Conductor galloping monitoring method and device, storage medium and electronic equipment

Abstract

The invention discloses a conductor galloping monitoring method and device, a storage medium and electronic equipment, and relates to the field of data processing. The accuracy of conductor galloping monitoring can be improved. The conductor galloping monitoring method comprises the following steps: measuring acceleration of conductor galloping at a plurality of moments through a sensor, and calculating a static offset error based on the acceleration; determining an actual acceleration and an attitude angle of the conductor waving at each moment based on the static offset error; based on the actual acceleration and the attitude angle, determining the motion acceleration of the conductor waving at each moment; and determining a galloping characteristic quantity of the conductor galloping based on the motion acceleration at each moment.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a wire dancing monitoring method, device, storage medium and electronic equipment. Background Art

[0002] In severe weather conditions, transmission lines will vibrate due to self-excited oscillations caused by natural conditions such as wind speed, rain and snow. The vibrating of the wires is extremely destructive to the transmission lines. Frequent and violent vibrating can lead to phase-to-phase flashover, hardware damage, insulator damage, etc. If timely intervention is not made, in severe cases, line disconnection, tower collapse and other accidents may occur, causing major economic losses and affecting the normal power consumption of users. Most overhead transmission lines are located in the wild, and the on-site inspections of power grid monitoring personnel are very troublesome and inconvenient. In order to obtain the vibrating conditions of the wires in a timely manner and make necessary interventions according to the vibrating conditions, it is very necessary to research and develop a transmission line vibrating monitoring system, and the calculation of the vibrating information of the transmission line is the key to the realization of the system.

[0003] At present, the online monitoring systems for wire dancing mainly include computer simulation-based methods, video and image processing and analysis-based methods, and sensor-based induction monitoring methods. Based on computer simulation, the dancing of the transmission line is established into a mathematical model through dynamic analysis, and the parameters required by the mathematical model are obtained through relevant sensors. After the relevant parameters are brought in, the relevant characteristic quantities of the wire dancing are restored by simulation software such as MATLAB to make judgments. Based on video image processing and analysis, the wire dancing is monitored in the most intuitive way, that is, the camera device is installed on the pole tower for video acquisition. After the video is acquired, the wire and the dancing trajectory are tracked by using computer vision and image processing technology, and finally the dancing information is used to analyze whether the wire is dancing. Sensor-based monitoring mainly utilizes the characteristics of inertial sensors, installs and fixes the inertial sensors on the wires, and reflects the actual wire dancing by solving the dancing information of the sensors.

[0004] The wire dancing monitoring method based on computer simulation is difficult to establish a mathematical model and the established mathematical model cannot specifically reflect the actual situation of wire dancing. The theory is out of touch with practice and the engineering practicality is insufficient. It is more suitable for quantitative analysis of wire dancing rather than real-time monitoring. The wire dancing monitoring method based on video image processing uses video image acquisition as the monitoring technology, and overhead transmission lines are mostly in the wild, with many interferences, and are easily covered by ice and snow or at night. The camera device is limited by optical principles and cannot obtain clear and reliable wire dancing videos or images. The effectiveness of monitoring cannot be guaranteed, and the endurance of the system is poor, and the power supply problem is more difficult. The method of using inertial sensors such as MEMS accelerometers to solve wire dancing information, MEMS accelerometers sense the effect of force, that is, the three axes will be affected by gravity, resulting in great interference in solving the dancing displacement. Summary of the invention

[0005] The present application provides a wire dancing monitoring method, device, storage medium and electronic device, which can more accurately monitor wire dancing and improve the accuracy of wire dancing feature quantities.

[0006] In a first aspect, the present application provides a wire galloping monitoring method, comprising:

[0007] The acceleration of the wire dancing at multiple moments is measured by a sensor, and a static offset error is calculated based on the acceleration;

[0008] Determine the actual acceleration and attitude angle of the wire at each moment of galloping based on the static offset error;

[0009] Determine the motion acceleration of the wire at each moment of dancing based on the actual acceleration and the attitude angle;

[0010] The dancing feature quantity of the dancing of the wire is determined based on the motion acceleration at each moment.

[0011] This embodiment uses a sensor to achieve accurate calculation of the wire dancing information. The sensor has a low cost and can reduce costs. It also takes into account the static offset, reduces the influence of gravity acceleration caused by wire torsion and the coupling of translational signals in the accelerometer, and can improve the accuracy of the dancing feature quantity. It reduces the burden of solving the dancing feature quantity, and the solution is reliable, which is more suitable for actual engineering applications.

[0012] In an exemplary embodiment, determining the actual acceleration and attitude angle at each moment of the wire galloping based on the static offset error includes:

[0013] The static offset error is removed from the acceleration at each moment measured by the sensor to obtain the actual acceleration at each moment of the wire dancing;

[0014] The four elements of the wire dancing are acquired based on a digital motion processor, and the attitude angle is calculated based on the four elements.

[0015] In an exemplary embodiment, determining the motion acceleration of the wire at each moment of dancing based on the actual acceleration and the attitude angle includes:

[0016] Determine the gravity acceleration component at each moment of the dancing of the wire through the actual acceleration and the attitude angle;

[0017] The motion acceleration of the wire galloping is determined based on the gravity acceleration component.

[0018] In an exemplary embodiment, before determining the dancing feature quantity of the wire dancing based on the motion acceleration at each moment, the method further includes:

[0019] The motion acceleration that does not meet the dancing threshold is filtered out from the motion acceleration at each moment.

[0020] In an exemplary embodiment, the sensor is an MPU6050 sensor.

[0021] In a second aspect, the present application provides a wire dancing monitoring device, comprising:

[0022] An offset determination module is used to measure the acceleration of the wire dancing at multiple moments through a sensor, and calculate a static offset error based on the acceleration;

[0023] A de-biasing module, used for determining the actual acceleration and attitude angle at each moment of the wire galloping based on the static offset error;

[0024] A motion acceleration calculation module, used to determine the motion acceleration of the wire at each moment of dancing based on the actual acceleration and the attitude angle;

[0025] The dancing amount determination module is used to determine the dancing characteristic amount of the wire dancing based on the motion acceleration at each moment.

[0026] In an exemplary embodiment, the de-offset module is specifically used to: remove the static offset error from the acceleration measured by the sensor at each moment to obtain the actual acceleration at each moment of the wire dancing; obtain the four elements of the wire dancing based on a digital motion processor, and calculate the attitude angle based on the four elements.

[0027] In an exemplary embodiment, the motion acceleration calculation module is specifically used to: determine the gravity acceleration component at each moment of the wire dancing through the actual acceleration and the attitude angle; and determine the motion acceleration of the wire dancing based on the gravity acceleration component.

[0028] In an exemplary embodiment, the wire galloping monitoring device further includes: a static filtering module, configured to filter out the motion acceleration that does not meet the galloping threshold from the motion acceleration at each moment.

[0029] In an exemplary embodiment, the sensor is an MPU6050 sensor.

[0030] In a third aspect, the present application provides an electronic device, the electronic device comprising a memory and one or more processors. The memory stores one or more computer programs, the computer programs comprising instructions, and when the instructions are executed by the processor, the electronic device can execute the wire dancing monitoring method as in the first aspect.

[0031] In a fourth aspect, the present application provides a computer-readable medium having instructions stored therein, and when the instructions are executed on an electronic device, the electronic device executes the wire dancing monitoring method as in the first aspect.

[0032] In a fifth aspect, the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the wire dancing monitoring method as described in the first aspect.

[0033] It can be understood that the beneficial effects that can be achieved by the wire dancing monitoring device, electronic device, computer-readable medium, and computer program product provided above can refer to the beneficial effects in the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a flow chart of a wire dancing monitoring method provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the structure of a wire dancing monitoring device provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first chip and the second chip are only used to distinguish different chips, and their order is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit the difference. It should be noted that in the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or design solutions. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way. In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more.

[0038] It should be noted that the “at…” in the embodiments of the present application may be the instant when a certain situation occurs, or may be a period of time after the occurrence of a certain situation, and the embodiments of the present application do not specifically limit this.

[0039] The implementation of this embodiment will be described in detail below with reference to the accompanying drawings.

[0040] The present embodiment provides a method for monitoring wire dancing. By way of example, the method for monitoring wire dancing can be applied to various electronic devices such as computers (PCs), tablet computers, virtual reality / augmented reality devices, wearable devices, industrial computers, and vehicle computers; it can also be applied to servers, cloud computing, server clusters, etc., and the present embodiment does not make any special limitation on this.

[0041] Figure 1 A schematic diagram of the flow of a wire galloping monitoring method provided in an embodiment of the present application is shown.

[0042] like Figure 1 As shown, the wire galloping monitoring method may include the following steps:

[0043] Step 101: measuring the acceleration of the wire dancing at multiple moments through a sensor, and calculating a static offset error based on the acceleration;

[0044] Step 102: determining the actual acceleration and attitude angle of the wire at each moment of dancing based on the static offset error;

[0045] Step 103: determining the motion acceleration of the wire at each moment of dancing based on the actual acceleration and the attitude angle;

[0046] Step 104: Determine the dancing feature quantity of the wire dancing based on the motion acceleration at each moment.

[0047] In the wire dancing monitoring method provided in this embodiment, a new method for calculating the wire dancing feature quantity can be used to realize real-time monitoring of the wire dancing, thereby improving the real-time performance of the wire dancing monitoring. In addition, the influence of the static offset error of the sensor is taken into account, thereby improving the accuracy of the dancing feature quantity.

[0048] Specifically, in step 101, the sensor of this embodiment can be an MPU6050 sensor. The MPU6050 sensor integrates a 3-axis gyroscope, a 3-axis accelerometer, and an expandable digital motion processor (DMP). A third-party digital sensor connected via an I2C interface, such as a magnetometer, can convert the analog quantity measured by the sensor into a digital quantity. The sensor can be used to measure the acceleration of the wire dancing at each moment.

[0049] Keep the MPU6050 sensor horizontal when powered on, that is, keep the placement surface parallel to the plane where the X and Y axes of the MPU6050 are located, and start calculating the static offset error a after powering on. off : Read the acceleration data points Ai measured by N sensors within a period of time, accumulate them, and then divide them by N to get the average value as the static offset error. The calculation formula is:

[0050]

[0051] In step 102, the actual acceleration and attitude angle at each moment of the wire dancing are determined based on the static offset error, including: removing the static offset error from the acceleration at each moment measured by the sensor to obtain the actual acceleration at each moment of the wire dancing; acquiring the four elements of the wire dancing based on a digital motion processor, and calculating the attitude angle based on the four elements.

[0052] After determining the static offset error of the sensor, in the subsequent test process, the static offset error is removed from the acceleration data measured by the sensor at each moment to obtain the actual acceleration at each moment. The actual acceleration calculation formula is:

[0053] a ture =a erro -a off (2)

[0054] Among them, a off is the static offset error, a erro is the acceleration measured by the sensor, a ture is the actual acceleration.

[0055] The attitude angle includes pitch angle, roll angle and heading angle. Through DMP, we can obtain the four elements q0, q1, q2, q3 after attitude solution, and calculate the pitch angle (pitch), roll angle (roll), and heading angle (yaw). The calculation formula is as follows:

[0056] pitch=arcsin(-2*q1*q3+2*q0*q3) (3)

[0057] yaw=arctan((2*(q1*q2+q0*q3)) / (q0*q0+q1*q1-q2*q2-q3*q3)) (4)

[0058] roll=arctan((2*q2*q3+2*q0*q1) / (-2*q1*q1-2q2*q2+1)) (5)

[0059] In step 103, the step of determining the motion acceleration of the wire at each moment of dancing based on the actual acceleration and the attitude angle includes: determining the gravity acceleration component at each moment of dancing of the wire through the actual acceleration and the attitude angle; and determining the motion acceleration of the wire dancing based on the gravity acceleration component.

[0060] Calculation of gravity acceleration component:

[0061] If the sensor is installed parallel to the wire in the X-axis direction, the calculation formula for the Y-axis induced gravity acceleration is:

[0062] G Y = sin(roll)*g (6)

[0063] The gravity acceleration sensed by the Z axis is:

[0064] G Z =cos(roll)*g (7)

[0065] If the sensor is installed parallel to the wire in the Y-axis direction, the calculation formula for the X-axis induced gravity acceleration is:

[0066] G x =sin(pitch)*g (8)

[0067] The calculation formula for the Y-axis induced gravity acceleration is:

[0068] G z =sin(pitch)*g (9)

[0069] Where g is the acceleration due to gravity.

[0070] Pure motion acceleration conversion:

[0071] If the sensor is installed parallel to the wire in the X-axis direction, the Y-axis pure motion acceleration conversion formula is:

[0072]

[0073] The conversion formula for Z-axis motion acceleration is:

[0074]

[0075] If the sensor is installed parallel to the wire in the Y-axis direction, the conversion formula for the pure motion acceleration of the X-axis is:

[0076]

[0077] The conversion formula for pure motion acceleration of the Z axis is:

[0078]

[0079] Among them, the digital quantity of acceleration sampling, accelerometer resolution and acceleration range can be read from the sensor.

[0080] Exemplarily, before determining the dancing feature of the wire dancing based on the motion acceleration at each moment, the method further includes: filtering out the motion acceleration that does not meet the dancing threshold from the motion acceleration at each moment. Then, in step 104, the dancing feature of the wire dancing is calculated by the motion acceleration that meets the dancing threshold.

[0081] Specifically, the dancing threshold filtering may be a minimum dancing induction value that is set in advance according to the requirement of dancing recognition, and a value below the minimum dancing induction value is regarded as the wire being stationary.

[0082] Determining the dancing feature quantity of the wire dancing based on the motion acceleration at each moment specifically includes the following:

[0083] This embodiment uses a reverse search algorithm to calculate the dancing feature quantity. S1, direction initialization. If the acceleration at the current moment is less than zero, it is marked as reverse to be found. If the acceleration at the current moment is greater than zero, it is marked as forward to be found. If the acceleration at the current moment is zero, continue to cycle to the next moment. S2, if the current moment is reverse to be found, determine whether the acceleration at the current moment and the previous two moments are less than or equal to zero. If so, the speed and displacement are cleared and the judgment continues; if the speed at the previous moment is greater than the set dancing value, the reverse direction occurs, the calculated displacement at the previous moment is recorded, and the peak point count is increased by 1. S3, if the current moment is forward to be found, determine whether the acceleration at the current moment and the previous two moments are greater than or equal to zero. If so, the speed and displacement are cleared and the judgment continues. If the speed at the previous moment is greater than the set dancing value, the reverse direction occurs, the last calculated displacement is recorded, the peak point count is increased by 1, the speed and displacement are cleared, and it is marked as reverse to be found.

[0084] The reverse search algorithm can reduce the trajectory divergence problems caused by acceleration zero point offset, random error and accumulation of integral error, and improve the accuracy of dancing calculation.

[0085] Calculate the speed and displacement based on the search results. The speed calculation formula is:

[0086]

[0087] The displacement calculation formula is:

[0088]

[0089] Among them, dt is the sampling interval, that is, the interval between two adjacent moments; Cali_factor is the correction factor; V now is the speed at the current moment, V last is the speed at the previous moment; D now is the displacement at the current moment, D last is the displacement at the previous moment.

[0090] The dancing characteristics specifically include dancing amplitude and dancing frequency. According to the reverse points and peak displacements recorded during the reverse search process, the maximum peak displacement, i.e. the horizontal or vertical dancing amplitude of the dancing during this period of time, is derived. The number of reverse point counts divided by the time, i.e. the dancing frequency, is used to obtain the dancing amplitude and dancing frequency.

[0091] This embodiment uses a low-cost inertial sensor (MPU6050 sensor) to accurately calculate the wire dancing information, which can reduce costs; and takes into account the static offset, reduces the influence of gravity acceleration caused by wire torsion and the coupling of translational signals in the accelerometer; reduces the burden of solving the dancing feature quantity, and the solution is reliable, which is more suitable for actual engineering applications.

[0092] Furthermore, the present embodiment also provides a wire dancing monitoring device, which can be used to execute the above-mentioned wire dancing monitoring method.

[0093] like Figure 2 As shown, the wire galloping monitoring device 200 specifically includes: an offset determination module 201, which is used to measure the acceleration of the wire galloping at multiple moments through a sensor, and calculate the static offset error based on the acceleration;

[0094] A de-offset module 202, configured to determine the actual acceleration and attitude angle at each moment of the wire galloping based on the static offset error;

[0095] A motion acceleration calculation module 203, used to determine the motion acceleration of the wire at each moment of dancing based on the actual acceleration and the attitude angle;

[0096] The dancing amount determination module 204 is used to determine the dancing feature amount of the wire dancing based on the motion acceleration at each moment.

[0097] In an exemplary embodiment, the de-offset module 202 is specifically used to: remove the static offset error from the acceleration measured by the sensor at each moment to obtain the actual acceleration at each moment of the wire dancing; obtain the four elements of the wire dancing based on a digital motion processor, and calculate the attitude angle based on the four elements.

[0098] In an exemplary embodiment, the motion acceleration calculation module is specifically used to: determine the gravity acceleration component at each moment of the wire dancing through the actual acceleration and the attitude angle; and determine the motion acceleration of the wire dancing based on the gravity acceleration component.

[0099] In an exemplary embodiment, the wire dancing monitoring device 200 further includes: a static filtering module, configured to filter out the motion acceleration that does not meet the dancing threshold from the motion acceleration at each moment.

[0100] In an exemplary embodiment, the sensor is an MPU6050 sensor.

[0101] The specific details of each module or unit in the above-mentioned wire dancing monitoring device have been described in detail in the corresponding wire dancing monitoring method, so they will not be repeated here.

[0102] The embodiment of the present application also provides an electronic device, Figure 3 A schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure is shown. Figure 3 The electronic device 300 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0103] like Figure 3 As shown, electronic device 300 includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage part 308 into a random access memory (RAM) 303. In RAM 303, various programs and data required for system operation are also stored. CPU 301, ROM 302 and RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to bus 304.

[0104] The following components are connected to the I / O interface 305: an input section 306 including a keyboard, a mouse, etc.; an output section 307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed, so that a computer program read therefrom is installed into the storage section 308 as needed.

[0105] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 309, and / or installed from a removable medium 311. When the computer program is executed by a central processing unit (CPU) 301, the above-mentioned functions defined in the embodiments of the present application are executed.

[0106] For example, when the computer program is executed by the central processing unit (CPU) 301, the following can be performed: the acceleration of the wire dancing at multiple moments is obtained by measuring with a sensor, and a static offset error is calculated based on the acceleration; the actual acceleration and attitude angle at each moment of the wire dancing are determined based on the static offset error; the motion acceleration at each moment of the wire dancing is determined based on the actual acceleration and the attitude angle; and the dancing feature quantity of the wire dancing is determined based on the motion acceleration at each moment.

[0107] It should be noted that the computer-readable medium shown in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0108] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0109] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, and the units described may also be arranged in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0110] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and the one or more programs include instructions, and when the instructions are executed by the electronic device, the electronic device implements the method described in the above embodiment.

[0111] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0112] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for monitoring conductor galloping, characterized in that: include: The acceleration of the wire dancing at multiple moments is measured by a sensor, and a static offset error is calculated based on the acceleration; Determine the actual acceleration and attitude angle of the wire at each moment of galloping based on the static offset error; Determine the motion acceleration of the wire at each moment of dancing based on the actual acceleration and the attitude angle; The dancing feature quantity of the dancing of the wire is determined based on the motion acceleration at each moment.

2. The wire galloping monitoring method according to claim 1, characterized in that: The determining the actual acceleration and attitude angle at each moment of the wire galloping based on the static offset error comprises: The static offset error is removed from the acceleration at each moment measured by the sensor to obtain the actual acceleration at each moment of the wire dancing; The four elements of the wire dancing are acquired based on a digital motion processor, and the attitude angle is calculated based on the four elements.

3. The wire galloping monitoring method according to claim 1, characterized in that: The step of determining the motion acceleration of the wire at each moment of dancing based on the actual acceleration and the attitude angle includes: Determine the gravity acceleration component at each moment of the dancing of the wire through the actual acceleration and the attitude angle; The motion acceleration of the wire galloping is determined based on the gravity acceleration component.

4. The wire galloping monitoring method according to claim 1, characterized in that: Before determining the dancing feature quantity of the wire dancing based on the motion acceleration at each moment, the method further includes: The motion acceleration that does not meet the dancing threshold is filtered out from the motion acceleration at each moment.

5. The wire galloping monitoring method according to claim 1, characterized in that: The sensor is an MPU6050 sensor.

6. A conductor dancing monitoring device, characterized in that: include: An offset determination module is used to measure the acceleration of the wire dancing at multiple moments through a sensor, and calculate a static offset error based on the acceleration; A de-biasing module, used for determining the actual acceleration and attitude angle at each moment of the wire galloping based on the static offset error; A motion acceleration calculation module, used to determine the motion acceleration of the wire at each moment of dancing based on the actual acceleration and the attitude angle; The dancing amount determination module is used to determine the dancing characteristic amount of the wire dancing based on the motion acceleration at each moment.

7. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the wire galloping monitoring method according to any one of claims 1 to 5.

8. An electronic device, characterized in that: It comprises a processor and a memory, wherein one or more computer programs are stored in the memory, and the one or more computer programs include instructions. When the instructions are executed by the electronic device, the electronic device executes the wire dancing monitoring method described in any one of claims 1-5.

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