Power transmission line windage yaw galloping monitoring and three-dimensional imaging system based on laser triangulation method

Abstract

The invention provides a power transmission line windage yaw galloping monitoring and three-dimensional imaging system based on a laser triangulation method, and relates to the technical field of laser ranging, and the system comprises a windage yaw galloping excavation assembly which is used for carrying out windage yaw galloping partition division and windage yaw galloping relation excavation; the windage yaw galloping monitoring module configuration assembly is used for configuring a windage yaw galloping monitoring module; the laser detection data determination assembly is used for determining laser detection data; the three-dimensional imaging module construction component is used for constructing a three-dimensional imaging module; the three-dimensional windage yaw galloping model determining assembly is used for determining a three-dimensional windage yaw galloping model; and the monitoring and early warning assembly is used for carrying out power transmission line monitoring feedback and windage yaw galloping early warning. The technical problems that the power transmission line windage yaw galloping monitoring precision is low and the three-dimensional motion information of the power transmission line cannot be accurately obtained can be solved, and the technical effects of improving the power transmission line windage yaw galloping monitoring precision and ensuring the accuracy of windage yaw galloping early warning by obtaining the dynamic three-dimensional image of the power transmission line are achieved.

Description

Technical Field

[0001] The present application relates to the field of laser ranging technology, and in particular to a transmission line wind yaw monitoring and stereoscopic imaging system based on laser triangulation. Background Art

[0002] During the operation of the transmission line, the transmission line may experience wind yaw due to environmental factors, especially under extreme weather conditions such as strong winds, ice and snow, the wind yaw of the transmission line is more obvious. Wind yaw not only poses a hidden danger to the stable operation of the transmission line, but also may cause mechanical damage to the transmission line. In severe cases, it may even cause accidents such as disconnection and power outages. Therefore, accurate monitoring and early warning of wind yaw of the transmission line are crucial to ensure the safe operation of the power system. Traditional methods for monitoring wind yaw of transmission lines mainly rely on mechanical monitoring equipment or video monitoring equipment installed on transmission towers. However, these methods have some obvious shortcomings. Mechanical monitoring equipment is prone to aging and damage after long-term use, resulting in inaccurate or invalid monitoring data. Although video monitoring equipment can provide visual monitoring data, it is subject to weather conditions and night lighting restrictions, and the monitoring effect is poor. In addition, these methods can usually only obtain two-dimensional motion information of the transmission line, and it is difficult to fully and accurately capture the three-dimensional motion characteristics of the transmission line, which limits the in-depth analysis of the wind yaw phenomenon of the transmission line. Summary of the invention

[0003] The purpose of this application is to provide a transmission line wind yaw and sway monitoring and stereoscopic imaging system based on laser triangulation, so as to solve the technical problems of low accuracy in wind yaw and sway monitoring of transmission lines and inability to accurately obtain stereoscopic motion information of transmission lines.

[0004] In view of the above problems, the present application provides a transmission line wind yaw and sway monitoring and stereoscopic imaging system based on laser triangulation.

[0005] The present application provides a transmission line wind yaw dance monitoring and stereoscopic imaging system based on laser triangulation, the system comprising: a wind yaw dance mining component for interacting with the historical wind yaw dance records of the target transmission line, performing wind yaw dance partition division and wind yaw dance relationship mining, the wind yaw dance relationship comprising wind yaw dance characteristics - self-excited vibration elements, the self-excited vibration elements at least comprising eccentric icing, wind excitation, line structure and parameters; a wind yaw dance monitoring module configuration component for determining a baseline monitoring strategy and configuring a wind yaw dance monitoring module based on the wind yaw dance partition and the wind yaw dance relationship; a laser detection data determination component for controlling a laser transmitter to the target based on the wind yaw dance monitoring module. The laser detection and light spot imaging based on the photoelectric detector are performed on the transmission line to determine the laser detection data; a stereo imaging module construction component is used to perform data-driven training based on the laser triangulation method to construct a stereo imaging module, wherein the stereo imaging module includes a four-dimensional analysis unit and a stereo reconstruction unit; a stereo wind yaw and sway model determination component is used for the stereo imaging module to receive the laser detection data, perform wind yaw and sway analysis and wind yaw and sway modal reconstruction of the transmission line based on the change of the light spot position, and determine the stereo wind yaw and sway model, wherein the stereo wind yaw and sway model is a dynamic model; a monitoring and early warning component is used to perform transmission line monitoring feedback and wind yaw and sway warning based on the stereo wind yaw and sway model.

[0006] The technical solution provided in this application has at least the following technical effects or advantages: The above-mentioned transmission line wind yaw dance monitoring and stereoscopic imaging system based on laser triangulation method first analyzes the historical wind yaw dance records of the transmission line based on the wind yaw dance mining component, divides the wind yaw dance area, and mines the factors related to the wind yaw dance, such as eccentric icing, wind excitation and line structure and other self-excited vibration elements. Based on these analysis results, the wind yaw dance monitoring module configuration component formulates a monitoring strategy and configures the corresponding monitoring module. In the actual monitoring process, the laser detection data determination component controls the laser transmitter to perform laser scanning on the target transmission line, and uses the photoelectric detector to capture the position of the reflected laser spot to obtain accurate detection data. These data will be transmitted to the stereoscopic imaging module construction component, and the data processing and model training will be performed by laser triangulation to generate a three-dimensional stereoscopic image of the transmission line. Subsequently, the stereoscopic wind yaw dance model determination component uses these three-dimensional data to analyze the wind yaw dance of the transmission line and reconstruct the dynamic wind yaw dance model of the transmission line. Finally, the monitoring and early warning component will feedback the status of the transmission line in real time according to the dynamic model, and issue a wind yaw dance early warning to ensure the safe operation of the power system.

[0007] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are specifically cited below. It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0009] Figure 1 This is a schematic diagram of the structure of the transmission line wind yaw and sway monitoring and stereoscopic imaging system based on the laser triangulation method of this application; Figure 2 This is a schematic diagram of the process of dividing wind yaw zoning of the transmission line wind yaw zoning monitoring and stereoscopic imaging system based on the laser triangulation method in this application.

[0010] Description of reference numerals: Wind yaw and fluctuation mining component 1, wind yaw and fluctuation monitoring module configuration component 2, laser detection data determination component 3, stereo imaging module construction component 4, stereo wind yaw and fluctuation model determination component 5, monitoring and early warning component 6. DETAILED DESCRIPTION

[0011] The present application solves the technical problems of low accuracy in wind yaw and sway monitoring of transmission lines and inability to accurately obtain three-dimensional motion information of transmission lines by providing a transmission line wind yaw and sway monitoring and stereoscopic imaging system based on laser triangulation, thereby achieving the technical effect of improving the accuracy of wind yaw and sway monitoring of transmission lines and ensuring the accuracy of wind yaw and sway warning by obtaining dynamic stereoscopic images of transmission lines.

[0012] Below, the technical solutions in the present application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments of the present application. It should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application. It should also be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, rather than all of them.

[0013] For examples, please see the attached Figure 1 The present application provides a transmission line wind yaw and sway monitoring and stereoscopic imaging system based on laser triangulation, and the system specifically includes the following components: The wind yaw dance mining component 1 is used to interact with the historical wind yaw dance records of the target transmission line, perform wind yaw dance zoning and wind yaw dance relationship mining, the wind yaw dance relationship includes wind yaw dance characteristics-self-excited vibration elements, and the self-excited vibration elements at least include eccentric icing, wind excitation, line structure and parameters.

[0014] Specifically, in the wind yaw dance mining component 1, the system terminal collects the wind yaw dance data of the target transmission line at different periods and under different environmental conditions from the historical database. These data include information such as the displacement, vibration frequency, and amplitude of the transmission line. The collected historical wind yaw dance records are then preprocessed to remove noise and outliers to ensure the accuracy and reliability of the data. This step involves processes such as data cleaning and smoothing. Subsequently, based on the preprocessed historical wind yaw dance records, the transmission line is divided into wind yaw dance partitions, that is, the transmission line is divided into multiple wind yaw dance partitions according to the similarity of the wind yaw dance characteristics through a clustering algorithm. Each partition represents an area with similar wind yaw dance characteristics. Afterwards, on the basis of the divided wind yaw dance partitions, the key factors affecting the wind yaw dance are mined, that is, the wind yaw dance characteristics in each partition are compared to understand the characteristic differences of each partition, and then the self-excited vibration elements of each partition are normalized by the maximum-minimum method, and the one with the largest normalized result is taken as the main self-excited vibration element of the partition. Then, the wind yaw dance characteristics of the partitions belonging to the same self-excited vibration element are summarized to form a wind yaw dance relationship. This wind yaw dance relationship includes wind yaw dance characteristics-self-excited vibration elements. Wind yaw dance characteristics include wind yaw dance amplitude, frequency, etc., while self-excited vibration elements cover internal and external conditions that cause wind yaw dance, such as eccentric icing, wind excitation, line structure, and parameter determination. Among them, eccentric icing refers to the formation of ice layers on the surface of the transmission line due to climatic conditions (such as rain and snow). These ice layers are not evenly covered on various parts of the line, but are concentrated on one side or certain specific areas, resulting in uneven weight distribution of the transmission line. Wind excitation refers to the external force exerted on the transmission line under the action of wind. Factors such as wind speed, direction and stability will exert certain forces on the transmission line, which will cause the line to vibrate or swing. The line structure and parameters include the geometric structure, material properties, installation method and related physical parameters of the transmission line itself, such as tension, bending stiffness, suspension height, etc. These structures and parameters determine the mechanical properties and response capabilities of the transmission line.

[0015] Further, if Figure 2 As shown, the present application provides the wind deviation dancing zoning division, including: Traverse the historical wind yaw dance records, perform clustering processing based on preset wind yaw dance differences, and determine multiple cluster clusters; traverse the multiple cluster clusters, locate the position and perform inter-cluster segmentation on the target transmission line, and determine a first wind yaw dance partition, wherein the first wind yaw dance partition has partition-similar wind yaw dance characteristics; traverse the first wind yaw dance partition, perform intra-partition clustering based on self-excited vibration elements, and determine a second wind yaw dance partition; merge the first wind yaw dance partition and the second wind yaw dance partition to determine the wind yaw dance partition.

[0016] In a preferred embodiment, the system terminal presets a wind yaw dance difference based on historical experience and expert advice, and this difference is used to measure the similarity between different wind yaw dance records. Each data point in the historical wind yaw dance record is taken as a separate cluster, and the distance between two data points is calculated using the Euclidean distance, and then a distance matrix is ​​constructed based on the calculated distance and the corresponding data point, and each element in the matrix represents the distance between two data points. Subsequently, the average value of the distance between all point pairs between the two clusters is calculated as the inter-cluster distance. Each time the distance between two clusters is calculated, the calculated inter-cluster distance is compared with the preset wind yaw dance difference. If the inter-cluster distance is less than the preset wind yaw dance difference, the two clusters are merged. Repeat the above process until the distances of all clusters are greater than or equal to the preset wind yaw dance difference. The system terminal draws a dendrogram according to the clustering process, and each layer of the dendrogram represents an aggregation operation. By analyzing the structure of the dendrogram and selecting a cutting point in the dendrogram in combination with the preset wind yaw dance difference, the data is divided into multiple clusters. Each cluster represents an area with similar wind yaw dance patterns. The wind yaw dance characteristics in these areas are similar, but are affected by different self-excited vibration elements. Afterwards, the wind yaw dance records of each cluster are spatially located to identify their specific locations in the transmission line, and the clusters are spatially divided to determine the first wind yaw dance partition. This partition contains areas with similar wind yaw dance characteristics, but there are differences in the influence of different self-excited vibration elements in these areas. Then, within the first wind yaw dance partition, the same clustering process is performed again according to different self-excited vibration elements. This step further distinguishes areas with similar wind yaw dance characteristics but affected by different elements, and determines the second wind yaw dance partition. Finally, the results of the first wind yaw dance partition and the second wind yaw dance partition are merged to determine the wind yaw dance partition. These wind yaw dance partitions not only take into account the similarity of wind yaw dance characteristics, but also reflect the differences in the influence of different self-excited vibration elements, providing strong support for subsequent monitoring and early warning work.

[0017] The wind yaw and dancing monitoring module configuration component 2 is used to determine a benchmark monitoring strategy and configure a wind yaw and dancing monitoring module based on the wind yaw and dancing partitions and the wind yaw and dancing relationship.

[0018] Specifically, in the wind yaw dance monitoring module configuration component 2, the system terminal traverses the wind yaw dance partitions. In each traversal, the most critical wind yaw dance influencing factors in each partition are identified according to the wind yaw dance relationship, and the partition wind yaw dance characteristics of the partition are obtained according to the determined wind yaw dance influencing factors. Subsequently, the initially configured automated benchmark monitoring strategy is determined based on the obtained partition wind yaw dance characteristics. Taking eccentric icing as an example, the wind yaw dance characteristics corresponding to the eccentric icing, such as the conductor cross-section, ice thickness, etc., are compared with the corresponding thresholds to determine the current severity of the icing. When the wind speed, ice thickness, etc. are greater than the corresponding thresholds, a higher monitoring frequency can be set and more ice thickness monitoring devices can be activated. Afterwards, the configured benchmark monitoring strategy is combined with the element monitoring branch to construct a wind yaw dance monitoring module to achieve effective monitoring and early warning of wind yaw dance of transmission lines.

[0019] Furthermore, the present application provides the windage and vibration monitoring module, including: Traverse the wind yaw and dance partitions, determine the wind yaw and dance characteristics of each partition, and configure the automated benchmark monitoring strategy; based on the benchmark monitoring strategy, configure the automatic monitoring trigger unit; intervene in the element monitoring branch, cooperate with the automatic monitoring trigger unit, and determine the wind yaw and dance monitoring module.

[0020] In a preferred embodiment, the system terminal traverses the obtained wind yaw dance partitions to obtain the historical wind yaw dance data of each partition, including time nodes (such as seasonality, day and night changes), time periods (such as wind peak periods), distribution terrain (such as mountains, plains, coastal areas), historical wind yaw dance records, conductor cross-sections and split conditions, etc. Among them, the time node can understand the key time of each partition in a year, such as the severe icing period in winter or the high wind speed period in summer. The time period can understand the key time of each partition in a day, such as the period when the wind speed is high at night or the temperature of the conductor increases due to sunlight during the day. The distribution terrain can understand the terrain characteristics within the partition, such as the mountainous area may cause the wind speed to increase, and the plain area may have a relatively uniform wind speed. The historical wind yaw dance record can understand the wind yaw dance frequency and amplitude of each partition under specific conditions. For example, some areas may have more severe wind yaw dance under specific winds. The conductor cross-section can understand the wind yaw dance characteristics of conductors with different cross-sections under wind force. The splitting condition can understand and analyze the splitting structure of the conductor and determine the wind yaw dance characteristics of the split conductor under a specific wind speed. Subsequently, according to the self-excited vibration elements corresponding to each wind yaw dance partition, the wind yaw dance characteristics of each partition are extracted to obtain the key wind yaw dance characteristics related to the self-excited vibration elements. Then, for the key wind yaw dance characteristics of different partitions, the initial threshold of automatic monitoring, the frequency of monitoring, etc. are set, and the automatic benchmark monitoring strategy is configured accordingly. For example, in winter or at night, a lower trigger threshold is set for areas with severe icing or high wind speed. During periods of high incidence of wind yaw dance or key time nodes, a higher frequency of monitoring is configured. Afterwards, according to the benchmark monitoring strategy, an automatic monitoring trigger unit is configured for each partition. For example, when the wind speed reaches a certain threshold or the temperature changes to a certain extent, the wind yaw dance monitoring is automatically triggered. Then, the response time of the trigger unit is configured, and a shorter response time is set according to the specific conditions of the partition, such as areas with fast wind speed changes. Then, the element monitoring branch is introduced, and the element monitoring branch is used to monitor the self-excited vibration elements. The system terminal integrates the element monitoring branch with the automatic monitoring trigger unit to determine the wind speed fluctuation monitoring module, ensuring the coordinated operation between the element monitoring branch and the automatic monitoring trigger unit. For example, when the ice thickness increases, the frequency of wind speed monitoring is automatically increased. In this way, the system's flexible response capability under different conditions can be ensured to cope with the complex wind speed fluctuation of the transmission line.

[0021] The laser detection data determination component 3 is used to control the laser transmitter to perform laser detection and spot imaging based on a photoelectric detector on the target transmission line based on the wind deviation and sway monitoring module to determine the laser detection data.

[0022] Specifically, in the laser detection data determination component 3, when the wind deviation dancing monitoring module detects that the target transmission line has wind deviation dancing, the laser transmitter is activated and the laser detection is automatically started. At this time, the laser transmitter will emit a laser beam, which will irradiate the target transmission line at a certain angle, and will be reflected by the surface of the target transmission line to form a reflected light. When the laser beam is irradiated on the target transmission line, the reflected light forms a continuous spot line on the photoelectric detector. As the transmission line dances with wind deviation, the position and shape of the spot line will change. The photoelectric detector will continuously monitor the position and shape changes of the reflected spot line, and collect imaging data of the reflected spot in real time, such as the position information and shape change data of the spot line. Subsequently, the line spot position information and shape change data collected by the photoelectric detector are transmitted to the system terminal to generate the laser detection data of the target transmission line. This laser detection data includes the spot line position, wind deviation dancing amplitude, wind deviation dancing frequency, etc. These data provide a scientific basis for wind deviation dancing monitoring and early warning of transmission lines.

[0023] Furthermore, the present application provides a method for controlling a laser transmitter to perform laser detection on the target transmission line based on the windage vibration monitoring module, including: Based on the self-excited vibration element, the element monitoring data is determined; in combination with the wind yaw and dance relationship, the wind yaw and dance monitoring judgment is performed on the element monitoring data to generate a first wind yaw and dance monitoring instruction, wherein the first wind yaw and dance monitoring instruction is marked with a monitoring partition; based on the automatic triggering of the monitoring node, a monitoring verification is performed in combination with the element monitoring data to generate a second wind yaw and dance monitoring instruction.

[0024] In an optional implementation, in each wind yaw dance partition, the system terminal continuously collects data related to the self-excited vibration elements related to the wind yaw dance through sensors and monitoring equipment, and generates element monitoring data, which includes data related to the self-excited vibration elements such as wind speed, temperature, and ice thickness. Then the collected element monitoring data is analyzed in real time to determine whether these elements are in an abnormal state. For example, analyze whether the wind speed is higher than the set threshold, or whether the ice thickness has increased significantly. Subsequently, the current element monitoring data is compared with the determined wind yaw dance relationship to determine whether the current environmental conditions may cause abnormal wind yaw dance of the transmission line. If the element data analysis indicates that there is a risk of wind yaw dance, the system terminal generates a first wind yaw dance monitoring instruction. The instruction contains detailed parameters of the monitoring task and clearly identifies the specific partition that needs to be monitored. When the time reaches the preset time node, that is, the monitoring node is automatically triggered, the system terminal automatically triggers the monitoring task and determines whether the monitoring needs to be performed according to the configured automatic monitoring strategy. At this time, the system terminal verifies in combination with the currently collected element data. For example, although the preset monitoring time has been reached, if the wind speed is still within the corresponding threshold range and the ice thickness is normal, the system terminal will determine that the current risk is low and no monitoring is required. If the verification result shows that monitoring is required, that is, if some data exceeds the corresponding threshold, the system terminal will generate a second wind yaw monitoring instruction, which is used to activate the laser transmitter to start the laser detection task.

[0025] Furthermore, the present application provides a method for controlling a laser transmitter to perform laser detection on the target transmission line based on the windage vibration monitoring module, including: The target transmission line is traversed, and the detection distance is determined with the measuring point as the baseline; based on the detection distance, the linear constraint relationship is determined with the spot size and the resolution; based on the linear constraint relationship, the system detection parameters are adjusted.

[0026] In a preferred embodiment, the system terminal first traverses the target transmission line to determine the location of each measuring point that needs to be monitored. These measuring points are set according to the key nodes of the transmission line or the areas prone to wind swing. For each measuring point, the straight-line distance from the laser transmitter to the measuring point is calculated, and this distance is used as the detection distance, which is the distance that the light spot propagates from the laser transmitter to the measuring point and reflects back to the photodetector. The detection distance of each measuring point is recorded for subsequent parameter adjustment. Subsequently, the linear constraint relationship between the spot size and the resolution is determined according to the detection distance. The spot size will change with the change of the detection distance. The larger the detection distance, the larger the divergence of the laser beam will make the spot. The system terminal will multiply each detection distance by the divergence angle of the laser transmitter to calculate the spot diameter at each measuring point to reflect the spot size at each measuring point. In order to ensure the accuracy of monitoring, the system terminal sets the spot resolution of each measuring point in combination with the spot size and the detection capability of the system. The resolution determines whether subtle wind swing changes can be detected. The larger the detection distance, the higher the resolution is required to maintain the monitoring accuracy. Afterwards, a linear constraint relationship is established between the spot size and the resolution through a formula or function. This relationship is used to ensure that the spot size and resolution can match at different detection distances to ensure the detection accuracy of the system. For example, ensure that at a certain detection distance, the ratio of the spot diameter to the resolution remains within a certain range to prevent the spot from being too large and causing inaccurate detection. Then, the system terminal automatically adjusts the relevant parameters of the laser transmitter, such as divergence angle, laser power, emission frequency, etc., according to the linear constraint relationship of each measuring point to ensure that the spot size and resolution can meet the monitoring requirements at each detection distance. For photoelectric detectors, their receiving parameters, such as photosensitivity, sampling rate, etc., will also be adjusted to ensure that the reflected spot information can be accurately captured.

[0027] The stereo imaging module construction component 4 is used to perform data-driven training based on the laser triangulation method to construct a stereo imaging module, wherein the stereo imaging module includes a four-dimensional analysis unit and a stereo reconstruction unit.

[0028] Specifically, in the stereo imaging module building component 4, based on the laser triangulation method, the system terminal uses the laser emitter, the target transmission line and the photoelectric detector to form a triangle, and calculates the three-dimensional position of the target transmission line by measuring the angle and distance changes between the laser beam and the detector, and obtains the precise spatial coordinates of the target transmission line. In order to more conveniently restore the three-dimensional target transmission line, the system terminal collects the wind deviation dancing data of the transmission line under different environments (such as wind speed changes, temperature changes, etc.), and generates a large amount of spot position data and its corresponding timestamp. These data cover various possible wind deviation dancing scenes to ensure that the module can handle various complex situations. Subsequently, key features are extracted from these data, including spot position, timestamp, and the relative position of the laser emitter and the detector. These features are then preliminarily analyzed to construct training data and verification data, thereby laying the foundation for subsequent module training. After that, a four-dimensional analysis unit capable of analyzing the three-dimensional space (X, Y, Z) and time dimension (T) is constructed. This four-dimensional analysis unit is based on machine learning algorithms, such as LSTM network training, which can capture and predict the wind yaw and dancing changes of transmission lines in the time dimension. The training process is the same as the existing training method, including forward propagation, loss calculation, gradient calculation, back propagation and other processes. Through repeated training and cross-validation, the parameters of the four-dimensional analysis unit are optimized to ensure that it can accurately describe and predict the dynamic wind yaw and dancing behavior of the transmission line and generate the position prediction of the transmission line at future time points. After the four-dimensional analysis unit is constructed, a stereo reconstruction unit is designed according to the data output by the four-dimensional analysis unit. The unit can reconstruct the two-dimensional spot data into a three-dimensional stereo image, which is similar to the above-mentioned construction of the four-dimensional analysis unit. In the process of constructing the stereo reconstruction unit, the system terminal uses three-dimensional geometric reconstruction technology, such as multi-viewpoint geometry (MVG), structure from motion (SfM), etc., to convert the spot position data at different time points into three-dimensional point cloud data. By calculating the changes of the spot at different viewing angles and time points, a preliminary three-dimensional structure is generated. Then, by integrating the point cloud data at different time points, a preliminary three-dimensional image of the transmission line is generated. After completing the forward propagation, loss calculation, gradient calculation, back propagation and other processes are performed, so that the stereo reconstruction unit can reconstruct the wind yaw data at all time points into a complete three-dimensional image, ensuring that the reconstructed three-dimensional image can reflect the actual wind yaw state. Then, the four-dimensional analysis unit is integrated with the stereo reconstruction unit to form a complete stereo imaging module. The stereo imaging module receives input data from the laser triangulation system, and generates a stereo image of the transmission line in real time through four-dimensional analysis and three-dimensional reconstruction, realizing real-time stereo monitoring of the wind yaw situation of the transmission line.

[0029] A stereoscopic wind yaw motion model determination component 5 is used for the stereoscopic imaging module to receive the laser detection data, perform wind yaw motion analysis and wind yaw motion modal reconstruction of the transmission line based on the change of the light spot position, and determine a stereoscopic wind yaw motion model, wherein the stereoscopic wind yaw motion model is a dynamic model.

[0030] Specifically, in the stereoscopic wind yaw dance model determination component 5, the stereoscopic imaging module receives the real-time laser detection data of the target transmission line, which includes the two-dimensional position coordinates of the light spot on the photodetector, and the geometric information related to the laser emitter. These laser detection data are then analyzed according to the internal four-dimensional analysis unit and stereoscopic reconstruction unit to generate a preliminary three-dimensional image of the transmission line. Subsequently, the wind yaw dance modal elements of the target transmission line are extracted from the preliminary three-dimensional image, and the wind yaw dance mode of the measuring point is determined based on these wind yaw dance modal elements, and then the same space perspective conversion and splicing reconstruction are performed to form a stereoscopic wind yaw dance model. This model not only shows the three-dimensional shape of the transmission line, but also reflects the time evolution process of the wind yaw dance, helping to achieve real-time monitoring and risk warning of the target transmission line.

[0031] Furthermore, the present application provides the method for determining the three-dimensional wind deviation dancing model, including: Determine the wind yaw dance modal elements, the wind yaw dance modal elements of each half-wave wind yaw dance mode include the average position limited by the neighborhood nodes, the wind yaw dance upper limit, and the wind yaw dance lower limit; based on the wind yaw dance modal elements, determine the wind yaw dance mode of the measuring point; perform the same-space perspective conversion and splicing reconstruction on the wind yaw dance mode of the measuring point to determine the three-dimensional wind yaw dance model.

[0032] In a preferred embodiment, after obtaining the preliminary three-dimensional image, the system terminal determines the neighborhood nodes of each half-wave wind yaw dance by analyzing the preliminary three-dimensional image, and calculates the average position of these nodes. This average position represents the overall position offset of the transmission line within a half-wave. The neighborhood node refers to a plurality of measuring points that are close and interrelated at the same time, and the wind yaw dance amplitude and phase changes of these measuring points are similar. Then, by detecting the extreme value positions at different time points in the preliminary three-dimensional image, the upper and lower limits of each half-wave wind yaw dance mode are determined. The upper and lower limits of the wind yaw dance upper and lower limits respectively represent the highest and lowest positions reached by the transmission line during the wind yaw dance process. These upper and lower limit data can help analyze the wind yaw dance amplitude and the stability of the wind yaw dance of the transmission line. Subsequently, the data of each measuring point is compared with the wind yaw dance modal elements of the neighborhood node to determine the wind yaw dance mode of the measuring point. The wind yaw dance mode of the measuring point includes the average position of the measuring point, the wind yaw dance amplitude, and the upper and lower limits of the wind yaw dance relative to the neighborhood node. The windage dance mode of each measuring point is then calibrated to ensure that it is consistent with the reference spatial perspective of the laser transmitter and photoelectric detector. This calibration process involves converting the data of the measuring point into a unified coordinate system so that it can be directly compared and spliced ​​with the modes of other measuring points. After that, the windage dance mode of each measuring point is converted into a spatial perspective based on the laser device and the detection device. This conversion process includes mapping the windage dance data of each measuring point to the perspective coordinate system where the laser device and the detection device are located, ensuring that the windage dance mode of all measuring points can be correctly displayed at the same perspective. After completing the spatial perspective conversion, the windage dance modes of all measuring points are spliced ​​and reconstructed. The splicing process involves connecting the windage dance modes of different measuring points in spatial order to form a complete windage dance image of the transmission line, and then combining it with time to reconstruct a three-dimensional windage dance model of the target transmission line throughout the windage dance process. This three-dimensional windage dance model can show the windage dance behavior of the target transmission line in three-dimensional space and reflect the dynamic changes during the windage dance process.

[0033] Furthermore, the present application provides a method for converting and splicing the windage dancing modes of the measuring points into the same spatial perspective, including: Determine the windage dancing mode of the measuring point, wherein the windage dancing mode of the measuring point is located in the measuring point space; based on the world coordinate system, perform spatial perspective conversion on the windage dancing mode of the measuring point to determine the converted windage dancing mode; traverse the converted windage dancing mode, perform splicing and reconstruction based on the relative spatial position, and introduce a time axis to determine the three-dimensional windage dancing model.

[0034] In an optional implementation, the system terminal compares the data of each measuring point with the wind yaw dance modal elements of the neighboring nodes to determine the wind yaw dance mode of the measuring point. The wind yaw dance mode of the measuring point includes parameters such as the average position of the measuring point, the upper and lower limits of the wind yaw dance, etc., all of which are located in the measuring point space. The measuring point space refers to a local coordinate system based on each measuring point. In this coordinate system, the wind yaw dance mode of the measuring point represents the typical behavior characteristics of the measuring point during the wind yaw dance of the transmission line. Subsequently, a world coordinate system is defined. The world coordinate system is a global and unified coordinate system used to represent the spatial position of the entire monitoring area. Here, the world coordinate system defines the absolute reference frame for monitoring the entire target transmission line. Afterwards, the wind yaw dance mode of each measuring point is converted from the measuring point space where it is located to the world coordinate system. This step is to unify the data in the local coordinate system into a global coordinate system for overall analysis and splicing reconstruction. Perspective conversion includes mapping the coordinates and windage yaw dance mode parameters in the measuring point space to the world coordinate system through mathematical transformations such as rotation and translation, ensuring that the data of all measuring points can be correctly aligned in the same reference system. After the spatial perspective conversion, the windage yaw dance mode of each measuring point is converted to a relative position in the world coordinate system to form a converted windage yaw dance mode. This converted windage yaw dance mode will serve as the basis for subsequent splicing and reconstruction. Then, the converted windage yaw dance modes of all measuring points are traversed, and the relative spatial positions of these modes in the world coordinate system are analyzed one by one. By calculating the relative position of each measuring point in the world coordinate system, the specific distribution of these measuring points in space is determined, providing a basis for subsequent splicing and reconstruction. Based on the relative spatial position of each measuring point, their windage yaw dance modes are spliced ​​together to generate a complete windage yaw dance image of the transmission line. In the splicing process, the windage yaw dance modes between the measuring points are smoothly connected by the method of geometric interpolation to ensure that the generated windage yaw dance model can accurately reflect the overall windage yaw dance behavior of the transmission line. During the reconstruction process, the time axis is introduced into the wind yaw dance model to form a dynamic model that changes over time. By superimposing the spliced ​​wind yaw dance modes at different time points, a time series is generated to show the wind yaw dance change process of the target transmission line during the entire monitoring period. The introduction of the time axis enables the three-dimensional wind yaw dance model to not only display the wind yaw dance morphology in three-dimensional space, but also reflect the evolution of these morphologies over time, thus forming a four-dimensional space-time model. After spatial perspective conversion and splicing reconstruction, combined with time axis information, the final three-dimensional wind yaw dance model can fully describe the dynamic wind yaw dance process of the transmission line in three-dimensional space, thereby providing strong support for the safe operation of the power system.

[0035] The monitoring and early warning component 6 is used to perform transmission line monitoring feedback and wind yaw yaw early warning based on the three-dimensional wind yaw yaw model.

[0036] Specifically, in the monitoring and early warning component 6, the three-dimensional wind yaw dance model provides key support for the monitoring and early warning of the transmission line by accurately reflecting the dynamic wind yaw dance of the transmission line in three-dimensional space. Based on this three-dimensional wind yaw dance model, the system terminal can monitor the wind yaw dance state of the transmission line in real time, and analyze whether the target transmission line is within a safe range based on the changes in the amplitude and frequency of the wind yaw dance. If the three-dimensional wind yaw dance model detects that the wind yaw dance exceeds the safety threshold, it will promptly issue a warning signal to remind relevant personnel to take measures to prevent damage or breakage of the transmission line caused by wind yaw dance. This real-time monitoring and early warning mechanism can effectively ensure the stable operation of the transmission line and avoid potential power accidents.

[0037] In summary, the transmission line wind yaw and sway monitoring and stereoscopic imaging system based on laser triangulation provided in this application has the following technical effects: This application realizes accurate monitoring and early warning of wind yaw dance of transmission lines through the collaborative work of multiple components. First, the historical wind yaw dance records of the target transmission line are analyzed through the wind yaw dance mining component 1, and the wind yaw dance is divided into zones, and the wind yaw dance relationship is mined, including wind yaw dance characteristics and self-excited vibration elements, such as eccentric icing, wind excitation, line structure and parameters, etc. Based on these partitions and relationships, the wind yaw dance monitoring module configuration component 2 determines the benchmark monitoring strategy and configures the corresponding wind yaw dance monitoring module. In the laser detection data determination component 3, according to the configuration of the wind yaw dance monitoring module, the laser transmitter is controlled to perform laser detection on the target transmission line, and the spot imaging data is collected through the photoelectric detector to determine the accurate laser detection data. The stereo imaging module is based on the laser triangulation method, and a stereo imaging module is constructed through data-driven training, which includes a four-dimensional analysis unit and a stereo reconstruction unit, which are used to receive laser detection data, perform wind yaw dance analysis and modal reconstruction of the transmission line, and finally determine a dynamic stereo wind yaw dance model. The system also includes a monitoring and early warning component 6, which is used to perform real-time transmission line monitoring feedback and wind yaw early warning based on a three-dimensional wind yaw model. The wind yaw partition is determined by traversing the historical wind yaw records and clustering based on the preset wind yaw difference. Subsequently, an automated monitoring strategy is configured based on the partition characteristics, and an element monitoring branch is introduced for collaborative monitoring. Before laser detection, the element monitoring data is determined based on the self-excited vibration element, the wind yaw relationship is judged, and the automatic triggering monitoring node is verified to ensure accurate monitoring execution. In addition, after determining the detection distance and the linear constraint relationship based on the spot size and resolution, the corresponding detection parameters will be adjusted. Finally, the three-dimensional wind yaw model is determined by the same space perspective conversion and splicing reconstruction to ensure that the wind yaw behavior of the transmission line can be fully reflected. These technical effects jointly solve the technical problems of low accuracy of wind yaw monitoring of transmission lines and inability to accurately obtain three-dimensional motion information of transmission lines, and achieve the technical effect of obtaining dynamic three-dimensional images of transmission lines, improving the accuracy of wind yaw monitoring of transmission lines, and ensuring the accuracy of wind yaw early warning.

[0038] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0039] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the present application and its equivalent technology, the present application is also intended to include these modifications and variations.

Claims

1. A transmission line wind yaw monitoring and stereoscopic imaging system based on laser triangulation, characterized in that: The system comprises: Wind yaw dance mining component, used to interact with the historical wind yaw dance records of the target transmission line, perform wind yaw dance zoning and wind yaw dance relationship mining, the wind yaw dance relationship includes wind yaw dance characteristics-self-excited vibration elements, the self-excited vibration elements at least include eccentric icing, wind excitation, line structure and parameters; A windage dancing monitoring module configuration component is used to determine a benchmark monitoring strategy and configure a windage dancing monitoring module based on the windage dancing partition and the windage dancing relationship; A laser detection data determination component is used to control the laser transmitter to perform laser detection on the target transmission line and light spot imaging based on a photoelectric detector based on the windage and sway monitoring module to determine laser detection data; A stereo imaging module building component, used for data-driven training based on laser triangulation to build a stereo imaging module, wherein the stereo imaging module includes a four-dimensional analysis unit and a stereo reconstruction unit; A three-dimensional wind yaw motion model determination component is used for the three-dimensional imaging module to receive the laser detection data, perform wind yaw motion analysis and wind yaw motion modal reconstruction of the power transmission line based on the change of the light spot position, and determine a three-dimensional wind yaw motion model, wherein the three-dimensional wind yaw motion model is a dynamic model; The monitoring and early warning component is used to perform transmission line monitoring feedback and wind yaw yaw early warning based on the three-dimensional wind yaw yaw model.

2. The transmission line wind yaw and sway monitoring and stereoscopic imaging system based on laser triangulation as claimed in claim 1, characterized in that: The wind deviation dancing zoning division includes: Traversing the historical wind yaw and dancing records, performing clustering processing based on preset wind yaw and dancing differences, and determining multiple clusters; Traversing the multiple clusters, locating the target transmission line and performing inter-cluster segmentation, and determining a first wind yaw and sway partition, wherein the first wind yaw and sway partition has a partition-similar wind yaw and sway feature; Traversing the first wind yaw dancing partition, performing intra-partition clustering based on self-excited vibration elements, and determining a second wind yaw dancing partition; The first windage dancing zone and the second windage dancing zone are integrated to determine the windage dancing zone.

3. The transmission line wind yaw monitoring and stereoscopic imaging system based on laser triangulation as claimed in claim 1, characterized in that: The windage vibration monitoring module is configured, including: Traversing the wind yaw and dancing zones, determining the wind yaw and dancing characteristics of each zone, and configuring the automated benchmark monitoring strategy; Based on the benchmark monitoring strategy, configuring an automatic monitoring trigger unit; The intervention element monitoring branch cooperates with the automatic monitoring trigger unit to determine the wind deviation and dancing monitoring module.

4. The transmission line wind yaw monitoring and stereoscopic imaging system based on laser triangulation as claimed in claim 3, characterized in that: Based on the wind deviation and dancing monitoring module, before controlling the laser transmitter to perform laser detection on the target transmission line, it includes: Based on the self-excited vibration element, determining element monitoring data; In combination with the windage and sway relationship, a windage and sway monitoring judgment is performed on the element monitoring data to generate a first windage and sway monitoring instruction, wherein the first windage and sway monitoring instruction is marked with a monitoring partition; Based on the automatic triggering of the monitoring node, monitoring verification is performed in combination with the element monitoring data to generate a second wind deviation and sway monitoring instruction.

5. The transmission line wind yaw and sway monitoring and stereoscopic imaging system based on laser triangulation as claimed in claim 1, characterized in that: Based on the wind deviation and dancing monitoring module, before controlling the laser transmitter to perform laser detection on the target transmission line, it includes: Traversing the target transmission line, taking the measuring point as a baseline, and determining the detection distance; Based on the detection distance, a linear constraint relationship is determined with the spot size and the resolution; Based on the linear constraint relationship, the system detection parameters are adjusted.

6. The transmission line wind yaw monitoring and stereoscopic imaging system based on laser triangulation as claimed in claim 1, characterized in that: The method of determining the three-dimensional windage dancing model comprises: Determine the wind yaw dance mode elements, the wind yaw dance mode elements of each half-wave wind yaw dance mode include the average position limited by the neighborhood node, the wind yaw dance upper limit, and the wind yaw dance lower limit; Based on the windage dancing mode elements, determine the windage dancing mode of the measuring point; The windage wave motion modes of the measuring points are converted and reconstructed in the same space perspective to determine the three-dimensional windage wave motion model.

7. The transmission line wind yaw and sway monitoring and stereoscopic imaging system based on laser triangulation as claimed in claim 5, characterized in that: The windage dancing mode of the measuring point is converted and reconstructed in the same space perspective, including: Determine the windage dancing mode of the measuring point, wherein the windage dancing mode of the measuring point is located in the measuring point space; Based on the world coordinate system, the windage dancing mode of the measuring point is converted into a spatial perspective to determine the converted windage dancing mode; The converted wind yaw dancing modes are traversed, spliced ​​and reconstructed based on relative spatial positions, and a time axis is introduced to determine the three-dimensional wind yaw dancing model.

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