Method and device for determining icing thickness of power line, medium and program

Abstract

The invention discloses a method for determining the icing thickness of a power line, and relates to the technical field of power line detection, and the method comprises the steps: obtaining a first power line point cloud set of the power line in an icing state and a second power line point cloud set of the power line in a non-icing state, determining a first power line morphological function corresponding to the first power line point cloud set and a second power line morphological function corresponding to the second power line point cloud set; according to the first power line morphological function and the second power line morphological function, determining the specific load variation of the power line in the icing state and the non-icing state; and determining the icing thickness of the power line according to the specific load variation of the power line in the icing state and the non-icing state. The detection accuracy and the detection efficiency of the icing thickness of the power line can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power line detection, and in particular to a method, device, medium and program for determining ice thickness of a power line. Background Art

[0002] With the continuous improvement of the national economy and people's living standards, the demand for electricity has increased dramatically. As a key national infrastructure, the safe and stable operation of the power grid has become extremely important. In winter, the problem of icing on transmission lines occurs frequently, posing a serious threat to the safety of the power grid. Therefore, it is particularly important to monitor the icing of transmission lines.

[0003] In the prior art, the method for detecting ice coating on power transmission lines mainly utilizes cameras for detection, usually using digital image edge detection technology to extract the conductor diameter from the acquired video images or images of the power transmission lines, and then indirectly calculate the ice coating thickness of the power lines.

[0004] This type of fixed-point monitoring has a high monitoring accuracy for a certain location, but has a low accuracy and is not efficient when detecting ice coverage on the entire power line. Summary of the invention

[0005] The present invention provides a method, device, medium and program for determining the ice thickness of a power line, which can improve the detection efficiency of the ice thickness of the power line and improve the detection accuracy of the ice thickness of the power line.

[0006] According to one aspect of the present invention, a method for determining ice thickness of a power line is provided, comprising:

[0007] Acquire a first power line point cloud set of the power line in an ice-covered state and a second power line point cloud set of the power line in an un-ice-covered state, and determine a first power line morphology function corresponding to the first power line point cloud set and a second power line morphology function corresponding to the second power line point cloud set;

[0008] Determining a load variation of the power line in an ice-covered state and an ice-free state according to the first power line shape function and the second power line shape function;

[0009] The ice thickness of the power line is determined according to the load variation between the power line in an ice-covered state and in a non-ice-covered state.

[0010] According to another aspect of the present invention, there is provided a device for determining ice thickness of a power line, comprising:

[0011] a power line morphology function determination module, configured to obtain a first power line point cloud set of the power line in an ice-covered state and a second power line point cloud set of the power line in an un-ice-covered state, and determine a first power line morphology function corresponding to the first power line point cloud set and a second power line morphology function corresponding to the second power line point cloud set;

[0012] a load ratio change determination module, configured to determine the load ratio change of the power line in an ice-covered state and an ice-free state according to the first power line shape function and the second power line shape function;

[0013] The ice thickness determination module is used to determine the ice thickness of the power line according to the load change between the power line in an ice-covered state and in a non-ice-covered state.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the ice thickness of the power line according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining ice thickness of a power line as described in any embodiment of the present invention when executed.

[0019] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the method for determining ice thickness of a power line according to any embodiment of the present invention is implemented.

[0020] The technical solution of the embodiment of the present invention can accurately describe the morphological conditions of the power line in the iced state and the un-iced state by acquiring the point cloud data of the power line in the iced state and the un-iced state, and construct the corresponding power line morphological function according to the point cloud data in the iced state and the un-iced state, so as to provide a data basis for the detection of the ice condition of the power line. The load ratio change in different states before and after the power line is iced is determined according to the first power line morphological function and the second power line morphological function, which can provide a data basis for calculating the ice thickness of the power line in the iced state. By determining the ice thickness of the power line according to the load ratio change in the iced state and the un-iced state, the current ice thickness of the power line can be determined according to the load ratio change data after the power line is iced, which can improve the detection efficiency of the ice thickness of the power line and improve the detection accuracy of the ice thickness of the power line.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a flow chart of a method for determining ice thickness of a power line provided according to Embodiment 1 of the present invention;

[0024] Figure 2 is a flow chart of another method for determining ice thickness of a power line provided according to Embodiment 2 of the present invention;

[0025] Figure 3 is a schematic structural diagram of a device for determining ice thickness of a power line provided according to a third embodiment of the present invention;

[0026] Figure 4 It is a structural schematic diagram of an electronic device for implementing the method for determining ice thickness of a power line according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment 1

[0030] Figure 1 This is a flow chart of a method for determining ice thickness of a power line according to a first embodiment of the present invention. This embodiment can be applied to determine the ice thickness of a power line according to the load variation between the power line in an ice-covered state and an un-ice-covered state. This method can be performed by a device for determining ice thickness of a power line. The device for determining ice thickness of a power line can be implemented in the form of hardware and / or software. The device for determining ice thickness of a power line can be configured in an electronic device. Figure 1 As shown, the method includes:

[0031] S110, obtaining a first power line point cloud set of the power lines in an ice-covered state and a second power line point cloud set of the power lines in an un-ice-covered state, and determining a first power line morphology function corresponding to the first power line point cloud set and a second power line morphology function corresponding to the second power line point cloud set.

[0032] Among them, the power line can be a line used to transmit electric energy between two power towers in the power system, and the power line can transmit electric energy from one node to another. The ice-covered state of the power line can be the state of the power line after a layer of ice accumulates on its surface in a low temperature environment. The un-iced state of the power line can be the initial state of the power line, that is, the normal state of the power line without ice accumulation on the surface of the power line. The ice-covered state of the power line may increase the weight and load of the power line, posing a threat to the stable operation of the power system. When the ice is severely covered, it may also lead to serious consequences such as power line breakage and tower collapse. Therefore, it is necessary to detect the ice coverage of the power line in the ice-covered state, so as to avoid accidents, ensure power transmission safety, and ensure stable power consumption.

[0033] Among them, the first power line point cloud set can be a coordinate set of a series of points obtained by drone inspection or ground observation when the power line is in an ice-covered state. The first power line point cloud set can be used to characterize the shape and position of the power line in an ice-covered state. The first power line morphological function can be based on the first power line point cloud set, by using a fitting algorithm to fit or derive a mathematical function, such as a parabolic function of the power line in an ice-covered state obtained by fitting the first power line point cloud set and a pre-set parabolic equation through the least squares method. The first power line morphological function can be used to characterize the geometric shape of the power line in an ice-covered state, such as information such as the degree of bending and position change of the power line in an ice-covered state.

[0034] Among them, the second power line point cloud set can be a coordinate set of a series of points obtained by drone inspection or ground observation when the power line is not covered with ice. The second power line point cloud set can be used to characterize the shape and position of the power line when it is not covered with ice. The second power line morphological function can be based on the second power line point cloud set, and a mathematical function is fitted or derived by using a fitting algorithm, such as a parabolic function of the power line in the un-ice state obtained by fitting according to the second power line point cloud set and a pre-set parabolic equation by the least squares method. The second power line morphological function can be used to characterize the geometric shape of the power line in the un-ice state, such as information such as the degree of bending and position change of the power line in the un-ice state.

[0035] Specifically, when the power line is not covered with ice, the power line is inspected by a drone, and then the point cloud data during the inspection process is exported. By processing and screening the point cloud data, a second power line point cloud set corresponding to the power line in the uncovered state is determined. Based on the second power line point cloud set, a second power line morphological function of the power line in the uncovered state is determined. When the power line is in an iced state due to external environmental reasons or other reasons, the ice coverage of the power line is inspected again by a drone, and the point cloud data of the power line in the iced state is exported. By processing and screening the point cloud data of the power line in the iced state, a first power line point cloud set corresponding to the power line in the iced state is determined. Based on the first power line point cloud set, a first power line morphological function of the power line in the iced state is determined. By acquiring point cloud data of power lines in iced and un-iced states, and constructing corresponding power line morphological functions based on the point cloud data in iced and un-iced states, it is possible to accurately describe the morphological conditions of power lines in iced and un-iced states, provide a data basis for ice detection of power lines, and thus improve the accuracy of calculating the ice thickness of power lines.

[0036] S120: Determine a load variation of the power line in an ice-covered state and a non-ice-covered state according to the first power line shape function and the second power line shape function.

[0037] The load ratio change may be the difference between the load ratio of the power line in an ice-covered state and in an un-ice-covered state. It can be used to characterize the change in the load on the power line due to ice. The load ratio may characterize the load per unit length of the power line. For example, when the power line is in an ice-covered state, the load on the power line will increase due to the weight of ice and possible snow accumulation, thereby increasing the load ratio. On the contrary, when the power line is not ice-covered, its load ratio is at a lower level.

[0038] Exemplarily, after determining the first power line shape function and the second power line shape function, the load ratio of the power line in the iced state and the un-iced state can be determined according to the first power line shape function and the second power line shape function, and the load ratio difference or load ratio of the power line in the iced state and the un-iced state can be determined according to the load ratio of the power line in the iced state and the un-iced state, and other load ratio change information of the power line before and after ice coating; or according to the first power line shape function and the second power line shape function and the mechanical properties of the power line, environmental factors (such as wind speed, temperature) and ice weight and distribution and other conditions, the load ratio change information of the power line before and after ice coating is obtained, and the load ratio change amount of the power line in different states before and after ice coating is obtained according to the load ratio change information. By determining the load ratio change amount of the power line in different states before and after ice coating according to the first power line shape function and the second power line shape function, it is possible to provide a data basis for calculating the ice thickness of the power line in the iced state, thereby improving the accuracy of determining the ice thickness of the power line.

[0039] S130: Determine ice thickness of the power line according to a load ratio change between the power line in an ice-covered state and in a non-ice-covered state.

[0040] Among them, the ice thickness can be determined based on the load change of the power line in the ice-covered state and the un-ice-covered state, combined with the basic parameter data of the power line (such as the cross-sectional area and radius data of the power line, etc.), and is used to characterize the thickness of the ice layer accumulated on the surface of the power line.

[0041] Exemplarily, the radius difference of the power line in the iced state and the un-iced state may be determined based on the load ratio change of the power line in the iced state and the un-iced state, and the ice thickness of the power line may be obtained by the radius difference of the power line in the iced state and the un-iced state. Alternatively, the existing data of the load ratio change of the power line and the ice thickness of the power line may be analyzed to obtain the mathematical relationship between the load ratio change of the power line and the ice thickness of the power line, and then the load ratio change of the power line in the iced state and the un-iced state may be determined, and then the ice thickness of the power line may be determined by combining the load ratio change of the power line in the iced state and the un-iced state and the mathematical relationship between the ice thickness of the power line. Determining the current ice thickness of the power line based on the load ratio change data after the power line is iced can improve the detection efficiency of the ice thickness of the power line and improve the detection accuracy of the ice thickness of the power line.

[0042] The technical solution of the embodiment of the present invention can accurately describe the morphological conditions of the power line in the iced state and the un-iced state by acquiring the point cloud data of the power line in the iced state and the un-iced state, and construct the corresponding power line morphological function according to the point cloud data in the iced state and the un-iced state, so as to provide a data basis for the detection of the ice condition of the power line. The load ratio change in different states before and after the power line is iced is determined according to the first power line morphological function and the second power line morphological function, which can provide a data basis for calculating the ice thickness of the power line in the iced state. By determining the ice thickness of the power line according to the load ratio change in the iced state and the un-iced state, the current ice thickness of the power line can be determined according to the load ratio change data after the power line is iced, which can improve the detection efficiency of the ice thickness of the power line and improve the detection accuracy of the ice thickness of the power line.

[0043] Embodiment 2

[0044] Figure 2 This is a flow chart of another method for determining the ice thickness of power lines provided in accordance with the second embodiment of the present invention. Based on the above embodiment, this embodiment obtains a first power line point cloud set of power lines in an iced state and a second power line point cloud set in an un-iced state, and determines a first power line morphology function corresponding to the first power line point cloud set and a second power line morphology function corresponding to the second power line point cloud set; determines the load ratio change of the power lines in an iced state and an un-iced state according to the first power line morphology function and the second power line morphology function; and further refines the determination of the ice thickness of the power lines according to the load ratio change of the power lines in an iced state and an un-iced state. The same terms as those in the above embodiment are not repeated here. Figure 2 As shown, the method includes:

[0045] S210, obtaining a first power line point cloud set of the power lines in an ice-covered state and a second power line point cloud set of the power lines in an un-ice-covered state, and determining a first power line morphology function corresponding to the first power line point cloud set and a second power line morphology function corresponding to the second power line point cloud set.

[0046] Optionally, determining a first power line morphology function corresponding to the first power line point cloud set and a second power line morphology function corresponding to the second power line point cloud set includes: determining the first power line morphology function corresponding to the first power line point cloud set based on coordinate data of each point cloud data in the first power line point cloud set, wherein the first power line morphology function is a parabolic function of the power lines in an ice-covered state; determining the second power line morphology function corresponding to the second power line point cloud set based on coordinate data of each point cloud data in the second power line point cloud set, wherein the second power line morphology function is a parabolic function of the power lines in an un-iced state.

[0047] The coordinate data of each point cloud data in the first power line point cloud set may be the three-dimensional coordinates of each point on the power line obtained by laser radar scanning or drone photogrammetry when the power line is covered with ice, and the two-dimensional coordinates of each point on the power line determined after conversion. The parabolic function of the power line in the ice-covered state may be obtained by fitting the coordinate data of each point cloud data in the first power line point cloud set by the least squares method, and is used to characterize the overall shape of the power line in the ice-covered state.

[0048] The coordinate data of each point cloud data in the second power line point cloud set may be the three-dimensional coordinates of each point on the power line obtained by laser radar scanning or drone photogrammetry when the power line is not covered with ice, and the two-dimensional coordinates of each point on the power line determined after transformation. The parabolic function of the power line in the un-iced state may be obtained by fitting the coordinate data of each point cloud data in the second power line point cloud set by the least square method, and is used to characterize the overall shape of the power line in the un-iced state.

[0049] Specifically, the first power line morphological function corresponding to the first power line point cloud set is determined based on the coordinate data of each point cloud data in the first power line point cloud set. The point cloud data of the power line in the ice-covered state can be obtained by a drone, and the first power line point cloud set corresponding to the power line is determined by screening and analyzing the point cloud data. The three-dimensional coordinate data of each point cloud data in the first power line point cloud set is determined by determining the origin of a pre-constructed spatial rectangular coordinate system. The three-dimensional coordinate data of each point cloud data in the first power line point cloud set is converted by a pre-set conversion algorithm to obtain the two-dimensional coordinate data corresponding to the three-dimensional coordinate data of each point cloud data in the first power line point cloud set. The parabolic function corresponding to the first power line morphological function corresponding to the first power line point cloud set is obtained by fitting the two-dimensional coordinate data of each point cloud data in the first power line point cloud set by the least squares method.

[0050] Specifically, determining the second power line morphology function corresponding to the second power line point cloud set based on the coordinate data of each point cloud data in the second power line point cloud set can be the same as the above-mentioned process of determining the first power line morphology function corresponding to the first power line point cloud set based on the coordinate data of each point cloud data in the first power line point cloud set, and will not be repeated here.

[0051] Optionally, the following steps may be used to obtain a first power line point cloud set of the power line in an ice-covered state and a second power line point cloud set of the power line in an un-ice-covered state, and determine a first power line morphology function corresponding to the first power line point cloud set and a second power line morphology function corresponding to the second power line point cloud set:

[0052] Step 1: Determine the spatial rectangular coordinates of the connection point between the power tower T1 and the power line in the spatial rectangular coordinate system as (X1, Y1, Z1) and the spatial rectangular coordinates of the connection point between the power tower T2 and the power line in the spatial rectangular coordinate system as (X2, Y2, Z2). For the power tower T1 and the power tower T2, the straight line of the power line between the two power towers can be determined with the connection point of the power line. The straight line can be expressed as:

[0053]

[0054] Among them, X, Y, and Z are the coordinates of any point on the line.

[0055] Step 2: In the absence of wind or low wind speed, the suspended power line is not easy to swing, and it can uniquely determine a plane with the power towers T1 and T2. Therefore, for any point P(X i , Y i , Z i ), we can judge whether they are in the same plane according to the following formula:

[0056]

[0057] When d = 0, it can be determined that the three points are in the same plane. However, in actual measurement, due to the influence of errors, d will not be strictly equal to 0. The screening range can be expanded by setting the threshold H:

[0058] |d| <H

[0059] Among them, H is the set threshold, and the point cloud that meets the requirements is weighted according to the inverse distance weighting

[0060] Step 3: For the filtered power line point cloud, the parabola equation can be used to fit the power lines. Considering that the parabola equation in three-dimensional space is not easy to express, the parabola is converted into a two-dimensional plane xOy for description. The parabola equation in two-dimensional space can be expressed as:

[0061] y=Ax 2 +Bx+C

[0062] In the two-dimensional plane xOy, the x-axis is in the direction between the power towers T1 and T2, and the y-axis is the z-axis of the original power tower in the spatial rectangular coordinate system. The origin O is selected as any power tower point, here T1 is selected, and the coordinates P of the power line point in xOy are o (x o ,y o )for:

[0063]

[0064] After determining the parabolic equation, for a large number of power line point clouds in the iced state and the un-iced state, the least squares method is used to fit the parabola after considering the weight of each point, and the parabolic equations corresponding to the power lines in the iced state and the un-iced state are obtained, and the parabolic equations of the power lines in the iced state are determined as the first power line shape function, and the parabolic equations of the power lines in the un-iced state are determined as the second power line shape function.

[0065] S220, determining a first target ratio and a first cosine value of the power line in an ice-covered state according to the first power line shape function, and determining a second target ratio and a second cosine value of the power line in an un-iced state according to the second power line shape function.

[0066] The first target ratio may be determined according to the coefficient value of the function in the first power line shape function and a pre-constructed formula, which is the ratio of the horizontal stress value of the power line in the ice-covered state to the load value. For example, assuming that the horizontal stress value of the power line in the ice-covered state is σ m , the load ratio of the power line in the ice-covered state is γ m , the first target ratio is D m , then the first target ratio D m It can be expressed as The first cosine value may be a cosine value corresponding to the horizontal angle of the suspension point of the power line in the ice-covered state, which is calculated based on the determined first target ratio and the coefficient value of the function in the first power line shape function. For example, the cosine value corresponding to the horizontal angle of the suspension point of the power line in the ice-covered state is cosβ m , the coefficient value of the quadratic term in the first power line shape function is A m , the first target ratio is D m , then the formula The cosine value corresponding to the horizontal angle of the suspension point of the power line in the ice-covered state is obtained.

[0067] The second target ratio may be determined according to the coefficient value of the function in the second power line shape function and a pre-constructed formula, which is the ratio of the horizontal stress value of the power line in the un-iced state to the specific load value. For example, assuming that the horizontal stress value of the power line in the un-iced state is σ n , the load ratio of the power line in the un-iced state is γ n , then the first target ratio D n It can be expressed as The second cosine value may be a cosine value corresponding to the horizontal angle of the suspension point of the power line in the un-ice-covered state, calculated based on the determined second target ratio and the coefficient value of the function in the second power line shape function. For example, assuming that the cosine value corresponding to the horizontal angle of the suspension point of the power line in the un-ice-covered state is cosβ n, the coefficient value of the quadratic term in the second electric line shape function is A n , the second target ratio is D n , then the formula The cosine value corresponding to the horizontal angle of the hanging point of the power line in the un-iced state is obtained.

[0068] Specifically, determining the first target ratio and the first cosine value of the power line in the ice-covered state according to the first power line shape function may be performed by obtaining a preset mathematical relationship expression, and combining it with the first power line shape function, and calculating the first target ratio and the first cosine value of the power line in the ice-covered state according to the mathematical relationship expression preset by the coefficient value of the function in the first power line shape function. It should be noted that the second target ratio and the second cosine value of the power line in the non-ice-covered state may be determined in the same manner as the above-mentioned process of determining the first target ratio and the first cosine value of the power line in the ice-covered state, which will not be repeated here.

[0069] Optionally, the following steps may be used to determine a first target ratio and a first cosine value of the power line in an ice-covered state according to the first power line shape function, and to determine a second target ratio and a second cosine value of the power line in an un-iced state according to the second power line shape function:

[0070] Step 1: Determine the mathematical expression for the electric line (rigid wire of equal density) hanging at any position in space:

[0071]

[0072] γ is the load ratio of the power line, σ is the horizontal stress at the end point of the power line, cosβ is the cosine value of the horizontal angle of the suspension point of the power line in the un-iced state or in the un-iced state, l is the span (the horizontal distance between the two power towers), and by combining y=Ax 2 +Bx+C gives: Formula

[0073] Step 2: Assume that the horizontal stress value of the power line is σ, the load ratio of the power line is γ, and the target ratio is D, then Will Substitute into The formula is: The formula can be determined by the quadratic coefficient of the power line shape function: From this we can determine By solving the problem, we can get the target ratio of the power line in the ice-covered state and the un-ice-covered state, that is, the value of D, which is given by The cosine value of the horizontal angle of the suspension point of the power line in the iced state and the un-iced state, that is, the value of cosβ, can be solved according to the values ​​of A and D corresponding to the power line in the iced state and the un-iced state.

[0074] S230: Determine a load ratio change of the power line in an un-iced state and in an iced state according to the first target ratio, the first cosine value, the second target ratio, and the second cosine value.

[0075] Optionally, the load ratio change of the power line in an un-iced state and an iced state is determined according to the first target ratio, the first cosine value, the second target ratio and the second cosine value, including: acquiring the span data, the thermal expansion coefficient data and the elastic coefficient data of the power line, as well as the first temperature data of the power line in the iced state and the second temperature data of the un-iced state; determining the load ratio change of the power line in an un-iced state and an iced state according to the span data, the thermal expansion coefficient data, the elastic coefficient data, the first temperature data, the second temperature data, the first target ratio, the first cosine value, the second target ratio and the second cosine value.

[0076] Among them, the span data may be the distance between two adjacent supporting points of the power line (such as a power tower). The thermal expansion coefficient data may be the degree of expansion or contraction of the power line with temperature changes, which is used to characterize the rate of change of the length or volume of the power line when the temperature changes. The elastic coefficient data may be a physical quantity of the ability of the power line to resist deformation when subjected to external force, which is used to characterize the recovery ability of the power line after being subjected to force. The first temperature data may be the temperature data of the power line in an ice-covered state. The second temperature data may be the temperature data of the power line in an un-iced state.

[0077] Optionally, the load variation of the power line in the non-icing state and the ice-covered state may be determined according to the span data, the thermal expansion coefficient data, the elastic coefficient data, the first temperature data, the second temperature data, the first target ratio, the first cosine value, the second target ratio and the second cosine value by the following formula:

[0078]

[0079] Among them, l is the gear spacing data, α is the temperature expansion coefficient data, E is the elastic coefficient data, t m is the first temperature data, t n is the second temperature data, D m is the first target ratio, cosβ m is the first cosine value, D n is the second target ratio, cosβ n is the second cosine value, γ m is the first load ratio of the power line under ice-covered condition, γ n It is the first load ratio value of the power line when it is not covered with ice.

[0080] Optionally, the formula for the load variation of the power line in an un-iced state and an iced state can be derived by the following steps:

[0081] Step 1: Determine the relationship between the load change of the power line in the un-iced state and the iced state and other coefficients of the power line:

[0082]

[0083] Among them, σ n is the horizontal stress value of the power line when the power line is not covered with ice, σ m is the horizontal stress value of the power line under ice-covered state, γ n is the load ratio of the power line in the un-iced state, γ m is the load ratio of the power line under ice-covered condition, t n is the temperature of the power line when it is not covered with ice, t m is the temperature of the power line under ice-covered condition, cosβ n is the cosine value of the horizontal angle of the suspension point of the power line in the un-iced state, cosβ m is the cosine value of the horizontal angle of the suspension point of the power line in the ice-covered state, l is the span, α is the thermal expansion coefficient of the power line, and E is the elastic coefficient of the power line.

[0084] Step 2: Set Will and Substitute into the formula The formula for the load change of power lines in the un-iced state and the iced state can be obtained from

[0085] S240: Determine ice thickness of the power line according to a load ratio change between the power line in an ice-covered state and in a non-ice-covered state.

[0086] Optionally, the ice thickness of the power line is determined based on the load variation between the power line in an ice-covered state and an un-ice-covered state, including: obtaining no-load radius data, no-load density data and cross-sectional area data of the power line; and determining the ice thickness of the power line based on the no-load radius data, no-load density data, cross-sectional area data and load variation.

[0087] The no-load radius data may be the radius of the power line when the power line is not covered with ice. The no-load density data may be the density of the power line when the power line is not covered with ice. The cross-sectional area data may be the cross-sectional area of ​​the power line when the power line is not covered with ice, that is, the size of the cross section of the power line.

[0088] Optionally, the ice thickness of the power line can be determined according to the no-load radius data, no-load density data, cross-sectional area data and load ratio change by the following formula:

[0089]

[0090] Where b is the ice thickness of the power line, d is the no-load radius data of the power line, ρ is the no-load density data of the power line, S is the cross-sectional area data of the power line, γ m -γ n is the load change.

[0091] Alternatively, the formula for the ice thickness of the power line can be obtained by the following steps:

[0092] Step 1: Determine the specific load calculation formula of the power line:

[0093]

[0094] Among them, γ is the specific load value of the power line, m is the mass of the power line per unit length, S is the cross-sectional area of ​​the power line in the un-iced state, and g is a constant.

[0095] Step 2: For the power lines in the un-iced state and the power lines in the iced state, if the density at the power lines is assumed to be equal, the formula for the load difference between the power lines in the un-iced state and the power lines in the iced state is:

[0096]

[0097] Among them, γ m is the load ratio of the power line under ice-covered condition, γ m is the load ratio when the power line is not covered with ice, b is the ice thickness of the power line, S is the cross-sectional area of ​​the power line when it is not covered with ice, and d is the radius of the power line when it is unloaded.

[0098] Step 3: By shifting and reducing the terms in the formula in step 2, we can get the formula for the ice thickness of the power lines.

[0099] The technical solution of the embodiment of the present invention can accurately describe the morphological conditions of the power line in the iced state and the un-iced state by acquiring the point cloud data of the power line in the iced state and the un-iced state, and construct the corresponding power line morphological function according to the point cloud data in the iced state and the un-iced state, so as to provide a data basis for the detection of the ice condition of the power line. The load ratio change in different states before and after the power line is iced is determined according to the first power line morphological function and the second power line morphological function, which can provide a data basis for calculating the ice thickness of the power line in the iced state. By determining the ice thickness of the power line according to the load ratio change in the iced state and the un-iced state, the current ice thickness of the power line can be determined according to the load ratio change data after the power line is iced, which can improve the detection efficiency of the ice thickness of the power line and improve the detection accuracy of the ice thickness of the power line.

[0100] Embodiment 3

[0101] Figure 3 This is a schematic diagram of the structure of a device for determining ice thickness of a power line provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a power line shape function determination module 310, a load ratio change determination module 320 and an ice coating thickness determination module 330.

[0102] Furthermore, the power line morphology function determination module 310 is used to obtain a first power line point cloud set of the power line in an ice-covered state and a second power line point cloud set in an un-ice-covered state, and determine a first power line morphology function corresponding to the first power line point cloud set and a second power line morphology function corresponding to the second power line point cloud set; the load ratio change determination module 320 is used to determine the load ratio change of the power line in an ice-covered state and an un-ice-covered state based on the first power line morphology function and the second power line morphology function; the ice thickness determination module 330 is used to determine the ice thickness of the power line based on the load ratio change of the power line in an ice-covered state and an un-ice-covered state.

[0103] Furthermore, the ice thickness determination module 330 is specifically used to: obtain no-load radius data, no-load density data and cross-sectional area data of the power line; and determine the ice thickness of the power line according to the no-load radius data, no-load density data, cross-sectional area data and load ratio change.

[0104] Furthermore, the ice thickness of the power line can be determined according to the no-load radius data, no-load density data, cross-sectional area data and load ratio change through the following formula:

[0105]

[0106] Where b is the ice thickness of the power line, d is the no-load radius data of the power line, ρ is the no-load density data of the power line, S is the cross-sectional area data of the power line, γ m -γ n is the load change.

[0107] Furthermore, the power line morphology function determination module 310 is specifically used to: determine a first power line morphology function corresponding to the first power line point cloud set based on the coordinate data of each point cloud data in the first power line point cloud set, wherein the first power line morphology function is a parabolic function of the power line in an ice-covered state; determine a second power line morphology function corresponding to the second power line point cloud set based on the coordinate data of each point cloud data in the second power line point cloud set, wherein the second power line morphology function is a parabolic function of the power line in an un-iced state.

[0108] Furthermore, the load ratio change determination module 320 is specifically used to: determine a first target ratio and a first cosine value of the power line in an ice-covered state according to a first power line shape function, and determine a second target ratio and a second cosine value of the power line in an un-iced state according to a second power line shape function; determine the load ratio change of the power line in an un-iced state and in an ice-covered state according to the first target ratio, the first cosine value, the second target ratio and the second cosine value.

[0109] Furthermore, the load ratio change determination module 320 is specifically used to: obtain the span data, thermal expansion coefficient data and elastic coefficient data of the power line, as well as the first temperature data of the power line in an ice-covered state and the second temperature data of the power line in an un-iced state; determine the load ratio change of the power line in an un-iced state and in an ice-covered state according to the span data, thermal expansion coefficient data, elastic coefficient data, first temperature data, second temperature data, first target ratio, first cosine value, second target ratio and second cosine value.

[0110] Furthermore, the load variation of the power line in the non-icing state and the ice-covered state can be determined according to the span data, the thermal expansion coefficient data, the elastic coefficient data, the first temperature data, the second temperature data, the first target ratio, the first cosine value, the second target ratio and the second cosine value by the following formula:

[0111]

[0112] Among them, l is the gear spacing data, α is the temperature expansion coefficient data, E is the elastic coefficient data, t m is the first temperature data, t n is the second temperature data, D m is the first target ratio, cosβ m is the first cosine value, D n is the second target ratio, cosβn is the second cosine value, γ m is the first load ratio of the power line under ice-covered condition, γ n It is the first load ratio value of the power line when it is not covered with ice.

[0113] The device for determining the ice thickness of a power line provided in an embodiment of the present invention can execute the method for determining the ice thickness of a power line provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0114] Embodiment 4

[0115] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0116] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0117] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0118] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for determining the ice thickness of a power line.

[0119] In some embodiments, the method for determining the ice thickness of the power line may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining the ice thickness of the power line described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the method for determining the ice thickness of the power line in any other appropriate manner (e.g., by means of firmware).

[0120] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0121] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0122] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0123] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0124] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0125] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0126] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0127] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining ice thickness of a power line, characterized in that: include: Acquire a first power line point cloud set of the power line in an ice-covered state and a second power line point cloud set of the power line in an un-ice-covered state, and determine a first power line morphology function corresponding to the first power line point cloud set and a second power line morphology function corresponding to the second power line point cloud set; Determining a load variation of the power line in an ice-covered state and an ice-free state according to the first power line shape function and the second power line shape function; The ice thickness of the power line is determined according to the load variation between the power line in an ice-covered state and in a non-ice-covered state.

2. The method according to claim 1, characterized in that: The step of determining the ice thickness of the power line according to the load variation between the power line in an ice-covered state and in an un-ice-covered state comprises: Acquiring no-load radius data, no-load density data and cross-sectional area data of the power line; The ice thickness of the power line is determined according to the no-load radius data, the no-load density data, the cross-sectional area data and the load ratio change.

3. The method according to claim 2, characterized in that The ice thickness of the power line is determined according to the no-load radius data, the no-load density data, the cross-sectional area data and the load ratio change through the following formula: Wherein, b is the ice thickness of the power line, d is the no-load radius data of the power line, ρ is the no-load density data of the power line, S is the cross-sectional area data of the power line, γ m -γ n is the load specific change.

4. The method according to claim 1, characterized in that: The determining of a first power line morphology function corresponding to the first power line point cloud set and a second power line morphology function corresponding to the second power line point cloud set comprises: Determining a first power line shape function corresponding to the first power line point cloud set according to the coordinate data of each point cloud data in the first power line point cloud set, wherein the first power line shape function is a parabolic function of the power line in an ice-covered state; A second power line shape function corresponding to the second power line point cloud set is determined according to the coordinate data of each point cloud data in the second power line point cloud set, wherein the second power line shape function is a parabolic function of the power line in an un-iced state.

5. The method according to claim 1, characterized in that The determining, according to the first power line shape function and the second power line shape function, a load change amount of the power line in an ice-covered state and a non-ice-covered state includes: Determine a first target ratio and a first cosine value of the power line in an ice-covered state according to the first power line shape function, and determine a second target ratio and a second cosine value of the power line in an un-iced state according to the second power line shape function; A load ratio change of the power line in an un-iced state and an iced state is determined according to the first target ratio, the first cosine value, the second target ratio, and the second cosine value.

6. The method according to claim 5, characterized in that The determining, according to the first target ratio, the first cosine value, the second target ratio and the second cosine value, a load ratio change of the power line in an un-iced state and an iced state includes: Acquire span data, thermal expansion coefficient data and elastic coefficient data of the power line, as well as first temperature data of the power line in an ice-covered state and second temperature data of the power line in an un-ice-covered state; The load ratio change of the power line in an un-iced state and an iced state is determined based on the gear span data, the thermal expansion coefficient data, the elastic coefficient data, the first temperature data, the second temperature data, the first target ratio, the first cosine value, the second target ratio and the second cosine value.

7. The method according to claim 6, characterized in that The load variation of the power line in an un-iced state and an iced state is determined according to the span data, the thermal expansion coefficient data, the elastic coefficient data, the first temperature data, the second temperature data, the first target ratio, the first cosine value, the second target ratio and the second cosine value by the following formula: Wherein, l is the gear spacing data, α is the temperature expansion coefficient data, E is the elastic coefficient data, t m is the first temperature data, t n The second temperature data, D m is the first target ratio, cosβ m is the first cosine value, D n is the second target ratio, cosβ n is the second cosine value, γ m is the first load ratio of the power line in the ice-covered state, γ n is the first load ratio value of the power line in an un-iced state.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the ice thickness of a power line as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining the ice thickness of a power line as described in any one of claims 1 to 7 when executed.

10. A computer program product comprising a computer program / instructions, wherein: When the computer program / instructions are executed by a processor, the method for determining the ice thickness of a power line according to any one of claims 1 to 7 is implemented.

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