, >○>>○}. By comparison, we can see that the above characteristics are all different and can be used to determine conductor dancing, distinguish half-wave numbers, and determine tracking monitoring points.

[0339] S22. Determine whether the transmission line is dancing and the number of half-waves of the dancing according to the characteristics of the transmission line in different half-wave dancing forms.

[0340] Specifically, in this embodiment, each monitoring point of the transmission line can be monitored K times continuously. If the characteristics of the transmission line monitoring point monitored m times continuously are the same dancing characteristics, it is determined that the transmission line is dancing; wherein K≥m, and K and m are both positive integers.

[0341] Furthermore, the cloud server analyzes the positional relationship of the six monitoring points and sets a rule that if three consecutive dancing feature analyses meet the same feature, it is determined that the transmission line is dancing.

[0342] When determining the half-wave number of the transmission line galloping, it can be determined according to the characteristics of the transmission line in different half-wave galloping forms, specifically:

[0343] If the characteristics of each monitoring point of the transmission line are {>>>>>}, it is determined to be 1 half-wave dancing;

[0344] If the characteristics of each monitoring point of the transmission line are {>○○○○}, it is determined to be 2 half-wave dancing;

[0345] If the characteristics of each monitoring point of the transmission line are {○○>>>}, it is determined to be 3 half-wave dancing;

[0346] If the characteristics of each monitoring point of the transmission line are {○>>○○}, it is determined to be 4 half-wave dancing;

[0347] If the characteristics of each monitoring point of the transmission line are {>>○○>}, it is determined to be 5 half-wave dancing;

[0348] If the characteristics of each monitoring point on the transmission line are {>○>>○}, it is determined to be 6 half-wave dancing.

[0349] If the characteristics of each monitoring point of the transmission line do not meet the above characteristics, it is determined that the line does not gallop.

[0350] S23. According to the half-wave number of the transmission line dancing and the amplitude of the peak point under the transmission line dancing state, the monitoring points to be tracked in this transmission line dancing monitoring are determined, and the monitoring points to be tracked are continuously tracked and monitored by using image monitoring equipment.

[0351] In this embodiment, the vertical position of the transmission line in the 1-6 half-wave dancing form satisfies the amplitude A of the wave crest point. max The monitoring points are determined as the monitoring points to be tracked in this transmission line dancing monitoring, namely:

[0352] 1) When the transmission line is a dancing half wave, f(p6) = f(l / 2) = A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p6;

[0353] 2) When the transmission line has two dancing half waves, f(p2) = f(l / 4) = A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p2;

[0354] 3) When the transmission line has three dancing half waves, f(p1) = f(l / 6) = A max And f(p6)=f(l / 2)=-A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p1 or p6;

[0355] 4) When the transmission line has 4 dancing half waves, f(p4) = f(3l / 8) = -A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p4;

[0356] 5) When the transmission line has 5 dancing half waves, f(p3) = f(3l / 10) = -A max and f(p6)=f(l / 2)=A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p3 or p6;

[0357] 6) When the transmission line has 6 dancing half waves, f(p2) = f(l / 4) = -A max And f(p5)=f(5l / 12)=A max , then the monitoring point to be tracked in this transmission line dancing monitoring is p2 or p5.

[0358] Since the selected monitoring points are different under different half-wave dancing forms, in this embodiment, the monitoring points to be tracked in the current transmission line dancing monitoring under different half-wave dancing forms are determined by selecting one by one, so that:

[0359] 1) When the transmission line is dancing for one half wave, the monitoring point to be tracked in this transmission line dancing monitoring is p6;

[0360] 2) When the transmission line has two half-waves of dancing, the monitoring point to be tracked in this transmission line dancing monitoring is p2;

[0361] 3) When the transmission line has three half-waves of dancing, the monitoring point to be tracked in this transmission line dancing monitoring is p1;

[0362] 4) When the transmission line has 4 half-waves of dancing, the monitoring point to be tracked in this transmission line dancing monitoring is p4;

[0363] 5) When the transmission line has 5 half-waves of dancing, the monitoring point to be tracked in this transmission line dancing monitoring is p3;

[0364] 6) When the transmission line has 6 dancing half-waves, the monitoring point to be tracked in this transmission line dancing monitoring is p5.

[0365] If the positional relationships of {p1, p2, p3, p4, p5, p6} do not satisfy the above characteristics, it is determined that the wire is not dancing, and the terminal algorithm of the image monitoring device does not track or stops tracking.

[0366] In summary, this embodiment discloses a method for accurately distinguishing conductor dancing from other wind-induced conductor movements in conductor dancing monitoring. It utilizes conductor dancing characteristics and analyzes the position and size relationship of adjacent monitoring points to determine conductor dancing and the number of half-waves of dancing, thereby solving the problem of dancing determination.

[0367] Embodiment 3,

[0368] This embodiment provides a dancing monitoring and control method, which is applied to a cloud-edge collaborative control system, wherein the cloud-edge collaborative control system includes a cloud server and an image monitoring device on the edge for acquiring image data of a transmission line. The method includes:

[0369] The cloud server establishes communication with the image monitoring device;

[0370] The cloud server controls the image monitoring device to collect image data of the power transmission line based on the monitoring strategy and transmits the image data back to the cloud server;

[0371] The cloud server determines whether the power transmission line is dancing based on the monitoring strategy and the image data, and if so, controls the image monitoring device to continuously track and monitor the monitoring points on the power transmission line, otherwise controls the image monitoring device to stop monitoring;

[0372] The monitoring strategy includes setting the image monitoring device to collect image data of the power transmission line at a regular interval, and setting the cloud server to determine whether the power transmission line is dancing based on the image data monitored for m consecutive times.

[0373] Furthermore, the monitoring strategy includes setting the image monitoring device to collect image data of the power transmission line every 5 minutes, and setting the cloud server to determine whether the power transmission line is dancing based on the image data of three consecutive monitorings.

[0374] Image monitoring equipment can collect image and video data, and can interact with cloud servers. It has policy control functions, can upload image, video data, structured data, and receive cloud server instructions. Image monitoring equipment can capture images and videos on a scheduled or active basis, and can also continuously shoot videos. The video data can be set to shoot for a duration, which is generally 15 to 60 seconds. The video frame rate is generally 25 frames per second, which can be adjusted to 60 frames per second as needed. Image monitoring equipment has computing power, which is commonly 1 to 4 TOPS.

[0375] During the season when dancing is prone to occur, the image monitoring equipment can be set to collect an image every 5 minutes and upload it to the cloud server. The cloud-based mathematical model can be used to analyze each monitoring point in the image to determine whether dancing has occurred.

[0376] And set that if three consecutive monitorings are consistent with the same half wave number of dancing, it is determined that dancing has occurred and the state has stabilized. At this time, the cloud server will follow the monitoring point p n , the physical size v represented by each pixel of the monitoring point n The monitoring strategy is sent to the image monitoring device, and the image monitoring device is controlled to continuously monitor the monitoring point p n Monitor until it is determined that the wire has no dancing and then stop monitoring.

[0377] In this embodiment, the results of three consecutive monitorings are used to perform quantitative analysis on the conductor galloping, which can not only filter the development state of the galloping, but also filter the coincidental state caused by other wind-induced abnormal movements of the conductor.

[0378] It should be understood that the image acquisition time interval and the number of continuous monitoring times can be modified according to business needs. For example, when the image acquisition time interval and the number of continuous monitoring times are set to be once per minute and 10 times of continuous monitoring, the wire is judged to be galloping and the state is stable when the galloping of a certain half wave number is met. The recommended values ​​given by the method in this embodiment are more reasonable.

[0379] The battery module of the image monitoring device can be charged by solar energy. Since high-frequency image acquisition consumes more power and reduces the battery life of the device, and low-frequency acquisition may not be able to detect the dancing of the wire in time, it is more reasonable to set it to enter the continuous monitoring state within fifteen minutes, considering the development process and duration of the dancing. Unless otherwise specified in the following statements, the default image acquisition interval is 5 minutes and 3 consecutive monitoring confirmations.

[0380] After receiving the relevant parameters and instructions, the image monitoring device will first collect a 60s video and send it back to the cloud server for archiving. Then it will start the video mode for continuous monitoring and track the monitoring point p based on the optical flow method. n , record its maximum amplitude and convert it into physical amplitude, use the image interval frame number and default frame rate of the point reaching the maximum amplitude point multiple times to calculate the frequency, and upload it to the cloud server. The optical flow method and amplitude frequency calculation process used here are both existing technologies, so they will not be repeated here.

[0381] The image monitoring device takes an image every 5 minutes, which is used by the cloud mathematical model to track the dancing shape of the wire. If the dancing shape of the wire is confirmed to change after three consecutive monitorings, a new instruction will be sent to collect a 60s video and send it back to the cloud server for archiving, and the video monitoring will not stop; if the dancing of the wire is confirmed to stop after three consecutive monitorings, the cloud server will send a termination monitoring instruction to the image monitoring device, and the image monitoring device will collect a 60s video and send it back to the cloud server for archiving. This dancing monitoring ends.

[0382] The above-mentioned cloud-edge collaborative control method has the characteristics of low traffic, high timeliness, and low equipment computing power requirements. It solves the problem that cloud servers need a large amount of 4G / 5G transmission traffic and poor timeliness to analyze videos. It also solves the problem of low computing power and limited tracking points of image monitoring equipment.

[0383] In terms of traffic transmission, the main data uploaded to the cloud server by this method is image data, and only a few archived videos need to be transmitted, consuming little traffic.

[0384] In terms of timeliness, the dancing monitoring of this method is completed under real-time monitoring by image monitoring equipment, and structured data such as the conductor dancing frequency and amplitude are transmitted to the cloud server in real time.

[0385] In terms of the computing power of image monitoring equipment, this method is presented based on the analysis of a single-phase split conductor or a branch conductor in a multi-phase split conductor. In actual monitoring, multi-phase conductors and ground wires can also be monitored simultaneously. Taking a double-circuit AC line as an example, if all ground wires are monitored, the cloud server needs to analyze 8 groups of 6 monitoring points, or 48 points, while the image monitoring equipment only needs to monitor 8 points, which can be met by the computing power of general image monitoring equipment.

[0386] In summary, this embodiment discloses a cloud-edge collaborative control technology in the field of power transmission line dancing monitoring. The cloud server determines the monitoring points, judges the dancing, and calculates the physical dimensions. The image monitoring device monitors the wire dancing amplitude and calculates the dancing frequency, which solves the problems of large video transmission traffic and low computing power of image monitoring equipment.

[0387] The effectiveness of the methods described in the above embodiments 1-3 is verified below in combination with specific application examples.

[0388] The applications of the above methods mainly include:

[0389] 1) The image monitoring device collects images every 5 minutes and uploads them to the cloud server for analysis. Based on the monitoring point p selected in Example 1, n = {p1, p2, p3, p4, p5, p6}, determine the position of each monitoring point on the transmission line, and record the pixel coordinates of each monitoring point in the image, as well as the physical size v represented by each pixel of each monitoring point n ={v1, v2, v3, v4, v5, v6}.

[0390] 2) Using the sag calculation principle given in Example 1 and the physical size v represented by each pixel at each monitoring point n ={v1, v2, v3, v4, v5, v6}, use the method of Example 2 to calculate the vertical position of each monitoring point after subtracting the corresponding static state value, and analyze the relationship between the vertical positions of each monitoring point.

[0391] 3) According to the monitoring point p n = The relative size relationship of the vertical position between two adjacent monitoring points in {p1, p2, p3, p4, p5, p6} determines whether the conductor is dancing, distinguishes the number of half-waves of dancing, and determines the monitoring point p for subsequent tracking n .

[0392] 4) Set the monitoring point p n The position and physical size v represented by each pixel n Sent to the image monitoring device.

[0393] 5) The image monitoring device continuously shoots video and tracks the monitoring point p based on the optical flow method. n , record its maximum amplitude and convert it into physical amplitude, calculate the frequency, and upload it to the cloud server.

[0394] 6) Perform subsequent continuous monitoring or stop monitoring according to the monitoring strategy set in Example 3.

[0395] Specifically, in this application example, some sections of a 220kV line are prone to ice and dancing. A body abnormality monitoring system based on fiber grating sensors is deployed on site, and its monitoring accuracy of the dancing amplitude can reach centimeters, which can be used to verify and detect other monitoring methods.

[0396] On December 11, 2023, the weather forecast predicted that there would be heavy rainfall in the area in the future, and ice dancing might occur at the site. To verify the feasibility and accuracy of this method, corresponding deployment was carried out at the site on the 12th of that month. This application example describes the monitoring of a branch conductor of the B-phase conductor.

[0397] The line is a double-circuit 220kV transmission line, using two split conductors with a span of 351.39m. The mounting point of the B-phase conductor on the tower on this side is 24.27m above the ground, and the height difference between it and the mounting point of the other conductor is -0.1m. The laser point cloud data of the line was collected in August of that year, and the point cloud density was greater than 200 points / m 2 In summary, that is: l = 351.39m, h1 = 24.27m, h2 = 24.17m.

[0398] Based on the above parameters, perform the following steps:

[0399] Step 1. On the 12th of the month, the existing image monitoring equipment on the tower was used to collect images of the transmission channel and conductors. At this time, the conductors were in a static state and the image resolution was 3264*2448. The device can collect image and video data and interact with the cloud server. It has policy control functions, such as uploading images, video data, structured data, and receiving cloud server instructions. The image monitoring device can capture images and videos at a scheduled or active time, and can also continuously shoot videos. The video frame rate supports up to 60 frames per second and the computing power is 2TOPS.

[0400] Step 2: Use the fiber grating sensor to measure the maximum sag of the wire during image acquisition, which is 5.36m, denoted as f max1 =5.36m.

[0401] step3. According to the monitoring points {p1, p2, p3, p4, p5, p6} corresponding to {l / 6, l / 4, 3l / 10, 3l / 8, 5l / 12, l / 2} respectively, and the known span l = 351.39m, it can be obtained that the horizontal positions of the monitoring points on the conductor correspond to {58.57m, 87.85m, 105.42m, 131.77m, 146.41m, 175.70m} respectively.

[0402] Step 4: Analyze the laser point cloud data of this section and get the maximum sag of 7.73m, recorded as f max2 =7.73m.

[0403] step5. Set l = 351.39m, h1 = 24.27m, h2 = 24.17m, f max1 =5.36m,f max2 =7.73m Substitute into the conductor equation of the transmission line in the static state The position information of each point on the wire can be calculated, and the sag difference Δf of each monitoring point in the image data and the point cloud data can be calculated. n ={Δf1, Δf2, Δf3, Δf4, Δf5, Δf6} correspond to {1.32m, 1.78m, 1.99m, 2.22m, 2.30m, 2.37m} respectively. The stationary conductor and monitoring point positions scaled in proportion to the physical dimensions are shown in the figure below. Fig.23 shown.

[0404] Step 6: Fuse the laser point cloud data with the two-dimensional image and determine the location of the calibration point. The physical line drawing of the static wire in the fused data is as follows: Fig.24 shown.

[0405] Step 7. In the fused data with a resolution of 3264*2448, obtain the pixel difference Δc corresponding to each monitoring point of the wire in the laser point cloud and the wire in the image. n ={Δc1, Δc2, Δc3, Δc4, Δc5, Δc6} correspond to {132px, 124px, 117px, 109px, 103px, 86px} respectively. According to the formula v n =Δf n / Δc n , the physical size v represented by each pixel at each monitoring point can be calculated n ={v1, v2, v3, v4, v5, v6} correspond to {0.9975cm, 1.4335cm, 1.7016cm, 2.0384cm, 2.2370cm, 2.7558cm} respectively.

[0406] Step 8. Set the image monitoring device to collect images every 5 minutes. The cloud server continuously monitors the conductor dancing and updates the pixel position px of each monitoring point in the two-dimensional image when the conductor is stationary. n .

[0407] step9. On the 14th of that month, heavy rainfall occurred at the site, with freezing rain and snow, accompanied by strong winds.

[0408] The maximum sag at the moment when the conductor is nearest to rest is f max =6.24m, and the position of each monitoring point when the conductor is nearest to rest is recorded as y pn, and the values ​​are calculated to be {20.79m, 19.56m, 19.00m, 18.38m, 18.16m, 17.98m} respectively.

[0409] Step 10. At 13:20 on the same day, the cloud server analyzes the images collected by the image monitoring equipment and compares the latest pixel positions of each monitoring point in the two-dimensional image when the wire is stationary. n , pixel difference Δc n There has been a significant change, with values ​​being {322px, 158px, 58px, -60px, -101px, -116px}.

[0410] Using Δv n The calculated deviations of the monitoring points from the stationary conductor are {3.21m, 2.27m, 0.99m, -1.23m, -2.27m, -3.21m}.

[0411] By comparing the relative position size relationship between two adjacent monitoring points, it can be seen that they satisfy: |f(p2)|<|f(p1)|, |f(p3)|<|f(p2)|, |f(p4)|>|f(p3)|, |f(p5)|>|f(p4)|, |f(p6)|>|f(p5)|, which meets the three half-wave dancing characteristics {○○>>>}, and the number of recorded monitoring times is 1.

[0412] step11. At 13:25 on the same day, the cloud server analyzes the images collected by the image monitoring device and compares the latest pixel position px under the stationary wire. n , pixel difference Δc n There are still large changes, and the values ​​are {-262px, -129px, -47px, 49px, 82px, 95px}.

[0413] Using Δv n Calculation shows that the deviation of each monitoring point from the stationary conductor position is {-2.61m, -1.85m, -0.81m, 1.00m, 1.85m, 2.61m}.

[0414] By comparing the relative position size relationship between two adjacent monitoring points, it can be seen that they satisfy: |f(p2)|<|f(p1)|, |f(p3)|<|f(p2)|, |f(p4)|>|f(p3)|, |f(p5)|>|f(p4)|, |f(p6)|>|f(p5)|, which conforms to the three half-wave dancing characteristics {○○>>>}, and the number of recorded monitoring times is 2.

[0415] step12. At 13:30 on the same day, the cloud server analyzes the images collected by the image monitoring device and compares the latest pixel position px under the stationary wire. n, pixel difference Δc n There are still large changes, with values ​​of {507px, 250px, 92px, -95px, -160px, -184px}.

[0416] Using Δv n Calculation shows that the deviation of each monitoring point from the stationary conductor position is {5.06m, 3.58m, 1.56m, -1.94m, -3.58m, -5.06m}.

[0417] By comparing the relative position size relationship between two adjacent monitoring points, it can be seen that they satisfy: |f(p2)|<|f(p1)|, |f(p3)|<|f(p2)|, |f(p4)|>|f(p3)|, |f(p5)|>|f(p4)|, |f(p6)|>|f(p5)|, which meets the three half-wave dancing characteristics {○○>>>}, and the number of monitoring records is 3.

[0418] If the results of three consecutive monitorings are consistent with the galloping of the same half-wave number, it is determined that the wire is galloping and the state is stable. According to the above three consecutive monitoring results, it is found that they all meet the three half-wave galloping characteristics, so the monitoring point p that the terminal algorithm of the image monitoring device needs to track later can be determined. n The point is point p1, which is 58.57m along the wire.

[0419] Step 13. The cloud server sends data to the image monitoring device, that is, continuous monitoring of the conductor p1 point at 58.57m, with a physical size of 0.9975cm per pixel.

[0420] Step 14: The image monitoring device receives the command, collects 60s of video and uploads it to the cloud server. Based on key point tracking technology, such as the optical flow method, it continuously monitors the conductor P1 at 58.57m. After 5 minutes of data collection, the average maximum pixel difference is 558px, and the maximum vertical amplitude of the conductor dancing is calculated to be 5.57m.

[0421] The video frame rate collected by the image monitoring device is 25 frames per second. During the 5-minute continuous monitoring, a total of 37 peaks were detected, totaling 7344 frames, or 293.72 seconds, and the calculated frequency was 0.126 Hz. Figure 5 Similar, they are no longer listed separately here.

[0422] step15. From 16:05 to 16:15 on the same day, the cloud server analyzed the images collected by the image monitoring device and found that the characteristics of three consecutive monitorings were {>>○○>, no dancing characteristics, no dancing characteristics}, which confirmed that the dancing of the wire had stopped. The cloud server will send a termination monitoring instruction to the image monitoring device.

[0423] Step 16: The image monitoring device receives the command and stops video monitoring. It collects 60 seconds of video and uploads it to the cloud server for archiving. This monitoring ends.

[0424] Furthermore, the data from step 10 to step 12 are analyzed in detail, and the fusion data is used to generate the physical traces of the monitoring wire and the static wire for three times. Fig.28 The schematic diagram of the location of each monitoring point of the 3rd monitoring wire is shown in Fig.25 After a thorough analysis of the data, the three monitoring wires, static wires, and monitoring point locations with proportional physical dimensions are obtained as shown in Fig.26 As shown. According to the position y of each monitoring point at the moment when the wire is most recently stationary in step 9 pn , the schematic diagram can be obtained as Fig. 27 The above analysis can confirm that the conductor movement is indeed galloping.

[0425] The conductor movement monitoring equipment based on fiber grating sensors also detected the conductor movement, but did not monitor the half-wave number.

[0426] In step 14, the maximum amplitude of the wire movement detected by the fiber grating sensor-based wire movement monitoring device during this period is 5.69m, the inclination is 7.3°, and the frequency is 0.124Hz. The vertical amplitude is calculated to be The monitoring result of this method is 5.57m, which is basically consistent with that of the control method.

[0427] In the above-mentioned embodiments and application examples, based on the method disclosed in the present invention, the problems of accurately identifying dancing, accurately tracking the maximum amplitude point, and solving the large error in the conversion between the number of amplitude pixels and the physical amplitude in video-based conductor dancing monitoring are solved, and quantitative analysis of dancing is realized, providing reliable data support for operation and maintenance personnel to determine response strategies and improve power transmission stability and intelligent operation and maintenance levels.

[0428] Embodiment 4,

[0429] This embodiment provides a device for implementing a method for determining a galloping monitoring point of a transmission line, the device comprising:

[0430] A data acquisition module is used to respectively acquire image data and point cloud data of the transmission line, and fuse the image data and point cloud data; wherein the image data is a two-dimensional image, acquired by an image monitoring device fixedly installed on a tower at either end of the transmission line; the point cloud data is a three-dimensional array representing the coordinates of a space point, acquired by scanning with a laser radar mounted on a drone;

[0431] The monitoring point determination module is used to select N monitoring points on the transmission line to determine the transmission line galloping and half-wave number, denoted as p n ={p1, p2, ..., p N}, where n∈[1,N], and n and N are both positive integers;

[0432] The first calculation module is used to determine the position of each monitoring point on the transmission line in the image data based on the position of each monitoring point on the transmission line in the point cloud data in the fused data, and calculate the sag difference between each monitoring point in the image data and the point cloud data, recorded as Δf n ={Δf1, Δf2, ..., Δf N}, and calculate the pixel difference between each monitoring point in the image data and the point cloud data, denoted as Δc n ={Δc1, Δc2, ..., Δc N}, according to the sag difference Δf n and pixel difference Δc n Calculate the physical size represented by each pixel at each monitoring point, recorded as v n = {v1, v2, ..., v N}.

[0433] Embodiment 5,

[0434] This embodiment provides a device for implementing a dancing monitoring and quantitative analysis method, the device comprising:

[0435] The second calculation module is used to construct a conductor equation of the transmission line in a dancing state based on the dancing characteristic parameters of the transmission line, and calculate the vertical position of each monitoring point of the transmission line in different half-wave dancing forms based on the conductor equation of the transmission line in the dancing state;

[0436] A comparison module is used to sequentially compare the relative size relationship of the vertical positions of two adjacent monitoring points of the transmission line to determine the characteristics of the transmission line under different half-wave dancing forms;

[0437] A judgment module, used to judge whether the transmission line is dancing and the number of half-waves of the dancing according to the characteristics of the transmission line in different half-wave dancing forms;

[0438] The module for determining the monitoring points to be tracked is used to determine the monitoring points to be tracked in this transmission line dancing monitoring according to the half-wave number of the transmission line dancing and the amplitude of the peak point under the transmission line dancing state, and use image monitoring equipment to continuously track and monitor the monitoring points to be tracked.

[0439] Embodiment 6,

[0440] This embodiment provides an electronic device, including:

[0441] at least one processor; and

[0442] A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to execute the above-mentioned method for determining the transmission line dancing monitoring point, the method for quantitative analysis of the dancing monitoring, and the method for controlling the dancing monitoring.

[0443] In this embodiment, the electronic device may include, but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile computing devices, smart phones, tablet computers, cellular phones, personal digital assistants (PDAs), handheld devices, messaging devices, wearable computing devices, consumer electronic devices, and the like.

[0444] Embodiment 7,

[0445] This embodiment also provides a machine-readable storage medium storing executable instructions, which, when executed, enable the machine to execute the above-mentioned method for determining the transmission line dancing monitoring points, the method for quantitative analysis of the dancing monitoring, and the method for controlling the dancing monitoring.

[0446] Specifically, a system or device equipped with a readable storage medium can be provided, on which software program codes that implement the functions of any of the above-mentioned embodiments are stored, and a computer or processor of the system or device can read and execute instructions stored in the readable storage medium.

[0447] In this case, the program code itself read from the machine-readable medium can realize the function of any one of the above embodiments, and thus the machine-readable code and the machine-readable storage medium storing the machine-readable code constitute part of this specification.

[0448] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer or a cloud via a communication network.

[0449] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0450] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0451] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0452] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0453] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A method for determining a transmission line dancing monitoring point, characterized in that: The method comprises: S10, respectively acquiring image data and point cloud data of the transmission line, and fusing the image data and point cloud data; wherein the image data is a two-dimensional image, acquired by an image monitoring device fixedly installed on a pole tower at either end of the transmission line; and the point cloud data is a three-dimensional array representing spatial point coordinates, acquired by scanning with a laser radar mounted on a drone; S11. Select N monitoring points on the transmission line to determine the transmission line galloping and half-wave number, denoted as p n ={p1,p2,...,p N }, where n∈[1,N], and n and N are both positive integers; S12, in the fused data, determining the position of each monitoring point on the transmission line in the image data based on the position of each monitoring point on the transmission line in the point cloud data, and calculating the sag difference of each monitoring point in the image data and the point cloud data, respectively, recorded as Δf n ={Δf1,Δf2,...,Δf N }, and calculate the pixel difference between each monitoring point in the image data and the point cloud data, denoted as Δc n ={Δc1,Δc2,...,Δc N }, according to the sag difference Δf n and pixel difference Δc n Calculate the physical size represented by each pixel at each monitoring point, recorded as v n ={v1,v2,...,v N }.

2. The method for determining the transmission line dancing monitoring point according to claim 1, characterized in that: In the step S11, the number of half-waves in the dancing state of the transmission line is 1-M, M>1 and is a positive integer, and in each half-wave dancing state, the number of monitorable points on the transmission line is at least one.

3. The method for determining the transmission line dancing monitoring point according to claim 2, characterized in that: In the step S11, the number of half waves of the transmission line in the dancing state is 1 to 6, and: For a half-wave dancing pattern, the monitorable point on the transmission line is {l / 2}; For the dancing form of 2 half waves, the monitorable points on the transmission line are {l / 4,3l / 4}; For the dancing form of 3 half waves, the monitorable points on the transmission line are {l / 6, 3l / 6, 5l / 6}; For the dancing form of 4 half waves, the monitorable points on the transmission line are {l / 8, 3l / 8, 5l / 8, 7l / 8}; For the dancing form of 5 half waves, the monitorable points on the transmission line are {l / 10, 3l / 10, 5l / 10, 7l / 10, 9l / 10}; For the dancing form of 6 half waves, the monitorable points on the transmission line are {l / 12, 3l / 12, 5l / 12, 7l / 12, 9l / 12, 11l / 12}; Among them, l represents the spacing between the pole towers at both ends of the transmission line; and the selected monitorable points are different under different half-wave dancing forms.

4. The method for determining the transmission line dancing monitoring point according to claim 3, characterized in that: In the step S11, N monitoring points are selected from the monitoring points of the transmission line under different half-wave dancing forms to determine the dancing of the transmission line and the number of half-waves, and the N monitoring points are p n ={l / 6,l / 4,3l / 10,3l / 8,5l / 12,l / 2}.

5. The method for determining the transmission line dancing monitoring point according to claim 1, characterized in that: The method also includes: constructing an xoy coordinate system based on the transmission line and the mounting tower, wherein the xoy coordinate system takes the tower base on the side where the image monitoring device is installed as the origin o, the extension direction of the transmission line as the x-axis, and the direction perpendicular to the tower base as the y-axis.

6. The method for determining the transmission line dancing monitoring point according to claim 5, characterized in that: The method further includes: constructing a conductor equation of the transmission line in a static state based on the constructed xoy coordinate system, wherein the conductor equation of the transmission line in a static state conforms to a parabola equation, that is, y0=ax 2 +bx+c, the line equation between the mounting points at both ends of the transmission line is y1=kx+m, then: In formulas (1) and (2), h1 represents the vertical distance between the mounting point of the transmission line on the tower on the same side and the origin o, h2 represents the vertical distance between the mounting point of the transmission line on the tower on the opposite side and the origin o, l represents the span, and a, v, c, k, and m are all equation coefficients; Moreover, the conductor sag equation of the transmission line in a static state is: f0(x)=y1-t0=-ax 2 +alx, the sag of any point of the transmission line at the time of image acquisition is obtained by monitoring, and the value a is calculated. Here, the maximum sag value f of the transmission line in a static state is used. max Calculate the value of a and derive the conductor sag equation f0(x) of the transmission line in a static state to obtain: f0′(x)=-2ax+al, let f′(x)=0, then x=l / 2, that is, the maximum sag of the transmission line in the static state is at l / 2 of the transmission line, then: f max =-al 2 / 4+al 2 / 2, we get: a = 4f max / l 2 ; Substituting the above α value into y0, the conductor equation of the transmission line in the static state is obtained as follows: Substituting the above value of a into f0(x), the conductor sag equation of the transmission line in the static state is obtained as follows:

7. The method for determining the transmission line dancing monitoring point according to claim 6, characterized in that: In step S12, the position of each monitoring point on the transmission line in the image data is determined based on the position of each monitoring point on the transmission line in the point cloud data, and the sag difference Δf of each monitoring point in the image data and the point cloud data is calculated respectively. n , specifically including: In the fused data, points corresponding to the monitoring points in the point cloud data in the vertical direction are found in the image data, which are the corresponding monitoring points in the image data, and the horizontal position coordinates of the monitoring points in the image data on the transmission line are determined according to the horizontal position coordinates of the monitoring points in the point cloud data on the transmission line; Substituting the horizontal position coordinates of each monitoring point on the transmission line in the image data into the conductor sag equation f0(x) of the transmission line in a static state, and calculating the sag value of each monitoring point in the image data; Calculate the difference between the sag value of each monitoring point in the image data and the sag value of each corresponding monitoring point in the point cloud data, that is, obtain the sag difference Δf n .

8. The method for determining the transmission line dancing monitoring point according to claim 1, characterized in that: In step S12, according to the sag difference Δf n and pixel difference Δc n Calculate the physical size of each pixel at each monitoring point, specifically: v n =Δf n / Δc n .

9. A device for implementing a method for determining a transmission line dancing monitoring point, characterized in that: The device comprises: A data acquisition module is used to respectively acquire image data and point cloud data of the transmission line, and fuse the image data and point cloud data; wherein the image data is a two-dimensional image, acquired by an image monitoring device fixedly installed on a tower at either end of the transmission line; the point cloud data is a three-dimensional array representing the coordinates of a space point, acquired by scanning with a laser radar mounted on a drone; The monitoring point determination module is used to select N monitoring points on the transmission line to determine the transmission line galloping and half-wave number, denoted as p n ={p1,p2,...,p N }, where n∈[1,N], and n and N are both positive integers; The first calculation module is used to determine the position of each monitoring point on the transmission line in the image data based on the position of each monitoring point on the transmission line in the point cloud data in the fused data, and calculate the sag difference between each monitoring point in the image data and the point cloud data, recorded as Δf n ={Δf1,Δf2,...,Δf N }, and calculate the pixel difference between each monitoring point in the image data and the point cloud data, denoted as Δc n ={Δc1,Δc2,...,Δc N }, according to the sag difference Δf n and pixel difference Δc n Calculate the physical size represented by each pixel at each monitoring point, recorded as v n ={c1,c2,...,v N }.

10. An electronic device, characterized in that: include: at least one processor; as well as A memory storing instructions, wherein when the instructions are executed by the at least one processor, the at least one processor executes the method for determining the galloping monitoring point of the power transmission line according to any one of claims 1 to 8.

11. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores executable instructions, which, when executed, enable the machine to perform the method for determining the galloping monitoring points of a power transmission line according to any one of claims 1 to 8.

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