Electric transmission line ground wire electrical safety early warning method and device

Abstract

The invention relates to a power transmission line ground wire electrical safety early warning method and device. The method comprises the steps of obtaining a ground wire photo on a power transmission line; acquiring a space coordinate of a target point from the guide ground wire picture; converting the space coordinates into plane coordinates; in combination with a preset parabolic equation of the ground wire, solving to obtain a target parameter; based on the first key point plane coordinate and the second key point plane coordinate, combining a preset hanging point connecting line equation to obtain a connecting line slope of the hanging point connecting line equation; after deriving the parabolic equation, taking a connecting line slope as a function value, and combining with the target parameter to obtain a tangency point abscissa; according to the tangency point abscissa, combining the parabolic equation of the ground wire and the hanging point connecting line equation to measure the tangency point sag of the ground wire of the power transmission line; and based on the pre-acquired longitude and latitude and tangency sag of the crossing point below the ground wire of the power transmission line, measuring the crossing distance between the ground wire and the crossing point below the ground wire. The method has the effect of improving the measurement precision and the measurement efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of power transmission line measurement, and in particular to a method and device for early warning of electrical safety of a ground wire of a power transmission line. Background Art

[0002] As the transmission radius and range of transmission lines continue to expand, the paths of transmission lines are becoming more and more complex. There are more and more transmission lines passing through areas with complex terrain or multiple lines being erected in the same corridor, which leads to the phenomenon of overhead transmission lines crossing over, that is, the phenomenon of transmission lines crossing over various artificial facilities or natural objects such as the ground, buildings, trees, rivers, power lines, communication lines, railways, roads, pipelines, cableways, etc. is becoming more and more common. When the crossing over phenomenon occurs, in order to ensure the safe operation of both parties, the ground wire of the transmission line must maintain a sufficient crossing over distance with the object being crossed. Therefore, it is necessary to monitor the crossing part of the ground wire of the transmission line to timely grasp the changes in the crossing over distance.

[0003] At present, the cross-span distance of power transmission lines can be measured manually with the aid of theodolites, total stations or distance meters. During the measurement, the sag of the ground wire to be measured is measured first, and then the height of the crossing object below is measured, and the minimum cross-span distance under the maximum temperature is further obtained. As the temperature rises, the ground wire expands and contracts, the sag increases, and the distance to the obstacle decreases. However, since manual measurement and statistics are required during the measurement process, the detection accuracy and efficiency are low.

[0004] With respect to the above-mentioned related technologies, the inventors have found that the existing method for measuring the crossing distance of the ground wires of a power transmission line has the problems of low detection accuracy and detection efficiency. Summary of the invention

[0005] In order to improve the detection accuracy and efficiency of the crossing distance of the ground wires of a transmission line, the present application provides a method and device for electrical safety early warning of the ground wires of a transmission line.

[0006] In a first aspect, the present application provides a method for early warning of electrical safety of a ground wire of a power transmission line.

[0007] This application is achieved through the following technical solutions:

[0008] A method for early warning of electrical safety of a ground wire of a power transmission line comprises the following steps:

[0009] Get photos of ground wires on transmission lines;

[0010] Acquire the latitude, longitude and altitude information of three points on the conductor from the ground conductor photo, and create the first key point spatial coordinates, the second key point spatial coordinates and the third key point spatial coordinates;

[0011] Convert the first key point space coordinates, the second key point space coordinates and the third key point space coordinates into first key point plane coordinates, second key point plane coordinates and third key point plane coordinates;

[0012] Based on the plane coordinates of the first key point, the plane coordinates of the second key point and the plane coordinates of the third key point, combined with the preset parabola equation of the ground conductor, solving to obtain the target parameters;

[0013] Based on the plane coordinates of the first key point and the plane coordinates of the second key point, combined with a preset hanging point connection equation, a connection slope of the hanging point connection equation is obtained;

[0014] After derivation of the parabola equation, the slope of the connecting line is used as the function value, combined with the target parameter, to obtain the horizontal coordinate of the tangent point;

[0015] According to the horizontal coordinate of the tangent point, in combination with the parabola equation of the ground wire and the hanging point connection line equation, the tangent point sag of the ground wire of the transmission line is measured;

[0016] Use drones to collect photos of the crossing points under the ground wires of the transmission lines and obtain the height, longitude and latitude of the crossing points;

[0017] Based on the longitude and latitude of the crossing point below the ground conductor of the transmission line and the tangent point sag, the height of the ground conductor corresponding to the crossing point is obtained;

[0018] According to the height of the crossing point and the height of the corresponding ground wire, a crossing distance between the ground wire and the crossing point below is obtained;

[0019] When the crossing distance between the ground wire and the crossing point below is less than a preset threshold, an early warning signal is output.

[0020] In a preferred example, the present application can be further configured as follows: it also includes the following steps:

[0021] The threshold value is calculated as follows:

[0022] H0=H3-Δfx

[0023]

[0024] Wherein, H0 represents the threshold value, H3 is the crossing distance between the ground wire and the crossing point below, x is the converted distance value of the difference between the height of the crossing point and the corresponding ground wire height, ι is the transmission line span, ι0 is the initial transmission line span, f is the tangent point sag of the ground wire of the transmission line, t mis the maximum temperature at the location of the transmission line, t is the current temperature at the location of the transmission line, and a is the thermal conductivity.

[0025] In a preferred example, the present application can be further configured as follows: the step of using a drone to collect photos of the crossing point under the ground wire of the transmission line and obtaining the height and longitude and latitude of the crossing point also includes:

[0026] The height of the crossing point under the ground wire of the transmission line is measured by drone photography;

[0027] The longitude and latitude of the crossing point under the ground wire of the transmission line are measured by aerial photography using a drone.

[0028] In a preferred example, the present application may be further configured as follows: the step of converting the first key point space coordinates, the second key point space coordinates and the third key point space coordinates into the first key point plane coordinates, the second key point plane coordinates and the third key point plane coordinates includes:

[0029] according to In the formula, x i Represents the longitude value of any key point, y i Represents the latitude value of any key point, and the obtained XY i The value of is used as the horizontal coordinate value of the plane coordinate of the key point;

[0030] The height value of the first key point spatial coordinates, the height value of the second key point spatial coordinates and the height value of the third key point spatial coordinates are respectively used as the vertical coordinate value of the first key point plane coordinates, the vertical coordinate value of the second key point plane coordinates and the vertical coordinate value of the third key point plane coordinates.

[0031] In a preferred example, the present application can be further configured as follows: it also includes the following steps:

[0032] The ground wire photograph at least includes a head fixed hanging point, a tail fixed hanging point and a measuring point between the head fixed hanging point and the tail fixed hanging point on the ground wire;

[0033] The longitude, latitude and altitude information of the head fixed hanging point, the longitude, latitude and altitude information of the tail fixed hanging point and the longitude, latitude and altitude information of the measuring point are obtained from the ground wire photo as the first key point spatial coordinates, the second key point spatial coordinates and the third key point spatial coordinates.

[0034] In a preferred example, the present application can be further configured as follows: based on the first key point plane coordinates, the second key point plane coordinates and the third key point plane coordinates, combined with the preset parabola equation of the ground conductor, the step of solving the target parameter includes:

[0035] Taking the plane coordinates of the first key point as the origin, set the parabola equation of the ground conductor Y=aX 2 +bX;

[0036] Substitute the plane coordinates of the second key point and the plane coordinates of the third key point into the parabola equation of the ground conductor to obtain the target parameters through solving the equation.

[0037] In a preferred example, the present application can be further configured as follows: the step of measuring the tangent point sag of the ground wire of the power transmission line according to the horizontal coordinate of the tangent point, in combination with the parabola equation of the ground wire and the hanging point connection line equation includes:

[0038] Substituting the horizontal coordinate of the tangent point into the parabola equation of the ground conductor and the equation of the hanging point connection line respectively, to obtain the height value of the measuring point and the height value of the tail fixed hanging point;

[0039] The height value of the measuring point is subtracted from the height value of the tail fixed hanging point, and the difference is used as the tangent point sag of the ground wire of the transmission line.

[0040] In a preferred example, the present application can be further configured as follows: i Before the step of using the value of as the abscissa value of the plane coordinates of the key point, the step also includes,

[0041] The error correction coefficient is used to obtain XY i The value of is corrected, and the expression of the error correction coefficient includes,

[0042]

[0043] In the formula, y n represents the latitude value of the target key point, and y1 represents the latitude value of the first key point on the ground wire.

[0044] In a preferred example, the present application can be further configured as follows: when obtaining the latitude, longitude and altitude information of three points on the conductor from the ground conductor photo, the following steps are included:

[0045] Loading the ground wire photo into an image processing library;

[0046] Based on the image processing library, calling a preset function to read the latitude, longitude, north-south latitude, east-west longitude and altitude of three points on the conductor of the ground conductor photo;

[0047] According to the north-south latitude and the east-west longitude, convert the latitude and the longitude into latitude and longitude with positive and negative values;

[0048] The converted latitude and longitude, as well as the corresponding altitude, are used as the latitude, longitude and altitude information of the three points.

[0049] In a second aspect, the present application provides an electrical safety warning device for a ground wire of a power transmission line.

[0050] This application is achieved through the following technical solutions:

[0051] An electrical safety early warning device for a ground wire of a power transmission line, comprising:

[0052] The first image acquisition module is used to obtain a photo of the ground wire on the transmission line;

[0053] A spatial coordinate module, used to obtain the longitude, latitude and altitude information of three points on the conductor from the ground conductor photo, and create the first key point spatial coordinate, the second key point spatial coordinate and the third key point spatial coordinate;

[0054] A plane coordinate module, used for converting the first key point space coordinates, the second key point space coordinates and the third key point space coordinates into first key point plane coordinates, second key point plane coordinates and third key point plane coordinates;

[0055] A target parameter module, used for solving the target parameter based on the first key point plane coordinates, the second key point plane coordinates and the third key point plane coordinates in combination with a preset parabola equation of the ground conductor;

[0056] A hanging point connection module, used for obtaining the connection slope of the hanging point connection equation based on the first key point plane coordinates and the second key point plane coordinates in combination with a preset hanging point connection equation;

[0057] A tangent point module is used to obtain the tangent point abscissa by taking the slope of the connecting line as the function value and combining it with the target parameter after derivation of the parabola equation;

[0058] A sag measurement module is used to measure the sag of the tangent point of the ground wire of the power transmission line according to the horizontal coordinate of the tangent point, in combination with the parabola equation of the ground wire and the hanging point connection line equation;

[0059] The second image acquisition module is used to use a drone to collect photos of the crossing points under the ground wires of the transmission lines, and obtain the height and longitude and latitude of the crossing points;

[0060] A ground conductor height module, used for obtaining the ground conductor height corresponding to the crossing point based on the longitude and latitude of the crossing point below the ground conductor of the transmission line and the tangent point sag;

[0061] A cross-span distance measurement module, used for obtaining a cross-span distance between the ground wire and the cross-span point below according to the height of the cross-span point and the height of the corresponding ground wire;

[0062] The early warning module is used to output an early warning signal when the crossing distance between the ground wire and the crossing point below is less than a preset threshold.

[0063] In summary, compared with the prior art, the technical solution provided by this application has at least the following beneficial effects:

[0064] A photo of the ground conductor on the transmission line is obtained to obtain the latitude, longitude and altitude information of three points on the conductor from the photo of the ground conductor, and the spatial coordinates of the first key point, the spatial coordinates of the second key point and the spatial coordinates of the third key point are created. The basic measurement data is collected by taking photos of the three points to reduce the manual measurement error; the spatial coordinates of the first key point, the spatial coordinates of the second key point and the spatial coordinates of the third key point are converted into the plane coordinates of the first key point, the plane coordinates of the second key point and the plane coordinates of the third key point to reduce the difficulty of calculating the coordinates, which is conducive to speeding up the calculation efficiency; based on the plane coordinates of the first key point, the plane coordinates of the second key point and the plane coordinates of the third key point, combined with the preset parabola equation of the ground conductor, the target parameters are solved to obtain the target parameters for constructing the ground conductor model of the transmission line; based on the plane coordinates of the first key point and the plane coordinates of the second key point, combined with the preset hanging point connection equation, the connection slope of the hanging point connection equation is obtained to construct the hanging point connection model of the transmission line; after the parabola equation is derived, the connection slope is used as the function value, combined with the target parameters, the horizontal coordinates of the tangent point are obtained, and then according to the horizontal coordinates of the tangent point, combined with the ground conductor, the ground conductor model is constructed. The parabola equation of the line and the hanging point connection line equation are used to solve the ordinate value, which is used to predict the distance from the tangent point on the hanging point connection line and the ground wire to the hanging point connection line, so as to more accurately measure the tangent point sag of the transmission line ground wire; then, the drone is used to collect photos of the crossing points under the transmission line ground wire, and the height and longitude and latitude of the crossing points are obtained as the data basis for the measurement of the crossing distance. There is no need to use theodolites, total stations or rangefinders to assist manual measurement, and the detection accuracy and efficiency are higher; based on the longitude and latitude of the crossing points under the transmission line ground wire and the tangent point sag, and obtain the height of the ground wire corresponding to the crossing point; according to the height of the crossing point and the corresponding ground wire height, obtain the crossing distance between the ground wire and the crossing point below, so as to accurately monitor the crossing part of the ground wire of the transmission line, and timely grasp the changes of the crossing distance, thereby improving the detection accuracy and efficiency; when the crossing distance between the ground wire and the crossing point below is less than the preset threshold, output a warning signal to realize automatic alarm, which is conducive to taking measures in time to eliminate the hidden dangers of transmission line faults and ensure the safe operation of the power grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A schematic flow chart of a method for early warning of electrical safety of a ground wire of a power transmission line provided as an exemplary embodiment of the present application.

[0066] Figure 2 A schematic diagram of an application interface of a transmission line ground wire electrical safety early warning method provided as yet another exemplary embodiment of the present application.

[0067] Figure 3 A structural block diagram of a transmission line ground wire electrical safety warning device provided as another exemplary embodiment of the present application. DETAILED DESCRIPTION

[0068] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make modifications to the present embodiment without any creative contribution as needed, but such modifications are protected by the patent law as long as they are within the scope of the claims of the present application.

[0069] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0070] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0071] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0072] Reference Figure 1 , an embodiment of the present application provides a transmission line ground wire electrical safety warning method, and the main steps of the method are described as follows.

[0073] S1: Obtain a photo of the ground wire on the transmission line;

[0074] S2: Obtain the latitude, longitude and altitude information of three points on the conductor from the ground conductor photo, and create the first key point spatial coordinates, the second key point spatial coordinates and the third key point spatial coordinates;

[0075] S3: converting the first key point space coordinates, the second key point space coordinates and the third key point space coordinates into first key point plane coordinates, second key point plane coordinates and third key point plane coordinates;

[0076] S4: Based on the first key point plane coordinates, the second key point plane coordinates and the third key point plane coordinates, combined with the preset parabola equation of the ground conductor, solving to obtain target parameters;

[0077] S5: Based on the plane coordinates of the first key point and the plane coordinates of the second key point, combined with a preset hanging point connection equation, obtain the connection slope of the hanging point connection equation;

[0078] S6: After derivation of the parabola equation, the slope of the connecting line is used as the function value, combined with the target parameter, to obtain the horizontal coordinate of the tangent point;

[0079] S7: According to the horizontal coordinate of the tangent point, in combination with the parabola equation of the ground wire and the hanging point connection equation, the tangent point sag of the ground wire of the transmission line is measured;

[0080] S8: using a drone to collect photos of the crossing points under the ground wire of the transmission line, and obtaining the height and longitude and latitude of the crossing points;

[0081] S9: based on the longitude and latitude of the crossing point below the ground conductor of the transmission line and the tangent point sag, obtaining the height of the ground conductor corresponding to the crossing point;

[0082] S10: according to the height of the crossing point and the height of the corresponding ground wire, obtaining the crossing distance between the ground wire and the crossing point below;

[0083] S11: When the crossing distance between the ground wire and the crossing point below is less than a preset threshold, an early warning signal is output.

[0084] Specifically, a drone is used to take photos of the ground wire on the transmission line, and the longitude, latitude and altitude information of three points on the ground wire, as well as the altitude and longitude and latitude information of the crossing point under the ground wire are collected. The three points can be any three sampling points on the ground wire, or can be three designated sampling points.

[0085] In this embodiment, when collecting the longitude, latitude and altitude information of three points on the ground wire, as well as the altitude and longitude and latitude information of the crossing point below the ground wire, a target detection model can be used to identify the target point on the ground wire and the target area corresponding to the crossing point below it in the photo, and determine the bounding box position of the target area.

[0086] By using the bounding box position of the target area and combining computer vision technology, the findNonZero function in the image processing library OpenCV is called to find the position of the target point and the cross-over point, and the position vectors of the matched target point and cross-over point are represented in the vector library and stored in the vector library.

[0087] The vector library is traversed to obtain the latitude, longitude and altitude information of the three target points to create the first key point spatial coordinates (X1, Y1, Z1), the second key point spatial coordinates (X3, Y3, Z3) and the third key point spatial coordinates (X2, Y2, Z2), where X represents longitude, Y represents latitude, and Z represents altitude.

[0088] For the convenience of calculation, in one embodiment, the first key point space coordinates, the second key point space coordinates and the third key point space coordinates are converted into the first key point plane coordinates, the second key point plane coordinates and the third key point plane coordinates, that is, the space coordinate system established by XYZ is converted into the XY-Z plane coordinate system, including the following steps:

[0089] according to In the formula, x i Represents the longitude value of any key point, y i Represents the latitude value of any key point, and the obtained XY i The value of is used as the horizontal coordinate value of the plane coordinate of the key point;

[0090] The height value of the first key point space coordinate, the height value of the second key point space coordinate and the height value of the third key point space coordinate are respectively used as the ordinate value of the first key point plane coordinate, the ordinate value of the second key point plane coordinate and the ordinate value of the third key point plane coordinate to obtain the plane coordinate (XY i , Z).

[0091] Based on the first key point plane coordinates, the second key point plane coordinates and the third key point plane coordinates, combined with the preset parabolic equation of the ground conductor, the target parameters are solved.

[0092] Specifically, according to "Analysis of Calculation Errors of Parabola Theory and Catenary Theory of Wire Rope Lin Guiyu, Feng Youda, Yuan Dengbo Northeastern University Shenyang, Liaoning", under the premise of meeting the measurement accuracy, for the convenience of calculation, this scheme uses the parabola equation to describe the grounding wire Y = aX 2 +bX+c, by substituting the plane coordinates of the first key point, the plane coordinates of the second key point and the plane coordinates of the third key point, the values ​​of a, b and c can be solved.

[0093] Furthermore, in order to simplify the calculation and improve the calculation efficiency, in one embodiment, based on the first key point plane coordinates, the second key point plane coordinates and the third key point plane coordinates, combined with the preset parabola equation of the ground conductor, the step of solving the target parameter includes:

[0094] Taking the plane coordinates of the first key point as the origin, set the parabola equation of the ground conductor Y=aX 2 +bX;

[0095] Substituting the plane coordinates of the second key point and the plane coordinates of the third key point into the parabola equation of the ground conductor to solve the target parameters a and b has a higher solving efficiency.

[0096] Next, based on the plane coordinates of the first key point and the plane coordinates of the second key point, combined with the preset hanging point connection equation, the connection slope of the hanging point connection equation is obtained.

[0097] By presetting the connection point equation:

[0098] Y=cX

[0099] Wherein, Y is the difference between the coordinate values ​​of the first key point and the second key point in the plane coordinate system after the transformation, X is the difference between the coordinate values ​​of the first key point and the second key point in the plane coordinate system after the transformation, and c is the slope of the line connecting the first key point and the second key point.

[0100] Substitute (XY1, Z1) and (XY2, Z2) to solve the slope of the line equation and find the c value of the line equation.

[0101] Derivative the parabolic equation of the conductor to be tested, and obtain Y'=2aX'+b. At this time, when Y' is equal to the slope of the line connecting the head fixed hanging point and the tail fixed hanging point, that is, the parabolic equation of the conductor to be tested is tangent to the connecting line equation. The connecting line slope is used as the function value, combined with the target parameters, to solve the horizontal coordinate of the tangent point of the line connecting the conductor to be tested, the head fixed hanging point and the tail fixed hanging point. Wherein, x=Y'.

[0102] According to the horizontal coordinate of the tangent point, combined with the parabola equation of the ground wire and the hanging point connection equation, the tangent point sag of the ground wire of the transmission line is measured. Specifically,

[0103] Substituting the horizontal coordinate of the tangent point into the parabola equation of the ground conductor and the equation of the hanging point connection line respectively, to obtain the height value of the measuring point and the height value of the tail fixed hanging point;

[0104] The height value of the measuring point is subtracted from the height value of the tail fixed hanging point, and the difference is used as the tangent point sag of the ground wire of the transmission line.

[0105] By substituting the horizontal coordinate X' of the tangent point into the equation of the parabola of the ground conductor and the hanging point, the function value corresponding to the tangent point is obtained, including the function value of the tail fixed hanging point located on the measured conductor and the function value of the third key point, that is, the height value Z. The tangent point sag H = cX'-aX' can be obtained by subtracting 2 -bX'. The traditional sag measurement method is to substitute The sag size of the middle point is calculated in the equation of the line connecting the span to the ground conductor parabola and the hanging point, which is approximately equal to the maximum sag. This application solves the problem that the maximum sag cannot be accurately measured by drones, theodolites, or manual tower climbing and scale board measurement, thereby improving the accuracy of transmission line sag measurement.

[0106] In one embodiment, in order to facilitate subsequent calculations, the obtained tangent sag can be converted into a catenary measurement result according to "Analysis of Calculation Errors of Wire Rope Parabola Theory and Catenary Theory Lin Guiyu, Feng Youda, Yuan Dengbo Northeastern University Shenyang, Liaoning".

[0107] Next, the vector library is traversed to obtain the latitude, longitude and altitude information of the crossing point, and the spatial coordinates D (Xo, Yo, Zo) of the crossing point are created.

[0108] In particular, in order to obtain more accurate latitude, longitude and altitude information of the crossing point, in one embodiment, the step of using a drone to collect photos of the crossing point below the ground wire of the transmission line and obtaining the altitude and longitude and latitude of the crossing point also includes:

[0109] The height of the crossing point under the ground wire of the transmission line is measured by drone photography;

[0110] The longitude and latitude of the crossing point under the ground wire of the transmission line are measured by aerial photography using a drone.

[0111] Among them, the height of the crossing point under the ground conductor is measured by using a drone, which is the height H1 of the crossing object.

[0112] Based on the longitude and latitude of the crossing point and the sag of the tangent point under the ground wire of the transmission line, the longitude and latitude of the crossing point and the sag of the tangent point are subtracted and converted to the distance on the earth's surface. The ground wire model is substituted to solve the ground wire height H2 corresponding to the crossing point.

[0113] According to the height H1 of the crossing point and the corresponding height H2 of the ground conductor, combined with H3=H2-H1, the crossing distance H3 between the ground conductor and the crossing point below is obtained.

[0114] Finally, when the crossing distance between the ground wire and the crossing point below is less than a preset threshold, an early warning signal is output, wherein the preset threshold can be designed by statistically analyzing the collected data of the historical crossing distance.

[0115] In one embodiment, the calculation formula of the threshold is as follows:

[0116] H0=H3-Δfx

[0117]

[0118] Wherein, H0 represents the threshold value, H3 is the crossing distance between the ground wire and the crossing point below, x is the converted distance value of the difference between the height of the crossing point and the corresponding ground wire height, ι is the transmission line span, ι0 is the initial transmission line span, f is the tangent point sag of the ground wire of the transmission line, t m is the maximum temperature at the location of the transmission line, t is the current temperature at the location of the transmission line, and a is the thermal conductivity.

[0119] As the temperature rises, the length of the ground wire expands and contracts, the sag increases, and the distance from the obstacle decreases. Therefore, when the temperature reaches the maximum value, the minimum crossing distance can be obtained. When the crossing distance between the ground wire and the crossing point below is less than the minimum crossing distance, it indicates that the crossing distance between the ground wire of the transmission line and the object being crossed does not meet the electrical safety conditions, which is helpful to remind management personnel to take timely measures to eliminate hidden dangers of transmission line faults and ensure the safe operation of the power grid.

[0120] In one embodiment, the following steps are also included:

[0121] The ground wire photograph at least includes a head fixed hanging point, a tail fixed hanging point and a measuring point between the head fixed hanging point and the tail fixed hanging point on the ground wire;

[0122] The longitude, latitude and altitude information of the head fixed hanging point, the longitude, latitude and altitude information of the tail fixed hanging point and the longitude, latitude and altitude information of the measuring point are obtained from the ground wire photo as the first key point spatial coordinates, the second key point spatial coordinates and the third key point spatial coordinates.

[0123] Since there are two fixed hanging points at the head and tail of the ground wire, it is more convenient to measure. Therefore, the head fixed hanging point, the tail fixed hanging point and any measurement point between the head fixed hanging point and the tail fixed hanging point on the ground wire are selected as the first key point space coordinates, the second key point space coordinates and the third key point space to further improve the measurement efficiency.

[0124] Considering the measurement error caused by the decrease of each longitude as the latitude increases, in one embodiment, the obtained XYi Before the step of using the value of as the abscissa value of the plane coordinates of the key point, the step also includes,

[0125] The error correction coefficient is used to obtain XY i The value of is corrected, and the expression of the error correction coefficient includes,

[0126]

[0127] In the formula, y n represents the latitude value of the target key point, and y1 represents the latitude value of the first key point on the ground wire.

[0128] By designing the error correction coefficient, the horizontal coordinate value of the converted key point plane coordinate is corrected to reduce the measurement error caused by the increase of latitude at each longitude, and further improve the detection accuracy.

[0129] In one embodiment, when obtaining the latitude, longitude and altitude information of three points on the conductor from the ground conductor photo, the following steps are included:

[0130] Loading the ground wire photo into an image processing library;

[0131] Based on the image processing library, calling a preset function to read the latitude, longitude, north-south latitude, east-west longitude and altitude of three points on the conductor of the ground conductor photo;

[0132] According to the north-south latitude and the east-west longitude, convert the latitude and the longitude into latitude and longitude with positive and negative values;

[0133] The converted latitude and longitude, as well as the corresponding altitude, are used as the latitude, longitude and altitude information of the three points.

[0134] Reference Figure 2 For example, in order to obtain the latitude, longitude and altitude information of the head fixed hanging point, the latitude, longitude and altitude information of the tail fixed hanging point, the latitude, longitude and altitude information of the measuring point and the latitude, longitude and altitude information of the crossing point, the pre-compiled data automatic reading program can be used to automatically index the altitude and longitude and latitude information in the photo of the conductor to be measured. There is no need to check the photo information in the background and manually enter the data into the Excel table for calculation. The operation is simple, the measurement efficiency is higher, and the problem of measurement errors caused by manual data entry errors is avoided.

[0135] Among them, the automatic data reading program uses EasyPhotos in the part of obtaining and processing pictures, uses createAlbum in EasyPhotos to obtain pictures, and then puts the pictures into the Photo list, and then uses ExifInterface to read the pictures in the Photo list, and obtains the object parameters of TAG_GPS_LATITUDE (latitude), TAG_GPS_LONGITUDE (longitude), TAG_GPS_LATITUDE_REF (north and south latitude), TAG_GPS_LONGITUDE_REF (east and west longitude), TAG_GPS_ALTITUDE (altitude), and then converts the longitude and latitude into longitude and latitude with positive and negative values ​​according to the east-west longitude and south-north latitude and saves them together with the altitude in the Location list, and finally fills the data into the corresponding input box on the page, runs any of the above-mentioned transmission line ground wire electrical safety warning methods for calculation, and obtains the maximum sag and cross span distance of the transmission line ground wire. By setting the minimum cross span distance at the local highest temperature as the preset threshold, when the cross span distance between the ground wire and the cross span point below is less than the preset threshold, an early warning signal is output to achieve automatic early warning.

[0136] The measurement data and intermediate process calculation data of the present application are stored locally, and the calculation operations are performed locally, which reduces the investment cost.

[0137] In summary, a method for early warning of electrical safety of ground wires of power transmission lines collects and measures basic data through drone photography, and does not require the use of theodolites, total stations or rangefinders to assist manual measurement, thereby reducing manual measurement errors; in the calculation process, the spatial coordinates of the first key point, the spatial coordinates of the second key point and the spatial coordinates of the third key point are converted into the plane coordinates of the first key point, the plane coordinates of the second key point and the plane coordinates of the third key point, thereby reducing the difficulty of calculating the coordinates and facilitating calculation efficiency; and constructing a ground wire model of the power transmission line and a hanging point connection line model of the power transmission line, and after deriving the parabolic equation, taking the slope of the connection line as its function value, solving the horizontal coordinate of the tangent point, and then solving the vertical coordinate value according to the horizontal coordinate of the tangent point, combining the parabolic equation of the ground wire and the hanging point connection line equation, for predicting the vertical coordinate value from the hanging point connection line to the tangent point on the ground wire to the hanging point The distance between the connecting lines can be measured more accurately to measure the tangent sag of the transmission line ground wire; then based on the longitude and latitude of the crossing point below the transmission line ground wire and the tangent sag, the height of the ground wire corresponding to the crossing point is obtained, and according to the height of the crossing point and the corresponding ground wire height, the crossing distance between the ground wire and the crossing point below is obtained, so as to accurately monitor the crossing part of the transmission line ground wire, and timely grasp the changes in the crossing distance. There is no need to visually observe the lowest point to obtain the distance between the ground wire and the obstacle below. The calculation is simpler and more efficient, which improves the detection accuracy and efficiency of the crossing distance of the ground wire; when the crossing distance between the ground wire and the crossing point below is less than the preset threshold, an early warning signal is output to realize automatic alarm, which is conducive to taking measures in time to eliminate the hidden dangers of transmission line failure and ensure the safe operation of the power grid.

[0138] The present application takes into account the error of each longitude that decreases as the latitude increases. Compared with the traditional measurement methods of theodolite, total station and rangefinder, the measurement error is smaller and the measurement accuracy is higher.

[0139] This application uses Java program to develop a special app program, which realizes the purpose of directly importing photos, automatically reading photo information and automatically running calculation models to predict the maximum sag and cross-span distance of the ground wire, reducing the workload of manual entry and calculation of data, and realizing the measurement of actual cross-span distance and maximum temperature cross-span distance. The work efficiency is greatly improved and the measurement accuracy is also improved.

[0140] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0141] Reference Figure 3The embodiment of the present application also provides a transmission line ground wire electrical safety warning device, which corresponds one-to-one to a transmission line ground wire electrical safety warning method in the above embodiment. The transmission line ground wire electrical safety warning device includes:

[0142] The first image acquisition module is used to obtain a photo of the ground wire on the transmission line;

[0143] A spatial coordinate module, used to obtain the longitude, latitude and altitude information of three points on the conductor from the ground conductor photo, and create the first key point spatial coordinate, the second key point spatial coordinate and the third key point spatial coordinate;

[0144] A plane coordinate module, used for converting the first key point space coordinates, the second key point space coordinates and the third key point space coordinates into first key point plane coordinates, second key point plane coordinates and third key point plane coordinates;

[0145] A target parameter module, used for solving the target parameter based on the first key point plane coordinates, the second key point plane coordinates and the third key point plane coordinates in combination with a preset parabola equation of the ground conductor;

[0146] A hanging point connection module, used for obtaining the connection slope of the hanging point connection equation based on the first key point plane coordinates and the second key point plane coordinates in combination with a preset hanging point connection equation;

[0147] A tangent point module is used to obtain the tangent point abscissa by taking the slope of the connecting line as the function value and combining it with the target parameter after derivation of the parabola equation;

[0148] A sag measurement module is used to measure the sag of the tangent point of the ground wire of the power transmission line according to the horizontal coordinate of the tangent point, in combination with the parabola equation of the ground wire and the hanging point connection line equation;

[0149] The second image acquisition module is used to use a drone to collect photos of the crossing points under the ground wires of the transmission lines, and obtain the height and longitude and latitude of the crossing points;

[0150] A ground conductor height module, used for obtaining the ground conductor height corresponding to the crossing point based on the longitude and latitude of the crossing point below the ground conductor of the transmission line and the tangent point sag;

[0151] A cross-span distance measurement module, used for obtaining a cross-span distance between the ground wire and the cross-span point below according to the height of the cross-span point and the height of the corresponding ground wire;

[0152] The early warning module is used to output an early warning signal when the crossing distance between the ground wire and the crossing point below is less than a preset threshold.

[0153] The specific definition of a transmission line ground wire electrical safety warning device can be found in the above definition of a transmission line ground wire electrical safety warning method, which will not be repeated here.

[0154] Each module in the above-mentioned transmission line ground wire electrical safety warning device can be fully or partially implemented by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of the above modules.

[0155] In one embodiment, a computer device is provided, which may be a server. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, any of the above-mentioned transmission line ground wire electrical safety early warning methods is implemented.

[0156] In one embodiment, a computer-readable storage medium is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, any one of the above-mentioned transmission line ground wire electrical safety warning methods is implemented.

[0157] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. When the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0158] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

Claims

1. A method for early warning of electrical safety of a ground wire of a power transmission line, characterized in that: The following steps are included: Get photos of ground wires on transmission lines; Acquire the latitude, longitude and altitude information of three points on the conductor from the ground conductor photo, and create the first key point spatial coordinates, the second key point spatial coordinates and the third key point spatial coordinates; Convert the first key point space coordinates, the second key point space coordinates and the third key point space coordinates into first key point plane coordinates, second key point plane coordinates and third key point plane coordinates; Based on the plane coordinates of the first key point, the plane coordinates of the second key point and the plane coordinates of the third key point, combined with the preset parabola equation of the ground conductor, solving to obtain the target parameters; Based on the plane coordinates of the first key point and the plane coordinates of the second key point, combined with a preset hanging point connection equation, a connection slope of the hanging point connection equation is obtained; After derivation of the parabola equation, the slope of the connecting line is used as the function value, combined with the target parameter, to obtain the horizontal coordinate of the tangent point; According to the horizontal coordinate of the tangent point, in combination with the parabola equation of the ground wire and the hanging point connection line equation, the tangent point sag of the ground wire of the transmission line is measured; Use drones to collect photos of the crossing points under the ground wires of the transmission lines and obtain the height, longitude and latitude of the crossing points; Based on the longitude and latitude of the crossing point below the ground conductor of the transmission line and the tangent point sag, the height of the ground conductor corresponding to the crossing point is obtained; According to the height of the crossing point and the height of the corresponding ground wire, a crossing distance between the ground wire and the crossing point below is obtained; When the crossing distance between the ground wire and the crossing point below is less than a preset threshold, an early warning signal is output.

2. The method for early warning of electrical safety of ground wire of power transmission line according to claim 1, characterized in that: The following steps are also included: The threshold value is calculated as follows: H0=H3-Δfx Where H0 represents the threshold value, H3 is the crossing distance between the ground wire and the crossing point below, x is the converted distance value of the difference between the height of the crossing point and the corresponding ground wire height, l is the transmission line span, l0 is the initial transmission line span, f is the tangent point sag of the ground wire of the transmission line, t m is the maximum temperature at the location of the transmission line, t is the current temperature at the location of the transmission line, and a is the thermal conductivity.

3. The method for early warning of electrical safety of ground wire of power transmission line according to claim 1, characterized in that: The step of using a drone to collect photos of the crossing points under the ground wire of the transmission line and obtaining the height and longitude and latitude of the crossing points also includes: The height of the crossing point under the ground wire of the transmission line is measured by drone photography; The longitude and latitude of the crossing point under the ground wire of the transmission line are measured by aerial photography using a drone.

4. The method for early warning of electrical safety of ground wire of power transmission line according to claim 1, characterized in that: The step of converting the first key point space coordinates, the second key point space coordinates and the third key point space coordinates into first key point plane coordinates, second key point plane coordinates and third key point plane coordinates comprises: according to In the formula, x i Represents the longitude value of any key point, y i Represents the latitude value of any key point, and the obtained XY i The value of is used as the horizontal coordinate value of the plane coordinate of the key point; The height value of the first key point spatial coordinates, the height value of the second key point spatial coordinates and the height value of the third key point spatial coordinates are respectively used as the vertical coordinate value of the first key point plane coordinates, the vertical coordinate value of the second key point plane coordinates and the vertical coordinate value of the third key point plane coordinates.

5. The method for early warning of electrical safety of a ground wire of a power transmission line according to any one of claims 1 to 4, characterized in that: The following steps are also included: The ground wire photograph at least includes a head fixed hanging point, a tail fixed hanging point and a measuring point between the head fixed hanging point and the tail fixed hanging point on the ground wire; The longitude, latitude and altitude information of the head fixed hanging point, the longitude, latitude and altitude information of the tail fixed hanging point and the longitude, latitude and altitude information of the measuring point are obtained from the ground wire photo as the first key point spatial coordinates, the second key point spatial coordinates and the third key point spatial coordinates.

6. The method for early warning of electrical safety of ground wire of power transmission line according to claim 5, characterized in that: Based on the first key point plane coordinates, the second key point plane coordinates and the third key point plane coordinates, combined with the preset parabola equation of the ground conductor, the step of solving to obtain the target parameter includes: Taking the plane coordinates of the first key point as the origin, set the parabola equation of the ground conductor Y=aX 2 +bX; Substitute the plane coordinates of the second key point and the plane coordinates of the third key point into the parabola equation of the ground conductor to obtain the target parameters through solving the equation.

7. The method for early warning of electrical safety of ground wire of power transmission line according to claim 6, characterized in that: The step of measuring the tangent point sag of the ground wire of the power transmission line according to the horizontal coordinate of the tangent point and combining the parabola equation of the ground wire and the hanging point connection line equation comprises: Substituting the horizontal coordinate of the tangent point into the parabola equation of the ground conductor and the equation of the hanging point connection line respectively, to obtain the height value of the measuring point and the height value of the tail fixed hanging point; The height value of the measuring point is subtracted from the height value of the tail fixed hanging point, and the difference is used as the tangent point sag of the ground wire of the transmission line.

8. The method for early warning of electrical safety of ground wire of power transmission line according to claim 4, characterized in that: The obtained XY i Before the step of using the value of as the abscissa value of the plane coordinates of the key point, the step also includes, The error correction coefficient is used to obtain XY i The value of is corrected, and the expression of the error correction coefficient includes, In the formula, y n represents the latitude value of the target key point, and y1 represents the latitude value of the first key point on the ground wire.

9. The method for early warning of electrical safety of ground wire of power transmission line according to claim 1, characterized in that: When obtaining the latitude, longitude and altitude information of three points on the conductor from the ground conductor photo, the following steps are included: Loading the ground wire photo into an image processing library; Based on the image processing library, calling a preset function to read the latitude, longitude, north-south latitude, east-west longitude and altitude of three points on the conductor of the ground conductor photo; According to the north-south latitude and the east-west longitude, convert the latitude and the longitude into latitude and longitude with positive and negative values; The converted latitude and longitude, as well as the corresponding altitude, are used as the latitude, longitude and altitude information of the three points.

10. An electrical safety warning device for a ground wire of a power transmission line, characterized in that: include, The first image acquisition module is used to obtain a photo of the ground wire on the transmission line; A spatial coordinate module, used to obtain the longitude, latitude and altitude information of three points on the conductor from the ground conductor photo, and create the first key point spatial coordinate, the second key point spatial coordinate and the third key point spatial coordinate; A plane coordinate module, used for converting the first key point space coordinates, the second key point space coordinates and the third key point space coordinates into first key point plane coordinates, second key point plane coordinates and third key point plane coordinates; A target parameter module, used for solving the target parameter based on the first key point plane coordinates, the second key point plane coordinates and the third key point plane coordinates in combination with a preset parabola equation of the ground conductor; A hanging point connection module, used for obtaining the connection slope of the hanging point connection equation based on the first key point plane coordinates and the second key point plane coordinates in combination with a preset hanging point connection equation; A tangent point module is used to obtain the tangent point abscissa by taking the slope of the connecting line as the function value and combining it with the target parameter after derivation of the parabola equation; A sag measurement module is used to measure the sag of the tangent point of the ground wire of the power transmission line according to the horizontal coordinate of the tangent point, in combination with the parabola equation of the ground wire and the hanging point connection line equation; The second image acquisition module is used to use a drone to collect photos of the crossing points under the ground wires of the transmission lines, and obtain the height and longitude and latitude of the crossing points; A ground conductor height module, used for obtaining the ground conductor height corresponding to the crossing point based on the longitude and latitude of the crossing point below the ground conductor of the transmission line and the tangent point sag; A cross-span distance measurement module, used for obtaining a cross-span distance between the ground wire and the cross-span point below according to the height of the cross-span point and the height of the corresponding ground wire; The early warning module is used to output an early warning signal when the crossing distance between the ground wire and the crossing point below is less than a preset threshold.

Images