Wire posture monitoring device based on GNSS (Global Navigation Satellite System) positioning technology

Abstract

The invention discloses a wire attitude monitoring device based on a GNSS positioning technology. The wire attitude monitoring device comprises a data acquisition end, a monitoring substation and a rear-end platform, the data acquisition end comprises a connecting fastener, an inverted U-shaped piece, a binocular camera assembly and a GNSS receiver assembly; according to the invention, a data acquisition end comprising a binocular camera assembly, a GNSS receiver assembly and a transverse monitoring assembly is designed, and the binocular camera assembly takes the position of the GNSS receiver assembly as a polar coordinate origin to obtain the angle and distance of a specific point on a lead; a first virtual track obtained by the binocular camera assembly and a second virtual track obtained by the binocular camera assembly are obtained, so that a lead track plane model is formed; according to the invention, a small number of high-precision GNSS positioning devices can be used to cooperate with the binocular camera assembly to obtain the lead track plane model, so that the cost of the GNSS positioning equipment for actual use of lead attitude monitoring is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of wire posture monitoring, and in particular relates to a wire posture monitoring device based on GNSS positioning technology. Background Art

[0002] The middle section of the overhead wire has a certain degree of freedom, and its posture changes under the influence of wind, ice and snow, natural gravity, etc., which has a significant impact on the safe transmission of the transmission line. Therefore, wire posture monitoring is of great significance for predicting and preventing the occurrence of transmission accidents.

[0003] Traditional conductor posture monitoring is carried out based on instruments such as inertial sensors and binocular camera ranging. With the development of GNSS positioning technology, some high-precision GNSS technologies can locate with an accuracy below the centimeter level and are gradually being used in overhead conductor posture monitoring devices.

[0004] At present, the cost of putting high-precision GNSS positioning equipment into actual use is still relatively high, and it is impossible to fully cover large-scale power grid use. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a wire posture monitoring device based on GNSS positioning technology to solve the technical problems that the cost of applying the high-precision GNSS positioning equipment in the prior art to wire posture monitoring is still relatively high and cannot fully cover the use of large-area power grids.

[0006] Technical solution of the present invention: A wire attitude monitoring device based on GNSS positioning technology is used to obtain the attitude of a wire between two power towers, the device comprising: A data acquisition terminal, wherein the data acquisition terminal is installed on the wire; A monitoring substation, which is connected to the data acquisition terminal for communication, and is used to receive the monitoring data acquired by the data acquisition terminal and send the received monitoring data to the back-end platform for processing; The data collection end comprises: A connecting fastener, wherein the connecting fastener is fixedly fastened to the wire; An inverted U-shaped member, wherein the end surface of the inverted U-shaped member is arranged along the direction of the wire, and binocular camera assemblies are fixedly installed on both sides of the inverted U-shaped member, and a GNSS receiver assembly is fixedly installed on the inner side of the U-shaped mouth of the inverted U-shaped member; A transverse U-shaped member is fixedly installed at the bottom of the inverted U-shaped member, and the length direction of the transverse U-shaped member is perpendicular to the direction of the conductor. A transverse monitoring component is fixedly installed on the inner side of the transverse U-shaped member.

[0007] The inverted U-shaped member comprises: The end surface of the main body is provided with a U-shaped opening, both sides of the U-shaped opening are provided with mounting grooves, and the binocular camera assembly is fixedly installed inside the mounting grooves; The connecting fastener comprises: a lower fastener fixedly connected to the main body, and an upper fastener is fixedly installed on the top of the lower fastener by bolts.

[0008] The GNSS receiver assembly comprises: A shell, the shell is fixedly connected to the inner wall of the U-shaped opening, a lithium battery and a GNSS receiver are fixedly installed inside the shell, and the lithium battery is used to power the GNSS receiver, the binocular camera assembly, and the pressure monitoring board of the lateral monitoring assembly; The bottom end of the shell is open, and a bottom buckle plate is fixedly installed at the bottom end opening of the shell. The outer side of the shell has an inclined surface, and a solar panel is fixedly installed on the inclined surface of the outer side of the shell. The solar panel is used to charge the lithium battery.

[0009] The lateral monitoring component comprises: A transverse cylinder, both ends of which are set to be openings, and both ends of the transverse cylinder are fixedly installed with monitoring plugging plates, and a sphere is arranged inside the transverse cylinder; The monitoring plug has three layers, which are an inner plate, a pressure monitoring plate, and an outer plate from the inside to the outside. The pressure monitoring plate is a flexible plate, and a pressure sensor is integrated on the pressure monitoring plate.

[0010] The device also includes: a data processing module and a display terminal; The data processing module parses the spatial coordinates from the data monitored by the GNSS receiver, and then converts the spatial coordinates into calibration coordinates, wherein the u direction of the calibration coordinates is the direction from one of the towers pointing horizontally to the other tower, the v direction of the calibration coordinates is the direction horizontally perpendicular to the u direction, and the w direction of the calibration coordinates is the vertical direction, and the coordinate points obtained by the GNSS receiver are displayed in the display terminal in plane coordinates; The data processing module parses the image information obtained by the binocular camera assembly to obtain a plurality of polar coordinate points on the wire, wherein the polar coordinate points are converted into plane coordinates with the data acquisition end as the polar coordinate origin, and the first virtual track obtained by the binocular camera assembly and the second virtual track obtained by the binocular camera assembly are displayed in the display terminal with the plane coordinates; The data processing module obtains the monitoring block stress condition from the lateral monitoring component, determines whether the conductor moves laterally synchronously, and marks the coordinate points obtained by the GNSS receiver with different colors in the display terminal.

[0011] The data acquisition terminals are provided with two groups, and the two groups of data acquisition terminals are distributed at 1 / 3 and 2 / 3 of the wire.

[0012] A transverse hole is formed on the side surface of the inverted U-shaped piece.

[0013] Connecting plates are arranged on both sides of the top end of the transverse U-shaped member, and the connecting plates are fixedly connected to the inverted U-shaped member by screws.

[0014] Beneficial effects of the present invention: Compared with the prior art, the present invention designs a data acquisition end including a binocular camera component, a GNSS receiver component, and a lateral monitoring component. The binocular camera component uses the location of the GNSS receiver component as the polar coordinate origin to obtain the angle and distance of a specific point on the wire, that is, the polar coordinate point (r, θ). After data processing, a first virtual trajectory obtained by the binocular camera component and a second virtual trajectory obtained by the binocular camera component are obtained, thereby forming a plane model of the wire trajectory. The present invention can use a smaller number of high-precision GNSS positioning devices (GNSS receivers) in conjunction with the binocular camera component to obtain the plane model of the wire trajectory, thereby reducing the cost of actually using GNSS positioning equipment in wire posture monitoring, and laying the preliminary foundation for investing GNSS positioning technology in the field of wire posture monitoring.

[0015] The invention solves the technical problems that the cost of applying the existing high-precision GNSS positioning equipment in wire posture monitoring is still relatively high and cannot fully cover the use of large-area power grids. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is the installation position view of the present invention; Figure 2 A three-dimensional view of the present invention; Figure 3 It is a front view of the present invention; Figure 4 It is a side view of the present invention; Figure 5 for Figure 3 Section view of the section line at AA; Figure 6 A three-dimensional view of the present invention; Figure 7 It is a terminal display view of the present invention.

[0017] Legend: 1. Electric tower; 2. Conductor; 3. Data acquisition terminal; 301. Connecting fastener; 301a. Upper fastener; 301b. Lower fastener; 302. Inverted U-shaped member; 302a. Main body; 302b. Mounting slot; 302c. U-shaped opening; 303. Binocular camera assembly; 304. GNSS receiver assembly; 304a. Housing; 304b. Lithium battery; 304c. GNSS receiver; 304d. Bottom gusset plate; 304e. Solar panel; 305, horizontal U-shaped member; 306, horizontal monitoring component; 306a, horizontal cylinder; 306b, sphere; 306c, monitoring plug; 306c1, inner plate; 306c2, pressure monitoring plate; 306c3, outer plate; 4, monitoring substation; 5, display terminal; a, coordinate points obtained by GNSS receiver; b1, first virtual track obtained by binocular camera component; b2, second virtual track obtained by binocular camera component; c, tower connection point. DETAILED DESCRIPTION

[0018] refer to Figures 1 to 7 A conductor posture monitoring device based on GNSS positioning technology is used to obtain the posture of a conductor 2 between two power towers 1, which includes: a data collection terminal 3, a monitoring substation 4 and a back-end platform.

[0019] The data acquisition terminal 3 is installed on the conductor 2 to obtain relevant monitoring data from the conductor 2. The monitoring substation 4 is connected to the data acquisition terminal 3 for communication. The monitoring substation 4 is used to receive the monitoring data obtained by the data acquisition terminal 3 and send the received monitoring data to the back-end platform for processing. After the back-end platform parses and processes the data, an image model that can be displayed on the display terminal 5 of the back-end platform is formed. Based on this image model, the conductor dancing state, guide sag information, conductor force influence, etc. can be judged.

[0020] Specifically, the data collection terminal 3 includes: a connecting fastener 301 , an inverted U-shaped member 302 , a binocular camera assembly 303 , a GNSS receiver assembly 304 , a horizontal U-shaped member 305 and a horizontal monitoring assembly 306 .

[0021] The connecting fastener 301 is fixedly fastened on the conductor 2, and the end face of the inverted U-shaped member 302 is arranged along the direction of the conductor 2, so that both sides of the inverted U-shaped member 302 are facing the extension direction of the conductor 2, and binocular camera components 303 are fixedly installed on both sides of the inverted U-shaped member 302. The binocular camera components 303 are two independently working components that monitor two sets of data respectively. A GNSS receiver component 304 is fixedly installed on the inner side of the U-shaped mouth 302c of the inverted U-shaped member 302. The GNSS receiver component 304 includes a high-precision GNSS receiver 304c, which can obtain relevant satellite transmission data and can parse the spatial coordinates of the location of the GNSS receiver component 304 below the centimeter level. The horizontal U-shaped member 305 is fixedly installed at the bottom of the inverted U-shaped member 302, and the length direction of the horizontal U-shaped member 305 is perpendicular to the direction of the conductor 2, and a horizontal monitoring component 306 is fixedly installed on the inner side of the horizontal U-shaped member 305.

[0022] The conventional GNSS positioning technology needs to use a large number of GNSS receiver components 304 to obtain the wire trajectory, so as to achieve the fitting of dense points, thereby forming a three-dimensional wire trajectory model, and displaying the three-dimensional trajectory on the display terminal 5 of the back-end platform; the cost of putting high-precision GNSS positioning equipment into actual use is still relatively high, and it is impossible to fully cover the use of large-area power grids. Therefore, the present invention provides a method of using a small number of GNSS receiver components 304 in conjunction with a binocular camera component 303. After the GNSS receiver component 304 obtains the spatial coordinates, the binocular camera component 303 uses the spatial coordinates obtained by the GNSS receiver component 304 as the origin to obtain the polar coordinate points on the wires on both sides. After the coordinate rotation ring, a simulation of the trajectory of the wire 2 can also be formed.

[0023] In one embodiment, the inverted U-shaped member 302 includes: a main body member 302a, a U-shaped opening 302c is opened on the end surface of the main body member 302a, and installation grooves 302b are opened on both sides of the U-shaped opening 302c. The binocular camera assembly 303 is fixedly installed inside the installation groove 302b, and the installation groove 302b can protect the binocular camera assembly 303, so that the binocular camera assembly 303 is not easily damaged.

[0024] The connecting fastener 301 includes: a lower fastener 301b fixedly connected to the main body 302a, an upper fastener 301b is fixedly installed on the top of the lower fastener 301b by bolts, the lower fastener 301b and the upper fastener 301b are clamped on the wire 2, and then the lower fastener 301b and the upper fastener 301b are fastened by bolts to fix the lower fastener 301b, the upper fastener 301b and the wire 2 together.

[0025] In one embodiment, the GNSS receiver assembly 304 includes: a shell 304, the shell 304 is fixedly connected to the inner wall of the U-shaped opening 302c, and a lithium battery 304 and a GNSS receiver 304c are fixedly installed inside the shell 304. The lithium battery 304 is used to power the GNSS receiver 304c, the binocular camera assembly 303, and the pressure monitoring plate 306c2 of the lateral monitoring assembly 306.

[0026] The GNSS receiver 304c may use the A300-universal GNSS receiver, or a GNSS receiver with higher accuracy may be selected according to actual needs.

[0027] The bottom end of the shell 304 is open, and a bottom buckle plate 304d is fixedly installed at the bottom opening of the shell 304. The outer side of the shell 304 has an inclined surface, and a solar panel 304e is fixedly installed on the inclined surface of the outer side of the shell 304. The solar panel 304e is used to charge the lithium battery 304 to achieve long-term power supply of the lithium battery 304.

[0028] In one embodiment, the transverse monitoring assembly 306 includes: a transverse cylinder 306a, both ends of which are set to be openings, and both ends of the transverse cylinder 306a are fixedly installed with monitoring plugs 306c, and a sphere 306b is arranged inside the transverse cylinder 306a.

[0029] The monitoring plugging plate 306c has three layers, and from the inside to the outside they are an inner plate 306c1, a pressure monitoring plate 306c2, and an outer plate 306c3. The pressure monitoring plate 306c2 is a flexible plate, and a pressure sensor is integrated on the pressure monitoring plate 306c2.

[0030] When the lateral monitoring component 306 moves laterally, the ball 306b moves inside the lateral cylinder 306a. When the ball 306b hits the monitoring plug 306c, the pressure sensor on the pressure monitoring plate 306c2 receives a pressure signal. Based on the relevant pressure value and pressure direction (the two monitoring plugs 306c represent two directions), it can be determined whether the lateral monitoring component 306 moves laterally. In one embodiment, it also includes: a data processing module and a display terminal 5.

[0031] The data processing module parses the spatial coordinates x, y, z from the data monitored by the GNSS receiver 304c, and then converts the spatial coordinates into calibration coordinates u, v, w. The u direction of the calibration coordinates is the direction in which one of the towers 1 points horizontally toward another tower, the v direction of the calibration coordinates is the direction horizontally perpendicular to the u direction, and the w direction of the calibration coordinates is the vertical direction. The coordinate point a obtained by the GNSS receiver is displayed on the display terminal 5 with plane coordinates u and w.

[0032] The data processing module parses the image information obtained by the binocular camera assembly 303 to obtain a number of polar coordinate points r, θ on the wire 2, the polar coordinate points r, θ are polar coordinate points with the data acquisition terminal 3 as the polar coordinate circle, and converts the polar coordinate points r, θ into plane coordinates u0, w0, and displays the first virtual track b1 obtained by the binocular camera assembly and the second virtual track b2 obtained by the binocular camera assembly in the display terminal 5 with the plane coordinates u0, w0; The data processing module obtains the stress condition of the monitoring blocking plate 306 c from the lateral monitoring component 306 , determines whether the conductor 2 moves laterally synchronously, and marks the coordinate point a obtained by the GNSS receiver in different colors on the display terminal 5 .

[0033] In one embodiment, two groups of data acquisition terminals 3 are provided, and the two groups of data acquisition terminals 3 are distributed at 1 / 3 and 2 / 3 of the conductor 2, that is, the conductor 2 is divided into three equal parts, and the two groups of data acquisition terminals 3 are located at two equal points in the middle of the conductor 2.

[0034] In one embodiment, a transverse hole is formed on a side surface of the inverted U-shaped member 302 .

[0035] In one embodiment, connecting plates are provided on both sides of the top of the horizontal U-shaped member 305, and the connecting plates are fixedly connected to the inverted U-shaped member 302 by screws, so that the installation and removal of the horizontal U-shaped member 305 are relatively convenient.

Claims

1. A conductor attitude monitoring device based on GNSS positioning technology, used to obtain the attitude of a conductor (2) between two power towers (1), characterized in that: The device comprises: A data acquisition terminal (3), wherein the data acquisition terminal (3) is mounted on the wire (2); A monitoring substation (4), the monitoring substation (4) being communicatively connected to the data acquisition terminal (3), the monitoring substation (4) being used to receive monitoring data acquired by the data acquisition terminal (3), and to send the received monitoring data to a back-end platform for processing; The data collection terminal (3) comprises: A connecting fastener (301), wherein the connecting fastener (301) is fixedly fastened to the wire (2); An inverted U-shaped member (302), the end surface of the inverted U-shaped member (302) being arranged along the direction of the wire (2), and binocular camera assemblies (303) being fixedly mounted on both sides of the inverted U-shaped member (302), and a GNSS receiver assembly (304) being fixedly mounted on the inner side of the U-shaped opening (302c) of the inverted U-shaped member (302); A transverse U-shaped member (305) is fixedly mounted on the bottom of the inverted U-shaped member (302), and the length direction of the transverse U-shaped member (305) is perpendicular to the direction of the conductor (2). A transverse monitoring assembly (306) is fixedly mounted on the inner side of the transverse U-shaped member (305).

2. The wire posture monitoring device based on GNSS positioning technology according to claim 1, characterized in that: The inverted U-shaped member (302) comprises: A main body (302a), wherein an end surface of the main body (302a) is provided with a U-shaped opening (302c), both sides of the U-shaped opening (302c) are provided with mounting grooves (302b), and the binocular camera assembly (303) is fixedly mounted inside the mounting grooves (302b); The connecting fastener (301) comprises: a lower fastener (301b) fixedly connected to the main body (302a), and an upper fastener (301b) is fixedly mounted on the top of the lower fastener (301b) via bolts.

3. The wire posture monitoring device based on GNSS positioning technology according to claim 1, characterized in that: The GNSS receiver assembly (304) includes: A shell (304), the shell (304) being fixedly connected to the inner wall of the U-shaped opening (302c), a lithium battery (304) and a GNSS receiver (304c) being fixedly installed inside the shell (304), the lithium battery (304) being used to supply power to the GNSS receiver (304c), the binocular camera assembly (303), and a pressure monitoring plate (306c2) of the lateral monitoring assembly (306); The bottom end of the shell (304) is open, and a bottom buckle plate (304d) is fixedly mounted at the bottom end opening of the shell (304); the outer side of the shell (304) has an inclined surface, and a solar panel (304e) is fixedly mounted on the inclined surface on the outer side of the shell (304); the solar panel (304e) is used to charge the lithium battery (304).

4. The wire posture monitoring device based on GNSS positioning technology according to claim 1, characterized in that: The lateral monitoring component (306) includes: A transverse cylinder (306a), both ends of the transverse cylinder (306a) are arranged to be open, and both ends of the transverse cylinder (306a) are fixedly mounted with monitoring plugging plates (306c), and a sphere (306b) is arranged inside the transverse cylinder (306a); The monitoring plugging plate (306c) has three layers, which are, from inside to outside, an inner plate (306c1), a pressure monitoring plate (306c2), and an outer plate (306c3); the pressure monitoring plate (306c2) is a flexible plate, and a pressure sensor is integrated on the pressure monitoring plate (306c2).

5. The wire posture monitoring device based on GNSS positioning technology according to claim 1, characterized in that: The device also includes a data processing module and a display terminal (5); The data processing module parses the spatial coordinates (x, y, z) from the data monitored by the GNSS receiver (304c), and then converts the spatial coordinates into calibration coordinates (u, v, w), wherein the u direction of the calibration coordinates is the direction in which one of the electric towers (1) points horizontally toward the other electric tower, the v direction of the calibration coordinates is the direction horizontally perpendicular to the u direction, and the w direction of the calibration coordinates is the vertical direction, and the coordinate point (a) obtained by the GNSS receiver is displayed in the display terminal (5) as plane coordinates (u, w); The data processing module parses the image information acquired by the binocular camera assembly (303) to obtain a plurality of polar coordinate points (r, θ) on the wire (2), wherein the polar coordinate points (r, θ) are polar coordinate points with the data acquisition terminal (3) as polar coordinate points, converts the polar coordinate points (r, θ) into plane coordinates (u0, w0), and displays the first virtual track (b1) acquired by the binocular camera assembly and the second virtual track (b2) acquired by the binocular camera assembly in the display terminal (5) using the plane coordinates (u0, w0); The data processing module obtains the stress condition of the monitoring blocking plate (306c) from the lateral monitoring component (306), determines whether the conductor (2) has synchronously moved laterally, and marks the coordinate point (a) obtained by the GNSS receiver in a different color on the display terminal (5).

6. The wire posture monitoring device based on GNSS positioning technology according to claim 1, characterized in that: Two groups of data acquisition terminals (3) are provided, and the two groups of data acquisition terminals (3) are distributed at 1 / 3 and 2 / 3 of the conductor (2).

7. The wire attitude monitoring device based on GNSS positioning technology according to claim 1, characterized in that: A transverse hole is formed on the side of the inverted U-shaped member (302).

8. The wire attitude monitoring device based on GNSS positioning technology according to claim 1, characterized in that: Connecting plates are provided on both sides of the top end of the transverse U-shaped member (305), and the connecting plates are fixedly connected to the inverted U-shaped member (302) by means of screws.

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