Sag state detection method and device of power transmission line and detection equipment

Abstract

The invention discloses a sag state detection method and device of a power transmission line and detection equipment. The method comprises the following steps: sending a transmitted waveform to a predetermined plane by adopting a radar ranging sensor in detection equipment, and receiving a returned waveform returned by the predetermined plane based on the transmitted waveform; selecting a target point from the returned waveform, and determining a first coordinate of the target point in a ground coordinate system; correcting the first coordinate based on angle information of the detection equipment collected by a dynamic angle sensor to obtain a second coordinate of the target point in an east-north-sky coordinate system; correcting the second coordinate based on Beidou coordinate information of the target point collected by a Beidou positioning sensor to obtain a third coordinate of the target point in an east-north-sky coordinate system; and determining a sag state detection result of the power transmission line based on the third coordinate. According to the invention, the technical problem of low detection accuracy of a line sag state detection method in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of smart grid detection, and in particular to a method, device and detection equipment for detecting the sag state of a power transmission line. Background Art

[0002] Sag is an important parameter in the design and operation of power transmission lines, and its value can reflect the safety status of line operation. If the sag is too small, the stress on the line will increase, increasing the load on components such as towers and insulators, affecting system performance. If the sag is too large, it will affect the safe distance of the transmission line, and there may be discharge accidents to the ground. In addition, the transmission lines are widely distributed, have large spans, and are difficult to inspect, making it difficult to detect sag anomalies in a timely manner. In related technologies, contact and non-contact sag sensors are mainly used to detect the sag status of the line, but the above methods have problems such as high detection difficulty and low accuracy.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a method, device and detection equipment for detecting the sag state of a power transmission line, so as to at least solve the technical problem of low detection accuracy existing in the line sag state detection method in the related art.

[0005] According to one aspect of an embodiment of the present invention, a method for detecting the sag state of a transmission line is provided, comprising: using a radar ranging sensor in a detection device to send a transmission waveform to a predetermined plane, and receiving a return waveform returned by the predetermined plane based on the transmission waveform, wherein the detection device comprises the radar ranging sensor, a dynamic angle sensor, and a Beidou positioning sensor, and the detection device is installed at a transmission line position; selecting a target point from the return waveform, and determining a first coordinate of the target point in a ground coordinate system; based on the angle information of the detection device collected by the dynamic angle sensor, correcting the first coordinate to obtain a second coordinate of the target point in a northeast celestial coordinate system; based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor, correcting the second coordinate to obtain a third coordinate of the target point in the northeast celestial coordinate system; and determining a sag state detection result of the transmission line based on the third coordinate.

[0006] Optionally, selecting the target point from the return waveform includes: selecting multiple initial points from the return waveform; preprocessing the multiple initial points to obtain a preprocessing result, wherein the preprocessing includes at least one of the following: removing a DC component and adding a Hanning window; and determining the target point from the multiple initial points based on the preprocessing result.

[0007] Optionally, determining the target point from the multiple initial points based on the preprocessing result includes: based on the preprocessing result, using a mean-based two-dimensional constant false alarm algorithm to filter out the target point from the multiple initial points.

[0008] Optionally, determining the first coordinate of the target point in the ground coordinate system includes: obtaining the initial coordinates of the target point in the radar coordinate system and a first transformation matrix between the radar coordinate system and the ground coordinate system; based on the first transformation matrix, converting the initial coordinates to the ground coordinate system to obtain the first coordinates.

[0009] Optionally, the first coordinate is corrected based on the angle information of the detection device collected by the dynamic angle sensor to obtain the second coordinate of the target point in the northeast celestial coordinate system, including: constructing a rotation matrix based on the angle information; obtaining a second transformation matrix between the ground coordinate system and the northeast celestial coordinate system; and correcting the first coordinate based on the rotation matrix and the second transformation matrix to obtain the second coordinate.

[0010] Optionally, when the Beidou coordinate information includes a first Beidou coordinate of the target point collected by the Beidou positioning sensor at a first moment, and a second Beidou coordinate of the target point collected by the Beidou positioning sensor at a second moment, and when the first moment is earlier than the second moment, the second coordinate is corrected based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor to obtain a third coordinate of the target point in the northeast celestial coordinate system, including: calculating the Beidou coordinate difference between the second Beidou coordinate and the first Beidou coordinate; when the Beidou coordinate difference is greater than a preset coordinate difference threshold, the second coordinate is corrected based on the Beidou coordinate information to obtain the third coordinate of the target point in the northeast celestial coordinate system.

[0011] Optionally, when the Beidou coordinate difference is greater than a preset coordinate difference threshold, the second coordinate is corrected based on the Beidou coordinate information to obtain the third coordinate of the target point in the northeast celestial coordinate system, including: when the Beidou coordinate difference is greater than a preset coordinate difference threshold, the first Beidou coordinate and the second Beidou coordinate are converted to the northeast celestial coordinate system to obtain a fourth coordinate and a fifth coordinate; the coordinate difference between the fourth coordinate and the fifth coordinate is calculated to obtain the northeast celestial coordinate difference; based on the northeast celestial coordinate difference, the second coordinate is corrected to obtain the third coordinate.

[0012] According to another aspect of an embodiment of the present invention, a detection device is also provided, including: a radar ranging sensor, a state angle sensor, a Beidou positioning sensor, a spacer and a controller, wherein the radar ranging sensor, the state angle sensor and the Beidou positioning sensor are integrated on the spacer, wherein the controller is connected to the radar ranging sensor, the state angle sensor and the Beidou positioning sensor, and is used to execute any one of the sag state detection methods for the transmission line.

[0013] According to another aspect of an embodiment of the present invention, there is also provided a sag state detection device for a transmission line, comprising: a waveform transmitting and receiving module, used to use a radar ranging sensor in a detection device to send a transmission waveform to a predetermined plane, and receive a return waveform returned by the predetermined plane based on the transmission waveform, wherein the detection device comprises the radar ranging sensor, a dynamic angle sensor, and a Beidou positioning sensor, and the detection device is installed at the transmission line position; a first coordinate determination module, used to select a target point from the return waveform, and determine a first coordinate of the target point in a ground coordinate system; a first coordinate correction module, used to correct the first coordinate based on the angle information of the detection device collected by the dynamic angle sensor, and obtain a second coordinate of the target point in the northeast celestial coordinate system; a second coordinate correction module, used to correct the second coordinate based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor, and obtain a third coordinate of the target point in the northeast celestial coordinate system; a detection result determination module, used to determine the sag state detection result of the transmission line based on the third coordinate.

[0014] Optionally, the above-mentioned first coordinate determination module includes: a first selection submodule, used to select multiple initial points from the return waveform; a first preprocessing submodule, used to preprocess the multiple initial points to obtain a preprocessing result, wherein the preprocessing includes at least one of the following: DC component removal processing, Hanning window processing; a first determination submodule, used to determine the target point from the multiple initial points based on the preprocessing result.

[0015] Optionally, the first determination submodule includes: a first screening submodule, configured to screen out the target point from the multiple initial points based on the preprocessing result and adopting a mean-based two-dimensional constant false alarm algorithm.

[0016] Optionally, the above-mentioned first coordinate determination module includes: a first acquisition submodule, used to obtain the initial coordinates of the target point in the radar coordinate system, and a first transformation matrix between the radar coordinate system and the ground coordinate system; a first conversion submodule, used to convert the initial coordinates to the ground coordinate system based on the first transformation matrix to obtain the first coordinates.

[0017] Optionally, the above-mentioned first coordinate correction module includes: a first construction submodule, used to construct a rotation matrix based on the angle information; a second acquisition submodule, used to acquire a second transformation matrix between the ground coordinate system and the northeast celestial coordinate system; a first correction submodule, used to correct the first coordinate based on the rotation matrix and the second transformation matrix to obtain the second coordinate.

[0018] Optionally, when the Beidou coordinate information includes the first Beidou coordinate of the target point collected by the Beidou positioning sensor at a first moment, and the second Beidou coordinate of the target point collected by the Beidou positioning sensor at a second moment, and the first moment is earlier than the second moment, the above-mentioned second coordinate correction module includes: a first calculation submodule, used to calculate the Beidou coordinate difference between the second Beidou coordinate and the first Beidou coordinate; and a second correction submodule, used to correct the second coordinate based on the Beidou coordinate information when the Beidou coordinate difference is greater than a preset coordinate difference threshold, so as to obtain the third coordinate of the target point in the northeast celestial coordinate system.

[0019] Optionally, the above-mentioned second correction submodule includes: a first conversion submodule, used to convert the first Beidou coordinate and the second Beidou coordinate to the northeast celestial coordinate system to obtain a fourth coordinate and a fifth coordinate when the Beidou coordinate difference is greater than a preset coordinate difference threshold; a second calculation submodule, used to calculate the coordinate difference between the fourth coordinate and the fifth coordinate to obtain the northeast celestial coordinate difference; and a third correction submodule, used to correct the second coordinate based on the northeast celestial coordinate difference to obtain the third coordinate.

[0020] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement any one of the methods for detecting the sag state of a transmission line.

[0021] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores a program, wherein the program executes any one of the methods for detecting the sag state of a power transmission line.

[0022] In an embodiment of the present invention, a radar ranging sensor in a detection device is used to send a transmission waveform to a predetermined plane, and a return waveform returned by the predetermined plane based on the transmission waveform is received, wherein the detection device includes the radar ranging sensor, the dynamic angle sensor, and the Beidou positioning sensor, and the detection device is installed at the position of the transmission line; a target point is selected from the return waveform, and a first coordinate of the target point in a ground coordinate system is determined; based on the angle information of the detection device collected by the dynamic angle sensor, the first coordinate is corrected to obtain a second coordinate of the target point in a northeast celestial coordinate system; based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor, the second coordinate is corrected to obtain a third coordinate of the target point in a northeast celestial coordinate system; based on the third coordinate, the sag state detection result of the transmission line is determined, so as to achieve the purpose of comprehensively screening and correcting the coordinates of the target point based on the radar ranging sensor, the dynamic angle sensor and the Beidou positioning sensor, and accurately detecting the sag state of the transmission line based on the corrected coordinates, thereby achieving the technical effect of improving the accuracy of the sag state detection of the transmission line, and thus solving the technical problem of low detection accuracy in the line sag state detection method in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a flow chart of a method for detecting a sag state of a power transmission line according to an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of the structure of a detection device according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a sag state detection device for a power transmission 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] First, to facilitate understanding of the embodiments of the present invention, some terms or nouns involved in the present invention are explained below:

[0030] The mean-based two-dimensional constant false alarm algorithm (CA-CFAR) is a statistical method for detecting outliers or abnormal behavior. The algorithm is based on the mean and standard deviation of the data set and determines whether it is an outlier by calculating the distance between the data point and the mean.

[0031] Real-Time Kinematic (RTK) technology is a global positioning system technology service used to improve positioning accuracy. RTK technology transmits differential signals between the receiver and the reference station to achieve real-time correction of positioning signals, thereby improving positioning accuracy, usually reaching centimeter-level positioning accuracy.

[0032] Sag is an important parameter in the design and operation of transmission lines, and its value can reflect the safety status of line operation. If the sag is too small, the stress on the line will increase, increasing the load on components such as towers and insulators, affecting system performance. If the sag is too large, it will affect the safe distance of the transmission line, and there may be a discharge accident to the ground. In addition, the transmission lines are widely distributed, have large spans, and are difficult to inspect, making it difficult to detect sag abnormalities in time. Therefore, remote online monitoring of the sag of transmission lines is of great significance for guiding the operation, maintenance and inspection of transmission lines.

[0033] The transmission line sag online monitoring system can monitor the sag in a first-stage overhead transmission line, and transmit the monitoring data to the back-end platform for analysis and display through wireless transmission. According to the different installation locations, it is divided into contact and non-contact sag sensors. Contact sensors are installed on the line to complete the measurement of sag data. Currently, the commonly used ones include inclination measurement, temperature measurement, and distance measurement. Non-contact sensors are installed on towers or on the ground to complete sag data measurement, including tension measurement, image extraction, etc. Commonly used measurement principles are selected here for comparative analysis:

[0034] (1) Inclination measurement type sag sensor. An inclination sensor is installed at the outlet of the line clamp. When calculating the sag, the stiffness of the transmission line is ignored and it is abstracted as a soft rope in an ideal state. The relationship between the inclination and tension, and the tension and sag is expressed by the parabola equation or catenary equation. Then, the sag information is obtained by measuring the inclination. However, in actual lines, the span is large, the inclination is not sensitive to the sag change, and the measurement error is large.

[0035] (2) Temperature measurement type sag sensor. The change of internal tension of the transmission line is mainly caused by the change of temperature or external load. The relationship between the tension change under different working conditions can be expressed by the state equation of the transmission line. Therefore, by measuring the temperature of the transmission line, the horizontal tension of the transmission line at this time and the sag of the line at this temperature can be obtained. However, the transmission line is exposed to the air, and the surface temperature is not much different from the air temperature when measured, so it is difficult to estimate the line tension by detecting the temperature.

[0036] (3) Image feature extraction type sag sensor. It is more intuitive to obtain sag information by analyzing and processing photos of transmission lines. On the one hand, the measurement accuracy is closely related to the image recognition algorithm, and it also places high demands on the installation posture of the camera, which is difficult to achieve on site.

[0037] (4) Distance-measuring sag sensors. These include laser distance measurement, ultrasonic distance measurement, and millimeter-wave radar distance measurement. This type of method calculates the distance from the transmission line to the ground by detecting the echo crossing time, and then obtains sag information. Among them, lasers have strong directionality and relatively accurate measurements, but are easily affected by rain, snow, fog, and other environmental factors; ultrasonic waves have low power and are prone to scattering during transmission, so the measurement distance is limited. Millimeter-wave radars are suitable for complex outdoor environments, but when the transmission line shakes under the action of wind, the swing of the device and the change in posture cause the target detection results to jitter, resulting in a large deviation in the detection results. At the same time, due to the complexity of the transmission scene, the radar detects that the target closest to the transmission line is not directly below the transmission line. In particular, when a moving target enters the measurement area, the radar measurement results will change suddenly, resulting in sag calculation errors.

[0038] (5) Sag sensor based on positioning information. Based on global navigation satellite systems such as Beidou positioning, accurate positioning of sensors on transmission lines can be achieved, providing a new idea for sag measurement. However, when applying positioning technology, it is difficult to accurately monitor the distance to the ground because the ground environment under the transmission line cannot be perceived and there is a lack of clearance information between the transmission line and the ground.

[0039] In summary, the line sag state detection methods in related technologies generally have problems such as great detection difficulty and low accuracy.

[0040] According to an embodiment of the present invention, a method embodiment for detecting the sag state of a transmission line is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0041] Figure 1 is a flow chart of a method for detecting a sag state of a power transmission line according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0042] Step S102, using a radar ranging sensor in a detection device to send a transmission waveform to a predetermined plane, and receiving a return waveform returned by the predetermined plane based on the transmission waveform, wherein the detection device includes a radar ranging sensor, a dynamic angle sensor, and a Beidou positioning sensor, and the detection device is installed at the transmission line position;

[0043] Optionally, the predetermined plane can be the ground, and the radar ranging sensor can transmit one or more waveforms to the predetermined plane; the return waveform corresponds to the transmission waveform one by one, and can also be one or more waveforms, and the return waveform is obtained by reflecting the transmission waveform from the predetermined plane to the radar ranging sensor. The radar ranging sensor transmits and receives waveforms to the predetermined plane, and this process allows the sag state of the transmission line to be monitored in real time without human supervision, significantly improving the monitoring efficiency and reliability. In addition, the combination of radar ranging sensors, dynamic angle sensors and Beidou positioning sensors can comprehensively consider the accuracy of distance measurement, detection equipment attitude deviation and installation position, and through multi-sensor data fusion, effectively improve the accuracy and robustness of sag state detection.

[0044] Step S104, selecting a target point from the returned waveform, and determining a first coordinate of the target point in the ground coordinate system;

[0045] Optionally, the target point may be one or more, and the first coordinate is used to indicate the spatial position information of the transmission line (or radar ranging sensor) relative to the ground in the ground coordinate system. The target point may be selected from multiple initial points selected from the return waveform. It should be noted that in actual application, due to the influence of factors such as weather (such as wind), the detection equipment may be offset relative to the ground. Based on this, the target points can be screened, and the sag state detection of the subsequent transmission line can be performed based on the screened target points, thereby improving the accuracy of the sag state detection of the transmission line.

[0046] In an optional embodiment, selecting a target point from a return waveform includes: selecting multiple initial points from the return waveform; preprocessing the multiple initial points to obtain a preprocessing result, wherein the preprocessing includes at least one of the following: removing a DC component and adding a Hanning window; and determining a target point from the multiple initial points based on the preprocessing result.

[0047] Optionally, by selecting multiple initial points instead of a single point from the return waveform, the stability of the measurement and the reliability of the data can be improved. The data of multiple initial points provides more information, which is helpful for more accurate analysis and judgment in subsequent processing, and reduces the impact caused by single-point errors or anomalies. Preprocessing these initial points includes removing DC components and adding Hanning window processing. Removing DC components can eliminate the interference caused by the bias of the sensor itself and environmental factors such as temperature changes, ensuring the purity of the measurement signal. Adding Hanning window processing is a signal processing technology used to reduce the sidelobe effect in the signal processing process and improve the accuracy of target detection. Determining the target point based on the preprocessing results can ensure that effective information directly related to sag monitoring is screened out from a large amount of data. It can be but not limited to combining the Constant False Alarm Rate (CA-CFAR) algorithm with the Multiple Signal Classification (MUSIC) algorithm to effectively eliminate the interference of non-target signals and accurately estimate the target arrival angle, thereby more accurately determining the position information of the target point in space and providing accurate data for subsequent sag calculation.

[0048] Optionally, when there are L return waveforms, multiple initial points can be preprocessed in the following manner, but not limited to, to obtain a preprocessing result: for L return waveforms returned by L transmission waveforms, each return waveform (i.e., sawtooth chirp) collects N initial points (i.e., multiple, N is an integer greater than or equal to 2), denoted as X1. The two-dimensional data consisting of the N initial points collected based on the L return waveforms is preprocessed by cutting and windowing. The DC component is removed using the following formula to obtain the data after the DC component is removed:

[0049]

[0050] Wherein, i=0, 1, ..., N-1 represents any point among the N initial points collected in each return waveform.

[0051] Further add a Hanning window to the data after removing the DC component to obtain a two-dimensional matrix Y; perform a two-dimensional Fourier transform (Fast Fourier Transform, FFT) on Y of K channels, and obtain the Fourier transform result and record it as Q k(k=0, 1, 2, 3, indicating the identification of any channel among the K channels), and the amplitudes of the FFT data of the K channels are calculated, and the corresponding incoherent accumulation is performed on the obtained amplitudes, and the obtained result is recorded as A, and the preprocessed data of the radar reflection (i.e., the preprocessing result) is obtained.

[0052] In an optional embodiment, determining a target point from a plurality of initial points based on a preprocessing result includes: based on the preprocessing result, using a mean-based two-dimensional constant false alarm algorithm to screen out the target point from the plurality of initial points.

[0053] Optionally, by adopting a mean-based two-dimensional constant false alarm algorithm (CA-CFAR), it is possible to more accurately identify and filter out real target points in complex background interference. The CA-CFAR algorithm calculates the average amplitude in a local area and automatically adjusts the threshold to maintain a constant false alarm rate, reducing the risk of non-target signals (such as clutter, reflections from other objects, etc.) being misjudged as targets, thereby improving the robustness and accuracy of target detection.

[0054] Optionally, based on the preprocessing result, but not limited to, a two-dimensional constant false alarm algorithm based on a mean value is used to select target points from multiple (e.g., N) initial points in the following manner: for the points in the preprocessing data of radar reflection whose amplitude is greater than a preset threshold (CFAR threshold) and is a peak value in two dimensions, their positions in the two-dimensional matrix (R i , V i ), where R i Represents the row of the corresponding point in the two-dimensional matrix, V i Represents the columns of corresponding points in the two-dimensional matrix; the above Q k Take out the FFT data corresponding to each initial point at the corresponding position (complex number) (where k is the number of channels), denoted as G(containing position (R i , V i ), energy amplitude A i , complex sequence (k=0, 1, 2, 3)); for the complex sequence in G, combined with the geometric dimensions of the receiving antenna, the direction of arrival (DOA) of the target point is estimated according to the MUSIC algorithm, and the angle of the target point is calculated, which is recorded as W (including position, energy amplitude, and angle). In wireless communication or radar systems, by processing and analyzing the received signal, the direction from which the signal comes can be estimated, thereby determining the position or motion state of the target. By sorting W from high to low energy, the first 16 target points can be taken as the targets detected by the radar for output.

[0055] In an optional embodiment, determining the first coordinates of the target point in the ground coordinate system includes: obtaining the initial coordinates of the target point in the radar coordinate system and a first transformation matrix between the radar coordinate system and the ground coordinate system; based on the first transformation matrix, transforming the initial coordinates to the ground coordinate system to obtain the first coordinates.

[0056] Optionally, by obtaining the first transformation matrix, it is ensured that the coordinate transformation process from the radar coordinate system to the ground coordinate system can be performed according to a predefined mathematical model, which improves the accuracy and repeatability of the coordinate transformation. The first transformation matrix usually takes into account the specific angle of the radar installation and the relative position of the transmission line and the ground, thereby reducing the measurement error caused by the coordinate system conversion. The radar coordinates of the target point are converted into the first coordinates in the ground coordinate system to achieve a unified representation of the ground target position, which is convenient for subsequent calculations and data analysis. The first coordinate obtained by conversion is the basis for the device posture correction and the origin deviation correction in the subsequent steps. It ensures that the ground position of the target point can be correctly tracked and updated when making these corrections, thereby improving the accuracy and stability of the entire detection equipment.

[0057] Optionally, the radar is installed on the transmission line, and the elevation axis of its antenna plane is along the transmission line. With the radar installation point as the origin, the vertical antenna plane downward is the positive half axis of the Y axis, and the tangent direction of the installation point forward is the positive half axis of the Z axis. The radar coordinate system is established using the right-hand rule. The coordinates of the target point in the radar coordinate system (i.e., the initial coordinates) can be expressed as:

[0058]

[0059] in, represents the coordinates of the target point in the radar coordinate system (i.e., the initial coordinates), R represents the polar radius of the target point in the Cartesian coordinate system, represents the pitch angle of the target point in the Cartesian coordinate system, and θ represents the horizontal deflection angle of the target point in the Cartesian coordinate system.

[0060] The radar coordinate system is further converted into the ground coordinate system, with the radar installation point as the origin, the vertical ground upward as the positive half axis of the Z axis, the intersection of the transmission line and the horizontal plane as the Y axis and the positive half axis forward, and the ground coordinate system is established by the right-hand rule. The formula for rotating the radar coordinate system to the ground coordinate system is:

[0061]

[0062] in, Indicates the first coordinate of the target point in the ground coordinate system, M ZYX is the first transformation matrix. There is a 90-degree counterclockwise rotation deviation between the two, so M ZYX It can be expressed in the following form.

[0063]

[0064] Step S106, based on the angle information of the detection device collected by the dynamic angle sensor, the first coordinate is corrected to obtain the second coordinate of the target point in the northeast celestial coordinate system;

[0065] In step S106, the acquisition angle information of the dynamic angle sensor is used to correct the first coordinate of the radar target point in the ground coordinate system, thereby obtaining the second coordinate of the target point in the northeast sky coordinate system. This correction process takes into account the initial error of the equipment installation and the equipment attitude change caused by the wind, which can reduce the measurement error caused by the equipment attitude change.

[0066] In an optional embodiment, based on the angle information of the detection device collected by the dynamic angle sensor, the first coordinate is corrected to obtain the second coordinate of the target point in the northeast celestial coordinate system, including: constructing a rotation matrix based on the angle information; obtaining a second transformation matrix between the ground coordinate system and the northeast celestial coordinate system; based on the rotation matrix and the second transformation matrix, correcting the first coordinate to obtain the second coordinate.

[0067] Optionally, a rotation matrix is ​​constructed based on the angle information of the detection device collected by the dynamic angle sensor (i.e., the deflection angle around the XYZ axis). This rotation matrix can describe the deflection of the detection device relative to its ideal installation state. By applying the rotation matrix to the first coordinate in the radar coordinate system of the target point, it can be converted to a corrected coordinate, i.e., the second coordinate, thereby eliminating the influence of the device attitude deflection on the measurement result and improving the accuracy of the measurement. The second conversion matrix between the ground coordinate system and the northeast sky coordinate system is used to ensure that the result after the radar coordinate system conversion can be accurately matched to the ground reference coordinate system. This step is necessary because different coordinate systems have different definitions and directions. If the correct conversion is not performed, the measurement results will not correspond to the actual situation on the ground, thereby affecting the accurate judgment of the sag state. By applying the rotation matrix to the initial ground coordinates of the radar target point to correct the attitude deflection, and then using the second conversion matrix to convert the coordinates to the northeast sky coordinate system, it can be ensured that even if the device is offset due to factors such as wind, accurate ground position information of the target point can be obtained. This dual correction mechanism can effectively improve the accuracy of sag monitoring, especially in complex and changeable field environments. This improvement in accuracy is crucial for timely detection and prevention of transmission line faults.

[0068] Optionally, due to installation errors or the effect of wind, the attitude of the detection device has a certain deflection. In order to reduce the impact on the measurement results, it is necessary to correct the attitude of the device and obtain the second coordinate of the target point in the northeast sky coordinate system. Specifically, the deflection angle of the detection device is obtained by reading in the dynamic angle sensor, and the angles of its attitude relative to the predetermined three-dimensional coordinate system (XYZ axis) are [ε x ε y ε z ], the rotation matrix can be obtained as follows:

[0069]

[0070] Among them, N ZYX Represents a rotation matrix.

[0071] Further, according to the direction information of the transmission line, the second conversion matrix V between the ground coordinate system of the detection equipment and the northeast sky coordinate system is obtained. ZYX , usually the angular deviation between the two coordinate systems around the X and Y axes is 0, and the angular difference around the Z axis is θ EO , the formula of the second transformation matrix is ​​expressed as follows.

[0072]

[0073] The coordinates of the target point detected by the radar after correction in the northeast sky coordinate system (i.e., the second coordinates) can be expressed as follows:

[0074]

[0075] in, Indicates the coordinates of the target point in the northeast celestial coordinate system (i.e. the second coordinate).

[0076] Step S108, based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor, correct the second coordinate to obtain the third coordinate of the target point in the northeast celestial coordinate system;

[0077] In step S108, the high-precision positioning information provided by the Beidou positioning sensor is used to further correct the second coordinate of the target point in the northeast celestial coordinate system to obtain a more accurate third coordinate. This correction takes into account the position offset of the equipment caused by the lateral swing of the transmission line, thereby ensuring that accurate ground distance measurement results can be obtained even in complex environments.

[0078] It should be noted that the first coordinate, the second coordinate and the third coordinate are all used to indicate the relative position coordinates between the transmission line and a predetermined plane (such as the ground).

[0079] In an optional embodiment, when the Beidou coordinate information includes a first Beidou coordinate of a target point collected by a Beidou positioning sensor at a first moment, and a second Beidou coordinate of the target point collected by the Beidou positioning sensor at a second moment, and the first moment is earlier than the second moment, the second coordinate is corrected based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor to obtain a third coordinate of the target point in the northeast celestial coordinate system, including: calculating the Beidou coordinate difference between the second Beidou coordinate and the first Beidou coordinate; when the Beidou coordinate difference is greater than a preset coordinate difference threshold, the second coordinate is corrected based on the Beidou coordinate information to obtain the third coordinate of the target point in the northeast celestial coordinate system.

[0080] Optionally, the first moment may be an initial moment, and the corresponding first Beidou coordinate may be an origin coordinate, that is, the coordinate of the initial position of the detection device. The second moment may be any sampling moment in the process of performing sag state detection on the transmission line.

[0081] Optionally, by comparing the coordinates of the target point collected by the Beidou positioning sensor at the first moment and the second moment, the coordinate difference is calculated. If the difference exceeds the preset threshold, it indicates that the detection equipment may have changed position due to the swing of the transmission line or other external factors. By timely correcting the coordinates of the target point in the northeast celestial coordinate system, the measurement error caused by the change of the position of the detection equipment can be reduced. Dynamic monitoring of the position change of the detection equipment and correction of the target point coordinates increase the robustness of the system. Even if the transmission line swings under the influence of wind, the real-time correction of Beidou positioning can ensure that the coordinate information of the target point in the northeast celestial coordinate system is accurate, thereby improving the stability and accuracy of sag monitoring. By introducing Beidou coordinate information in a time series, it is possible to identify and process the situation where the position of the equipment changes over time.

[0082] In an optional embodiment, when the Beidou coordinate difference is greater than a preset coordinate difference threshold, the second coordinate is corrected based on the Beidou coordinate information to obtain the third coordinate of the target point in the northeast celestial coordinate system, including: when the Beidou coordinate difference is greater than the preset coordinate difference threshold, the first Beidou coordinate and the second Beidou coordinate are converted to the northeast celestial coordinate system to obtain a fourth coordinate and a fifth coordinate; the coordinate difference between the fourth coordinate and the fifth coordinate is calculated to obtain the northeast celestial coordinate difference; based on the northeast celestial coordinate difference, the second coordinate is corrected to obtain the third coordinate.

[0083] Optionally, when the deviation of the detection equipment from the origin position exceeds a preset threshold due to lateral swing or installation error of the transmission line, the coordinate error caused by this deviation is corrected in the above manner to ensure the accuracy of the ground target position information obtained by the sensor. The original data of the Beidou system (usually geographic coordinates) is converted to a rectangular coordinate system (Northeast Sky coordinate system) to facilitate subsequent coordinate difference calculation and fusion processing. By calculating the coordinate difference of the detection equipment in the Northeast Sky coordinate system, this information can be fused with the transmission line distance data obtained in the early stage through multi-sensor fusion to ensure that the measurement results can be corrected in time in the case of any device position changes, thereby improving the detection stability and reliability.

[0084] Optionally, when the wind force is strong, the detection device deviates from the main axis position due to the lateral swing of the transmission line, that is, the origin position [0 0 0] (i.e., the original coordinate position of the detection device) will change with the swing of the transmission line to When the transmission line swings greatly, the spatial position information of the radar and the ground target will change, and its measurement value will contain This value has a serious impact on the sag measurement results of the transmission line. Therefore, the degree of deviation from the origin can be further corrected through Beidou positioning to obtain the third coordinate of the target point in the northeast celestial coordinate system; and the sag state detection result of the transmission line is determined based on the third coordinate. Specifically, the Beidou positioning sensor is used to obtain the Beidou coordinate information of the detection equipment using the Real-Time Kinematic (RTK) technology, including the high-precision longitude, latitude and altitude values ​​of the detection equipment (Long o , Lat o , H o ), and transform it into the coordinates of the northeast celestial rectangular coordinate system according to the above geodetic coordinate system, that is, the fourth coordinate (X o0 , Y o0 , Z o0 ). Periodically obtain the longitude and latitude information of RTK, perform Kalman filtering on the value, and output the coordinates of the real-time detection device, that is, the fifth coordinate (X oi , Y oi , Z oi ).

[0085] Using the fourth and fifth coordinates obtained by the above calculation, the deviation of the detection device relative to the coordinate origin (i.e., the northeast celestial coordinate difference) is calculated in the following way:

[0086]

[0087] in, Indicates the deviation of the detection equipment relative to the coordinate origin (i.e. the northeast celestial coordinate difference).

[0088] The deviation information calculated by the Beidou positioning module is further used to obtain the radar target result after coordinate system correction (i.e. the third coordinate):

[0089]

[0090] in, It represents the coordinates (i.e. the third coordinates) obtained by correcting the degree of deviation from the origin through Beidou positioning.

[0091] Step S110, determining the sag state detection result of the transmission line based on the third coordinate.

[0092] In step S110, based on the third coordinate, the precise position of the target point in the northeast celestial coordinate system can be directly obtained, so as to accurately calculate the distance of the transmission line to the ground, and then obtain the detection result of the sag state. This method avoids the problems of environmental interference, line rigidity influence and image recognition uncertainty that may be encountered by other detection methods, and improves the accuracy and stability of detection.

[0093] Optionally, since the installation position of the detection equipment is theoretically the coordinate origin [0 0 0], the height h of the installation point of the real-time transmission line sag detection equipment above the ground is: h=z"-Δz, and the sag state detection result of the transmission line is determined based on the height.

[0094] Through the above steps S102 to S108, the purpose of screening and correcting the target point coordinates based on the radar ranging sensor, dynamic angle sensor and Beidou positioning sensor can be achieved, and the sag state of the transmission line can be accurately detected based on the corrected coordinates, thereby achieving the technical effect of improving the accuracy of transmission line sag state detection, and then solving the technical problem of low detection accuracy in the line sag state detection method in the related technology.

[0095] Based on the above embodiments and optional embodiments, the present invention proposes an optional implementation of a sag state detection method, the method comprising:

[0096] S1: After receiving the system scheduling instruction, the radar ranging sensor radiates the waveform to the ground through the transmitting antenna in the radio frequency unit, and obtains the analog-to-digital converter (AD) data of K receiving channels through the mobile industry processor interface (MIPI). The radar data processing unit processes the data according to a certain process to obtain the preprocessing result. Specifically, it includes:

[0097] S11: The radio frequency unit transmits electromagnetic waves according to the waveform configured above, and transmits L transmission waveforms in total. For the L return waveforms returned by the L transmission waveforms, each return waveform (ie, sawtooth chirp) collects N initial points, which are recorded as X1.

[0098] S12: After the wave generation is completed, the two-dimensional data consisting of N initial points collected based on L return waveforms is preprocessed by cutting and windowing. The DC component is removed to obtain the data after the DC component is removed. The specific formula is the same as above and will not be repeated here. The data after the DC component is removed is added with a Hanning window to obtain a two-dimensional matrix Y; FFT is performed on Y of K channels, and the Fourier transform result is recorded as Q k (k=0, 1, 2, 3, and the amplitudes of the FFT data of K channels are calculated, and the obtained amplitudes are correspondingly incoherently accumulated, recorded as A, to obtain the preprocessed data of radar reflection (i.e., the preprocessing result).

[0099] S2: Based on the radar signal amplitude strength in the pre-processed data of radar reflection, the CA-CFAR algorithm is used to screen the target from N initial points. Specifically including:

[0100] S21: For the points in the radar reflection preprocessing data whose amplitude is greater than the preset threshold (CFAR threshold) and is the peak value in two dimensions, record their positions in the two-dimensional matrix (R i , V i );

[0101] S22: The above Q k Take out the FFT data corresponding to each initial point at the corresponding position (complex number) (where k is the number of channels), denoted as G(containing position (R i , V i ), energy amplitude A i , complex sequence (k = 0, 1, 2, 3));

[0102] S23: For the complex sequence in G, combined with the geometric dimensions of the receiving antenna, the DOA of the target point is estimated according to the MUSIC algorithm, and the angle of the target is calculated, which is recorded as W (including position, energy amplitude, and angle);

[0103] S24: Sort W according to energy from high to low, and take the first 16 target points as the targets detected by the radar for output.

[0104] S3: Establishing radar and earth coordinate systems respectively, obtaining the first coordinate of the target point in the ground coordinate system, wherein the first coordinate is used to indicate the spatial position information of the power transmission line (or radar ranging sensor) relative to the ground in the ground coordinate system. Specifically including:

[0105] S31: The radar is installed on the transmission line, and the elevation axis of its antenna plane is along the transmission line. With the radar installation point as the origin, the vertical antenna plane downward is the positive half axis of the Y axis, and the tangent direction of the installation point forward is the positive half axis of the Z axis. The radar coordinate system is established according to the right-hand rule. The formula for the coordinates of the target point in the radar coordinate system (i.e., the initial coordinates) is the same as above, and will not be repeated here:

[0106] S32: Convert the radar coordinate system into the ground coordinate system, with the radar installation point as the origin, the vertical ground upward as the positive semi-axis of the Z axis, the intersection of the transmission line and the horizontal plane as the Y axis and the positive semi-axis forward, and establish the ground coordinate system according to the right-hand rule. The formula for rotating the radar coordinate system to the ground coordinate system is the same as above and will not be repeated here.

[0107] S4: Due to installation errors or the effect of wind, the attitude of the detection equipment has a certain deflection. In order to reduce the impact on the measurement results, it is necessary to correct the attitude of the equipment and obtain the second coordinate of the target point in the northeast sky coordinate system. Specifically:

[0108] S41: The deflection angle of the detection device is obtained by reading in the dynamic angle sensor, and the angles of its posture relative to the predetermined three-dimensional coordinate system (XYZ axis) are [ε x ε y ε z ], the formula of the rotation matrix is ​​the same as above and will not be repeated here.

[0109] S42: According to the direction information of the transmission line, obtain the second conversion matrix V between the ground coordinate system of the detection equipment and the northeast sky coordinate system ZYX , usually the angular deviation between the two coordinate systems around the X and Y axes is 0, and the angular difference around the Z axis is θ EO , the formula of the second conversion matrix is ​​the same as the above, which will not be repeated here. The formula of the coordinates of the target point detected by the radar in the northeast sky coordinate system (ie, the second coordinates) after correction is also the same as the above, which will not be repeated here.

[0110] S5: When the wind force is strong, the detection equipment deviates from the main axis position due to the lateral swing of the transmission line, that is, the origin position [0 0 0] (i.e. the original coordinate position of the detection equipment) will change with the swing of the transmission line to When the transmission line swings greatly, the spatial position information of the radar and the ground target will change, and its measurement value will contain This value has a serious impact on the sag measurement results of the transmission line. Therefore, it is necessary to correct the degree of deviation of the origin through Beidou positioning to obtain the third coordinate of the target point in the northeast celestial coordinate system; and determine the sag state detection result of the transmission line based on the third coordinate.

[0111] S51: Use Beidou positioning sensor and RTK technology to obtain Beidou coordinate information of the detection equipment, including high-precision longitude, latitude and altitude values ​​of the detection equipment (Long o , Lat o , H o ), and transform it into the coordinates of the northeast celestial rectangular coordinate system according to the above geodetic coordinate system, that is, the fourth coordinate (X o0 , Y o0 , Z o0 ).

[0112] S52: Periodically obtain the longitude and latitude information of RTK, perform Kalman filtering on the value, and output the coordinates of the real-time detection device, i.e., the fifth coordinate (X oi , Y oi , Z oi ).

[0113] S53: Using the information from step S51 and step S52, calculate the deviation of the detection device relative to the coordinate origin (i.e., the northeast celestial coordinate difference). The specific calculation method is the same as above and will not be repeated here.

[0114] S54: Using the deviation information calculated by the Beidou positioning module, the radar target result (i.e., the third coordinate) after coordinate system correction is obtained. The specific calculation formula is the same as above and will not be repeated here. Finally, the position information of the target point detected by the radar under the transmission line in the northeast sky coordinate system is formed.

[0115] S55: Since the installation position of the detection equipment is theoretically the coordinate origin [0 0 0], the height of the installation point of the real-time transmission line sag detection equipment above the ground is h=z"-Δz, and the sag state detection result of the transmission line is determined based on the height.

[0116] In this embodiment, radar ranging technology is used to obtain the position information of the ground (or ground objects) in the radar coordinate system, and combined with the measurement results of the attitude sensor, the distance of the power transmission line to the ground detected by the radar is converted to the ground coordinate system with the installation position as the origin. At the same time, according to the high-precision longitude and latitude information obtained by the Beidou positioning sensor in the detection equipment, the position of the detection equipment is corrected, and then the absolute position of the ground (or ground object) directly below the transmission line is obtained, and an accurate transmission line to ground distance detection result is obtained. The above method can effectively eliminate the ground distance detection error caused by factors such as transmission line swinging or offline objects entering, and obtain accurate sag measurement results.

[0117] According to an embodiment of the present invention, there is also provided an embodiment of a detection device for implementing the above-mentioned sag state detection method of a power transmission line. Figure 2 is a schematic diagram of a detection device according to an embodiment of the present invention. Figure 2As shown, the above detection equipment includes: a radar ranging sensor 20, an angle sensor 22, a Beidou positioning sensor 24, a spacer rod 26 and a controller 28, wherein:

[0118] The radar ranging sensor 20, the state angle sensor 22 and the Beidou positioning sensor 24 are integrated on the spacer rod 26;

[0119] The controller 28 is connected to the radar ranging sensor 20 , the state angle sensor 24 and the Beidou positioning sensor 26 , and is used to execute any one of the above-mentioned sag state detection methods for the power transmission line.

[0120] Through the above-mentioned detection equipment, it is possible to achieve the purpose of screening and correcting the coordinates of the target point based on the radar ranging sensor, dynamic angle sensor and Beidou positioning sensor, and accurately detecting the sag state of the transmission line based on the corrected coordinates, thereby achieving the technical effect of improving the accuracy of the sag state detection of the transmission line, and then solving the technical problem of low detection accuracy in the line sag state detection method in the related technology.

[0121] It should be noted that in the above monitoring equipment, the radar ranging sensor, attitude angle sensor, and Beidou positioning sensor are integrated on the spacer rod, which realizes the on-site deployment of the sensor, reduces the volume and weight of the equipment, is convenient for installation on the transmission line spacer rod, reduces the difficulty and cost of installation, and also ensures the stability and reliability of the equipment. The multi-sensor fusion technology is adopted, combining radar ranging, attitude angle measurement and Beidou positioning data to improve the accuracy of monitoring. The radar ranging sensor can accurately measure the relative distance between the transmission line and the ground, the attitude angle sensor can measure the attitude change of the equipment to compensate for the influence of external factors such as wind on the ranging results, and the Beidou positioning sensor provides high-precision geographic location information, corrects the possible displacement deviation of the equipment, and ensures the accuracy of the distance measurement to the ground. The controller is connected to each sensor, can receive data in real time and execute data processing algorithms, including radar signal processing, attitude correction, coordinate conversion and sag calculation, thereby realizing real-time online monitoring of the sag state of the transmission line. This method can timely detect and report abnormal sag state, and improve the operation and maintenance efficiency and safety of the power system. Thanks to the use of Beidou positioning sensors and millimeter wave radar, the detection equipment can adapt to various complex environments, including adverse weather conditions such as rain, snow, fog, and dynamic changes in transmission lines, such as swings caused by wind. This enables the monitoring system to not only work accurately under good conditions, but also maintain high monitoring accuracy even in adverse environments.

[0122] It should be noted that in this application Figure 2 The specific structure of the sag state detection system for the power transmission line shown in the figure is only for illustration. In specific applications, the sag state detection system for the power transmission line in the present application can be compared to Figure 2 The radar ranging sensor 20 , the attitude angle sensor 22 , the Beidou positioning sensor 24 , the spacer rod 26 , and the controller 28 shown have more or less structures.

[0123] It should be noted that any optional or preferred method for detecting the sag state of a transmission line in the above method embodiments can be executed or implemented in the radar ranging sensor 20, state angle sensor 22, Beidou positioning sensor 24, spacer rod 26 and controller 28 provided in this embodiment.

[0124] In addition, it is still necessary to explain that the optional or preferred implementation modes of this embodiment can refer to the relevant descriptions in the method embodiments, which will not be repeated here.

[0125] In this embodiment, a sag state detection device for a power transmission line is also provided, and the device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the terms "module" and "device" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0126] According to an embodiment of the present invention, there is also provided an embodiment of a device for implementing the above-mentioned sag state detection method of a power transmission line. Figure 3 A schematic diagram of the structure of a sag state detection device for a power transmission line according to an embodiment of the present invention is shown in FIG. Figure 3 The above-mentioned sag state detection device for the transmission line includes: a waveform transmitting and receiving module 300, a first coordinate determining module 302, a first coordinate correcting module 304, a second coordinate correcting module 306, and a detection result determining module 308, wherein:

[0127] The waveform transmitting and receiving module 300 is used to use the radar ranging sensor in the detection equipment to send a transmission waveform to a predetermined plane, and receive a return waveform returned by the predetermined plane based on the transmission waveform, wherein the detection equipment includes a radar ranging sensor, a dynamic angle sensor, and a Beidou positioning sensor, and the detection equipment is installed at the transmission line position;

[0128] A first coordinate determination module 302 is used to select a target point from the returned waveform and determine a first coordinate of the target point in a ground coordinate system;

[0129] A first coordinate correction module 304 is used to correct the first coordinate based on the angle information of the detection device collected by the dynamic angle sensor to obtain the second coordinate of the target point in the northeast celestial coordinate system;

[0130] The second coordinate correction module 306 is used to correct the second coordinate based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor to obtain the third coordinate of the target point in the northeast celestial coordinate system;

[0131] The detection result determination module 308 is used to determine the sag state detection result of the transmission line based on the third coordinate.

[0132] Optionally, the above-mentioned first coordinate determination module includes: a first selection submodule, used to select multiple initial points from the returned waveform; a first preprocessing submodule, used to preprocess the multiple initial points to obtain preprocessing results, wherein the preprocessing includes at least one of the following: DC component removal processing, Hanning window processing; a first determination submodule, used to determine the target point from the multiple initial points based on the preprocessing results.

[0133] Optionally, the first determination submodule includes: a first screening submodule, configured to screen out target points from a plurality of initial points based on a preprocessing result and adopting a mean-based two-dimensional constant false alarm algorithm.

[0134] Optionally, the above-mentioned first coordinate determination module includes: a first acquisition submodule, used to obtain the initial coordinates of the target point in the radar coordinate system, and a first transformation matrix between the radar coordinate system and the ground coordinate system; a first conversion submodule, used to convert the initial coordinates to the ground coordinate system based on the first transformation matrix to obtain the first coordinates.

[0135] Optionally, the above-mentioned first coordinate correction module includes: a first construction submodule, used to construct a rotation matrix based on angle information; a second acquisition submodule, used to obtain a second transformation matrix between the ground coordinate system and the northeast sky coordinate system; a first correction submodule, used to correct the first coordinate based on the rotation matrix and the second transformation matrix to obtain the second coordinate.

[0136] Optionally, when the Beidou coordinate information includes a first Beidou coordinate of the target point collected by the Beidou positioning sensor at a first moment, and a second Beidou coordinate of the target point collected by the Beidou positioning sensor at a second moment, and the first moment is earlier than the second moment, the above-mentioned second coordinate correction module includes: a first calculation submodule, used to calculate the Beidou coordinate difference between the second Beidou coordinate and the first Beidou coordinate; and a second correction submodule, used to correct the second coordinate based on the Beidou coordinate information when the Beidou coordinate difference is greater than a preset coordinate difference threshold, so as to obtain the third coordinate of the target point in the northeast celestial coordinate system.

[0137] Optionally, the above-mentioned second correction submodule includes: a first conversion submodule, used to convert the first Beidou coordinate and the second Beidou coordinate to the northeast celestial coordinate system when the Beidou coordinate difference is greater than a preset coordinate difference threshold, to obtain a fourth coordinate and a fifth coordinate; a second calculation submodule, used to calculate the coordinate difference between the fourth coordinate and the fifth coordinate, to obtain the northeast celestial coordinate difference; a third correction submodule, used to correct the second coordinate based on the northeast celestial coordinate difference, to obtain a third coordinate.

[0138] It should be noted that the above modules can be implemented by software or hardware. For example, for the latter, it can be implemented in the following ways: the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0139] It should be noted that the waveform transmitting and receiving module 300, the first coordinate determining module 302, the first coordinate correcting module 304, the second coordinate correcting module 306, and the detection result determining module 308 correspond to steps S102 to S110 in the embodiment. The examples and application scenarios implemented by the modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above modules can be run in a computer terminal as part of the device.

[0140] It should be noted that the optional or preferred implementation of this embodiment can refer to the relevant description in the embodiment, which will not be repeated here.

[0141] The above-mentioned sag state detection device for the transmission line may also include a processor and a memory. The above-mentioned waveform transmitting and receiving module 300, the first coordinate determination module 302, the first coordinate correction module 304, the second coordinate correction module 306, the detection result determination module 308, etc. are all stored in the memory as program modules, and the processor executes the above-mentioned program modules stored in the memory to realize the corresponding functions.

[0142] The processor includes a kernel, which retrieves the corresponding program module from the memory. The kernel may be one or more. The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory includes at least one memory chip.

[0143] According to an embodiment of the present application, an embodiment of a non-volatile storage medium is also provided. Optionally, in this embodiment, the non-volatile storage medium includes a stored program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute any of the above-mentioned sag state detection methods for power transmission lines.

[0144] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group, and the non-volatile storage medium includes a stored program.

[0145] Optionally, when the program is running, the device where the non-volatile storage medium is located is controlled to perform the following functions: use the radar ranging sensor in the detection device to send a transmission waveform to a predetermined plane, and receive a return waveform returned by the predetermined plane based on the transmission waveform, wherein the detection device includes a radar ranging sensor, a dynamic angle sensor, and a Beidou positioning sensor, and the detection device is installed at the transmission line position; select a target point from the return waveform, and determine the first coordinate of the target point in the ground coordinate system; based on the angle information of the detection device collected by the dynamic angle sensor, correct the first coordinate to obtain the second coordinate of the target point in the northeast celestial coordinate system; based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor, correct the second coordinate to obtain the third coordinate of the target point in the northeast celestial coordinate system; based on the third coordinate, determine the sag state detection result of the transmission line.

[0146] According to an embodiment of the present application, an embodiment of a processor is also provided. Optionally, in this embodiment, the processor is used to run a program, wherein when the program is run, any one of the above-mentioned methods for detecting the sag state of a power transmission line is executed.

[0147] According to an embodiment of the present application, an embodiment of a computer program product is also provided. When executed on a data processing device, the program is suitable for executing the steps of initializing any one of the above-mentioned sag state detection methods for a power transmission line.

[0148] Optionally, the above-mentioned computer program product, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: using a radar ranging sensor in a detection device to send a transmission waveform to a predetermined plane, and receiving a return waveform returned by the predetermined plane based on the transmission waveform, wherein the detection device includes a radar ranging sensor, a dynamic angle sensor, and a Beidou positioning sensor, and the detection device is installed at the transmission line position; selecting a target point from the return waveform, and determining a first coordinate of the target point in a ground coordinate system; based on the angle information of the detection device collected by the dynamic angle sensor, correcting the first coordinate to obtain a second coordinate of the target point in the northeast celestial coordinate system; based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor, correcting the second coordinate to obtain a third coordinate of the target point in the northeast celestial coordinate system; based on the third coordinate, determining the sag state detection result of the transmission line.

[0149] An embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: a radar ranging sensor in a detection device is used to send a transmission waveform to a predetermined plane, and a return waveform returned by the predetermined plane based on the transmission waveform is received, wherein the detection device includes a radar ranging sensor, a dynamic angle sensor, and a Beidou positioning sensor, and the detection device is installed at a transmission line position; a target point is selected from the return waveform, and a first coordinate of the target point in a ground coordinate system is determined; based on angle information of the detection device collected by the dynamic angle sensor, the first coordinate is corrected to obtain a second coordinate of the target point in a northeast celestial coordinate system; based on Beidou coordinate information of the target point collected by the Beidou positioning sensor, the second coordinate is corrected to obtain a third coordinate of the target point in the northeast celestial coordinate system; based on the third coordinate, a sag state detection result of the transmission line is determined.

[0150] The above sequence of the embodiments of the present invention is for description only and does not represent the superiority or inferiority of the embodiments.

[0151] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0152] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above modules can be a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, modules or indirect coupling or communication connection of modules, which can be electrical or other forms.

[0153] The modules described above as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0154] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0155] If the above-mentioned integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable non-volatile storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a non-volatile storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the various embodiments of the present invention. The aforementioned non-volatile storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0156] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for detecting the sag state of a transmission line, characterized in that: include: The radar ranging sensor in the detection device is used to send a transmission waveform to a predetermined plane, and receive a return waveform returned by the predetermined plane based on the transmission waveform, wherein the detection device includes the radar ranging sensor, a dynamic angle sensor, and a Beidou positioning sensor, and the detection device is installed at the transmission line position; Selecting a target point from the returned waveform and determining a first coordinate of the target point in a ground coordinate system; Based on the angle information of the detection device collected by the dynamic angle sensor, the first coordinate is corrected to obtain the second coordinate of the target point in the northeast celestial coordinate system; Based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor, the second coordinate is corrected to obtain the third coordinate of the target point in the northeast celestial coordinate system; Based on the third coordinate, a sag state detection result of the transmission line is determined.

2. The method according to claim 1, characterized in that The selecting a target point from the return waveform comprises: Selecting a plurality of initial points from the return waveform; Preprocessing the multiple initial points to obtain preprocessing results, wherein the preprocessing includes at least one of the following: removing direct current component processing and adding Hanning window processing; Based on the preprocessing result, the target point is determined from the multiple initial points.

3. The method according to claim 2, characterized in that The step of determining the target point from the plurality of initial points based on the preprocessing result comprises: Based on the preprocessing result, a two-dimensional constant false alarm algorithm based on a mean is adopted to screen out the target point from the multiple initial points.

4. The method according to claim 1, characterized in that: Determining the first coordinate of the target point in the ground coordinate system includes: Acquire the initial coordinates of the target point in the radar coordinate system and a first transformation matrix between the radar coordinate system and the ground coordinate system; Based on the first transformation matrix, the initial coordinates are transformed into the ground coordinate system to obtain the first coordinates.

5. The method according to claim 1, characterized in that: The first coordinate is corrected based on the angle information of the detection device collected by the dynamic angle sensor to obtain the second coordinate of the target point in the northeast celestial coordinate system, including: Based on the angle information, construct a rotation matrix; Obtaining a second transformation matrix between the ground coordinate system and the northeast sky coordinate system; Based on the rotation matrix and the second transformation matrix, the first coordinates are corrected to obtain the second coordinates.

6. The method according to any one of claims 1 to 5, characterized in that When the Beidou coordinate information includes a first Beidou coordinate of the target point collected by the Beidou positioning sensor at a first moment, and a second Beidou coordinate of the target point collected by the Beidou positioning sensor at a second moment, and the first moment is earlier than the second moment, the Beidou coordinate information of the target point collected by the Beidou positioning sensor is used to correct the second coordinate to obtain a third coordinate of the target point in the northeast celestial coordinate system, including: Calculate the Beidou coordinate difference between the second Beidou coordinate and the first Beidou coordinate; When the Beidou coordinate difference is greater than a preset coordinate difference threshold, the second coordinate is corrected based on the Beidou coordinate information to obtain the third coordinate of the target point in the northeast celestial coordinate system.

7. The method according to claim 6, characterized in that When the Beidou coordinate difference is greater than a preset coordinate difference threshold, the second coordinate is corrected based on the Beidou coordinate information to obtain the third coordinate of the target point in the northeast sky coordinate system, including: When the Beidou coordinate difference is greater than a preset coordinate difference threshold, converting the first Beidou coordinate and the second Beidou coordinate to the northeast sky coordinate system to obtain a fourth coordinate and a fifth coordinate; Calculate the coordinate difference between the fourth coordinate and the fifth coordinate to obtain the northeast celestial coordinate difference; Based on the northeast celestial coordinate difference, the second coordinate is corrected to obtain the third coordinate.

8. A detection device, characterized in that: include: Radar ranging sensor, state angle sensor, Beidou positioning sensor, spacer rod and controller, among which, The radar ranging sensor, the state angle sensor and the Beidou positioning sensor are integrated on the spacer rod; The controller is connected to the radar ranging sensor, the state angle sensor and the Beidou positioning sensor, and is used to execute the sag state detection method of the power transmission line as described in any one of claims 1 to 7.

9. A sag state detection device for a power transmission line, characterized in that: include: A waveform transmitting and receiving module, used to use a radar ranging sensor in a detection device to send a transmission waveform to a predetermined plane, and receive a return waveform returned by the predetermined plane based on the transmission waveform, wherein the detection device includes the radar ranging sensor, a dynamic angle sensor, and a Beidou positioning sensor, and the detection device is installed at the transmission line position; A first coordinate determination module, used for selecting a target point from the return waveform and determining a first coordinate of the target point in a ground coordinate system; A first coordinate correction module, used to correct the first coordinate based on the angle information of the detection device collected by the dynamic angle sensor to obtain a second coordinate of the target point in the northeast celestial coordinate system; A second coordinate correction module is used to correct the second coordinate based on the Beidou coordinate information of the target point collected by the Beidou positioning sensor to obtain a third coordinate of the target point in the northeast celestial coordinate system; A detection result determination module is used to determine the sag state detection result of the transmission line based on the third coordinate.

10. The device according to claim 9, characterized in that The first coordinate determination module comprises: A first selection submodule is used to select a plurality of initial points from the return waveform; a first preprocessing submodule is used to preprocess the plurality of initial points to obtain a preprocessing result, wherein the preprocessing includes at least one of the following: removing a DC component and adding a Hanning window. The first determination submodule is used to determine the target point from the multiple initial points based on the preprocessing result.

11. The device according to claim 10, characterized in that The first determining submodule includes: The first screening submodule is used to screen out the target point from the multiple initial points based on the preprocessing result and using a two-dimensional constant false alarm algorithm based on a mean.

12. The device according to claim 9, characterized in that The first coordinate determination module comprises: A first acquisition submodule, used to acquire the initial coordinates of the target point in the radar coordinate system, and a first conversion matrix between the radar coordinate system and the ground coordinate system; The first conversion submodule is used to convert the initial coordinates to the ground coordinate system based on the first conversion matrix to obtain the first coordinates.

13. The device according to claim 9, characterized in that The first coordinate correction module comprises: A first construction submodule is used to construct a rotation matrix based on the angle information; A second acquisition submodule is used to acquire a second conversion matrix between the ground coordinate system and the northeast sky coordinate system; The first correction submodule is used to correct the first coordinate based on the rotation matrix and the second transformation matrix to obtain the second coordinate.

14. The device according to any one of claims 9 to 13, characterized in that When the Beidou coordinate information includes a first Beidou coordinate of the target point collected by the Beidou positioning sensor at a first moment, and a second Beidou coordinate of the target point collected by the Beidou positioning sensor at a second moment, and the first moment is earlier than the second moment, the second coordinate correction module includes: A first calculation submodule, used to calculate the Beidou coordinate difference between the second Beidou coordinate and the first Beidou coordinate; The second correction submodule is used to correct the second coordinate based on the Beidou coordinate information when the Beidou coordinate difference is greater than a preset coordinate difference threshold, so as to obtain the third coordinate of the target point in the northeast celestial coordinate system.

15. The device according to claim 14, characterized in that The second correction submodule includes: A first conversion submodule, configured to convert the first Beidou coordinate and the second Beidou coordinate into the northeast sky coordinate system to obtain a fourth coordinate and a fifth coordinate when the Beidou coordinate difference is greater than a preset coordinate difference threshold; A second calculation submodule is used to calculate the coordinate difference between the fourth coordinate and the fifth coordinate to obtain the northeast celestial coordinate difference; The third correction submodule is used to correct the second coordinate based on the northeast celestial coordinate difference to obtain the third coordinate.

16. A computer-readable storage medium, characterized in that: The storage medium stores a program, wherein the program executes the sag state detection method for a power transmission line according to any one of claims 1 to 7.

17. An electronic device, characterized in that: It includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the sag state detection method for the transmission line as described in any one of claims 1 to 7.

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