Power transmission line live construction collision detection method and system based on GIM model

Abstract

The invention discloses a power transmission line live construction collision detection method and system based on a GIM model, and relates to the technical field of power transmission line detection. Intercepting a positioning identification area from the construction area; generating a corresponding attitude vector according to the attitude information; determining correction positioning information of the construction equipment at the current moment; and detecting whether the construction equipment has a construction collision risk or not according to the correction positioning information, the attitude vector, the safety distance of the electrified equipment and mechanical wall execution parameters in the construction equipment. The terrain detail features in the ground are considered when the power transmission line scene model is established, and the unique movement track of the construction equipment is traced and analyzed in combination with different attitude vectors reflected by the construction equipment in multiple different terrain detail features within the error range of the GPS positioning information, so that the positioning correction of the construction equipment is realized, and the positioning accuracy of the construction equipment is improved. The accuracy and reliability of collision detection of live-line construction of the power transmission line can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line detection, and more specifically, to a method and system for detecting collision during live construction of power transmission lines based on a GIM model. Background Art

[0002] During the construction of power transmission lines, collision detection is an important safety consideration. Collision detection includes ensuring that construction equipment maintains a safe distance from live lines to avoid touching live parts due to misoperation, thereby ensuring the safety of construction personnel and equipment; and ensuring that there is no direct contact between construction equipment and de-energized lines to avoid major economic losses.

[0003] The existing methods for detecting collisions during live transmission line construction are mainly to analyze whether the distance between the construction equipment and the transmission line is lower than the corresponding safety distance. If it is lower, it means there is a risk of collision. The distance analysis between the construction equipment and the transmission line requires real-time monitoring of the positioning information of the construction equipment, and then combines the model constructed for the transmission line to calculate the spatial distance. The accuracy of the collision detection depends on the accuracy of the model construction on the one hand, and on the accuracy of the positioning collection of the construction equipment on the other hand.

[0004] However, when constructing models for transmission lines, existing methods generally only build them based on the design information of the transmission lines, ignoring the detailed features of the terrain on the ground, which leads to false detections and failure to detect some collisions during the operation of the mechanical arm of the construction equipment; in addition, when using GPS positioning to collect the positioning information of the construction equipment, the system error of the positioning system will also have a certain impact on the collision detection, which leads to the poor accuracy and reliability of the collision detection of live construction of transmission lines in the existing technology. Therefore, how to study and design a collision detection method and system for live construction of transmission lines based on the GIM model that can overcome the above defects is a problem that we urgently need to solve. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the purpose of the present invention is to provide a method and system for collision detection during live construction of transmission lines based on the GIM model. The detailed terrain features on the ground are taken into account when establishing the transmission line scene model, and the unique movement trajectory of the construction equipment is traced and analyzed in combination with different posture vectors embodied by the construction equipment in multiple different terrain detail features within the error range of the GPS positioning information, thereby realizing the correction of the positioning of the construction equipment, which can effectively improve the accuracy and reliability of collision detection during live construction of transmission lines.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] In a first aspect, a method for detecting collision during live construction of a transmission line based on a GIM model is provided, comprising the following steps:

[0008] Establish a transmission line scenario model consisting of a ground model and a GIM model;

[0009] Collect GPS positioning information of construction equipment during the construction process, and intercept the positioning identification area from the construction area based on the GPS positioning information;

[0010] Collect the posture information of the construction equipment in the construction area, and generate the corresponding posture vector based on the posture information;

[0011] Identify a unique moving track of the construction equipment from the positioning and recognition area according to a plurality of continuous posture vectors, and determine the corrected positioning information of the construction equipment at the current moment;

[0012] Based on the corrected positioning information, posture vector, safe distance of live equipment and mechanical wall execution parameters of the construction equipment at the current moment, it is detected whether the construction equipment has a construction collision risk.

[0013] Furthermore, the process of establishing the transmission line scenario model is specifically as follows:

[0014] Collect 3D scanning data of the construction area corresponding to the transmission line, and establish a ground model based on the surface terrain features in the 3D scanning data;

[0015] Establish a GIM model containing only a physical model based on the design data of the transmission line;

[0016] The GIM model is loaded into the ground model to construct a transmission line scenario model.

[0017] Furthermore, the process of intercepting the positioning and identification area is specifically as follows:

[0018] Arrange multiple GPS positioning information collected during the detection period according to timestamps to obtain a GPS positioning sequence;

[0019] Establish a minimum circular area, and all GPS positioning information in the GPS positioning sequence is within the minimum circular area;

[0020] The positioning identification area is intercepted from the construction area based on the radius, center position and maximum positioning error of the minimum circular area.

[0021] Furthermore, the calculation formula of the positioning identification area is specifically:

[0022]

[0023] Among them, d orepresents the center position of the smallest circular area, represented by two-dimensional coordinates in the horizontal plane; D(T) represents the GPS positioning sequence corresponding to the detection period T; d i Represents the i-th GPS positioning information in the GPS positioning sequence; r 0 Indicates the radius of the smallest circular area; Δl max Indicates the maximum positioning error; d j represents the coordinate position corresponding to any point j in the positioning and identification area; |·| represents the modulus length of the vector; D s Indicates the positioning identification area.

[0024] Furthermore, the posture information includes the azimuth angle of the construction equipment in the horizontal direction and the tilt angle in the vertical direction;

[0025] The expression of the attitude vector is:

[0026] α=(cosβcosθ,cosβsinθ,sinβ);

[0027] Among them, α represents the attitude vector; θ represents the azimuth angle; β represents the tilt angle.

[0028] Furthermore, the identification process of the correction positioning information is specifically as follows:

[0029] Two positioning boundaries are established based on GPS positioning information and the maximum positioning error of GPS positioning;

[0030] Taking the current moment as the starting point, N continuous posture vectors are selected in reverse, and the simulated motion trajectory of the construction equipment is searched from the positioning and identification area using two positioning boundaries as constraints;

[0031] If the simulated motion trajectory is the only motion trajectory, the position information of the simulated motion trajectory at the current moment is used as the correction positioning information;

[0032] If the simulated motion trajectory is not the only motion trajectory, N is increased to perform an iterative search until the only movement trajectory of the construction equipment is identified.

[0033] Further, the N consecutive posture vectors include at least two different posture vectors;

[0034] Furthermore, in each iterative search, there is at least one posture vector among the added posture vectors that is different from the last posture vector selected in the previous search.

[0035] In a second aspect, a transmission line live construction collision detection system based on a GIM model is provided, the system is used to implement the transmission line live construction collision detection method based on a GIM model as described in any one of the first aspects, including:

[0036] Model building module, used to build a transmission line scenario model consisting of a ground model and a GIM model;

[0037] The positioning acquisition module is used to collect the GPS positioning information of the construction equipment during the construction process, and to intercept the positioning identification area from the construction area based on the GPS positioning information;

[0038] The posture acquisition module is used to collect the posture information of the construction equipment in the construction area and generate the corresponding posture vector according to the posture information;

[0039] A positioning correction module, used to identify a unique moving track of the construction equipment from the positioning recognition area according to a plurality of continuous posture vectors, and determine the corrected positioning information of the construction equipment at the current moment;

[0040] The collision detection module is used to detect whether there is a construction collision risk for the construction equipment based on the corrected positioning information, posture vector, safe distance of live equipment and mechanical wall execution parameters in the construction equipment at the current moment.

[0041] In a third aspect, a computer terminal is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for detecting collisions during live construction of transmission lines based on the GIM model as described in any one of the first aspects is implemented.

[0042] In a fourth aspect, a computer-readable medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement the live construction collision detection method for transmission lines based on the GIM model as described in any one of the first aspects.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. The method for detecting collisions during live construction of power transmission lines based on the GIM model provided by the present invention takes into account the detailed terrain features on the ground when establishing the transmission line scene model, and traces and analyzes the unique movement trajectory of the construction equipment in combination with different posture vectors reflected by the construction equipment in multiple different detailed terrain features within the error range of the GPS positioning information, thereby realizing the correction of the positioning of the construction equipment, which can effectively improve the accuracy and reliability of collision detection during live construction of power transmission lines;

[0045] 2. When intercepting the positioning identification area, the present invention first establishes a minimum circular area containing all GPS positioning information in the GPS positioning sequence, and then intercepts the smallest positioning identification area from the construction area based on the radius, center position and maximum positioning error of the minimum circular area, which can reduce the amount of calculation to determine the corrected positioning information and effectively improve the work efficiency of construction collision risk detection;

[0046] 3. When identifying and correcting positioning information, the present invention takes the current moment as the starting point and reversely selects N continuous posture vectors, and uses two positioning boundaries as constraints to search for the simulated motion trajectory of the construction equipment from the positioning identification area. When the simulated motion trajectory is not the only motion trajectory, N is increased for iterative search. The use of reverse iterative search can reduce the difficulty and time of recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0048] Figure 1 is a flow chart of Embodiment 1 of the present invention;

[0049] Figure 2 It is a system block diagram in Example 2 of the present invention. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0051] Example 1: A method for detecting collisions during live construction of power transmission lines based on a GIM model, such as Figure 1 As shown, the following steps are included:

[0052] S1: Establish a transmission line scenario model consisting of a ground model and a GIM model;

[0053] S2: Collect GPS positioning information of construction equipment during the construction process, and intercept the positioning identification area from the construction area based on the GPS positioning information;

[0054] S3: Collecting posture information of the construction equipment in the construction area, and generating corresponding posture vectors based on the posture information;

[0055] S4: identifying a unique moving trajectory of the construction equipment from the positioning and recognition area according to a plurality of continuous posture vectors, and determining the corrected positioning information of the construction equipment at the current moment;

[0056] S5: Detect whether the construction equipment has a construction collision risk based on the corrected positioning information, posture vector, safe distance of live equipment and mechanical wall execution parameters in the construction equipment at the current moment.

[0057] In step S1, the process of establishing the transmission line scene model is specifically as follows: collecting 3D scanning data of the construction area corresponding to the transmission line, and establishing a ground model based on the surface terrain features in the 3D scanning data; establishing a GIM model containing only the physical model according to the design data of the transmission line; loading the GIM model into the ground model to construct the transmission line scene model.

[0058] It should be noted that the 3D scanning data can be point cloud data obtained by 3D laser scanning technology, or ground photogrammetry data and aerial images, which are mainly used to obtain surface terrain features such as ground slope and slope direction. The GIM model in the present invention is applied to collision detection, so the GIM model only includes a physical model, and there is no need to model its operating logic, and the energized equipment and the non-energized equipment in the GIM model can be distinguished by annotation.

[0059] In step S2, the process of intercepting the positioning identification area is specifically as follows: multiple GPS positioning information collected during the detection period are arranged according to timestamps to obtain a GPS positioning sequence; a minimum circular area is established, and all GPS positioning information in the GPS positioning sequence are within the minimum circular area; the positioning identification area is intercepted from the construction area based on the radius, center position and maximum positioning error of the minimum circular area.

[0060] For example, the calculation formula for the positioning identification area is as follows:

[0061]

[0062] Among them, d o represents the center position of the smallest circular area, represented by two-dimensional coordinates in the horizontal plane; D(T) represents the GPS positioning sequence corresponding to the detection period T; d i Represents the i-th GPS positioning information in the GPS positioning sequence; r 0 Indicates the radius of the smallest circular area; Δl max Indicates the maximum positioning error; d j represents the coordinate position corresponding to any point j in the positioning and identification area; |·| represents the modulus length of the vector; D s Indicates the positioning identification area.

[0063] In step S3, the posture information includes the azimuth angle of the construction equipment in the horizontal direction and the inclination angle in the vertical direction.

[0064] Specifically, the expression of the attitude vector is:

[0065] α=(cosβcosθ,cosβsinθ,sinβ);

[0066] Among them, α represents the attitude vector; θ represents the azimuth angle; β represents the tilt angle.

[0067] In step S4, the identification process of the corrected positioning information is specifically as follows: two positioning boundaries are established based on the GPS positioning information and the maximum positioning error of GPS positioning; N continuous posture vectors are selected in reverse with the current moment as the starting point, and the simulated motion trajectory of the construction equipment is searched from the positioning identification area with the two positioning boundaries as constraints; if the simulated motion trajectory is the only motion trajectory, the position information of the simulated motion trajectory at the current moment is used as the corrected positioning information; if the simulated motion trajectory is not the only motion trajectory, N is increased for iterative search until the unique moving trajectory of the construction equipment is identified.

[0068] It should be noted that, when the maximum positioning error A is known, the range of the actual positioning will not exceed [dA, d+A], so the GPS positioning information is located in the middle of the two positioning boundaries.

[0069] In addition, considering that the posture vector difference of the construction equipment is small when it stops and moves on the ground with the same slope and slope direction, the N consecutive posture vectors contain at least two different posture vectors. In addition, considering the effectiveness of each iterative search, in each iterative search, there is at least one posture vector in the added posture vectors that is different from the last posture vector selected in the previous search.

[0070] In step S5, for powered equipment, the electric shock risk area can be determined based on the safe distance, and when the construction equipment enters the electric shock risk area, it is determined that there is a collision risk. For non-powered equipment, when the construction equipment actually contacts the power transmission equipment, it is determined that there is a collision risk.

[0071] When detecting construction collision risks, we can first simulate the position of the construction equipment in the transmission line scene model based on the corrected positioning information and posture vector, then simulate the actual operation according to the mechanical wall execution parameters in the construction equipment, and then use the three-dimensional space coordinates to analyze whether there is a coordinate intersection between the GIM model and the construction equipment. If so, it means there is a collision.

[0072] Embodiment 2: A transmission line live construction collision detection system based on a GIM model, the system is used to implement the transmission line live construction collision detection method based on a GIM model described in Embodiment 1, such as Figure 2 As shown, it includes a model building module, a positioning acquisition module, a posture acquisition module, a positioning correction module and a collision detection module.

[0073] Among them, the model building module is used to establish a transmission line scene model composed of a ground model and a GIM model; the positioning acquisition module is used to collect the GPS positioning information of the construction equipment during the construction process, and intercept the positioning identification area from the construction area based on the GPS positioning information; the posture acquisition module is used to collect the posture information of the construction equipment in the construction area, and generate the corresponding posture vector based on the posture information; the positioning correction module is used to identify the unique movement trajectory of the construction equipment from the positioning identification area according to multiple continuous posture vectors, and determine the corrected positioning information of the construction equipment at the current moment; the collision detection module is used to detect whether the construction equipment has a construction collision risk based on the corrected positioning information of the construction equipment at the current moment, the posture vector, the safe distance of the live equipment and the mechanical wall execution parameters in the construction equipment.

[0074] The present invention also records a computer terminal, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the live transmission line construction collision detection method based on the GIM model described in Example 1 is implemented.

[0075] The present invention also records a computer-readable medium on which a computer program is stored. The computer program is executed by a processor to implement the live construction collision detection method for transmission lines based on the GIM model described in Example 1.

[0076] Working principle: The present invention takes into account the detailed terrain features on the ground when establishing the transmission line scene model, and traces and analyzes the unique movement trajectory of the construction equipment in combination with the different posture vectors embodied by the construction equipment in multiple different terrain detail features within the error range of the GPS positioning information, thereby realizing the correction of the positioning of the construction equipment, which can effectively improve the accuracy and reliability of collision detection during live construction of transmission lines.

[0077] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0078] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0079] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0080] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0081] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A collision detection method for live construction of power transmission lines based on the GIM model is characterized by: The following steps are involved: Establish a transmission line scenario model consisting of a ground model and a GIM model; Collect GPS positioning information of construction equipment during the construction process, and intercept the positioning identification area from the construction area based on the GPS positioning information; Collect the posture information of the construction equipment in the construction area, and generate the corresponding posture vector based on the posture information; Identify a unique moving track of the construction equipment from the positioning and recognition area according to a plurality of continuous posture vectors, and determine the corrected positioning information of the construction equipment at the current moment; Based on the corrected positioning information, posture vector, safe distance of live equipment and mechanical wall execution parameters of the construction equipment at the current moment, it is detected whether the construction equipment has a construction collision risk.

2. The method for detecting collisions during live construction of power transmission lines based on the GIM model according to claim 1, characterized in that: The establishment process of the transmission line scenario model is specifically as follows: Collect 3D scanning data of the construction area corresponding to the transmission line, and establish a ground model based on the surface terrain features in the 3D scanning data; Establish a GIM model containing only a physical model based on the design data of the transmission line; The GIM model is loaded into the ground model to construct a transmission line scenario model.

3. The method for detecting collision during live construction of power transmission lines based on the GIM model according to claim 1, characterized in that: The specific process of intercepting the positioning and identification area is as follows: Arrange multiple GPS positioning information collected during the detection period according to timestamps to obtain a GPS positioning sequence; Establish a minimum circular area, and all GPS positioning information in the GPS positioning sequence is within the minimum circular area; The positioning identification area is intercepted from the construction area based on the radius, center position and maximum positioning error of the minimum circular area.

4. The method for detecting collision during live construction of power transmission lines based on the GIM model according to claim 3 is characterized in that: The calculation formula of the positioning identification area is specifically: Among them, d o represents the center position of the smallest circular area, represented by two-dimensional coordinates in the horizontal plane; D(T) represents the GPS positioning sequence corresponding to the detection period T; d i represents the i-th GPS positioning information in the GPS positioning sequence; r0 represents the radius of the minimum circular area; Δl max Indicates the maximum positioning error; d j represents the coordinate position corresponding to any point j in the positioning and identification area; |·| represents the modulus length of the vector; D s Indicates the positioning identification area.

5. The method for detecting collision during live construction of power transmission lines based on the GIM model according to claim 1, characterized in that: The posture information includes the azimuth angle of the construction equipment in the horizontal direction and the inclination angle in the vertical direction; The expression of the attitude vector is: α=(cosβcosθ,cosβsinθ,sinβ); Among them, α represents the attitude vector; θ represents the azimuth angle; β represents the tilt angle.

6. The method for detecting collision during live construction of power transmission lines based on the GIM model according to claim 1, characterized in that: The identification process of the correction positioning information is specifically as follows: Two positioning boundaries are established based on GPS positioning information and the maximum positioning error of GPS positioning; Taking the current moment as the starting point, N continuous posture vectors are selected in reverse, and the simulated motion trajectory of the construction equipment is searched from the positioning and identification area using two positioning boundaries as constraints; If the simulated motion trajectory is the only motion trajectory, the position information of the simulated motion trajectory at the current moment is used as the correction positioning information; If the simulated motion trajectory is not the only motion trajectory, N is increased to perform an iterative search until the only movement trajectory of the construction equipment is identified.

7. The method for detecting collision during live construction of power transmission lines based on the GIM model according to claim 6 is characterized in that: The N consecutive posture vectors include at least two different posture vectors; Furthermore, in each iterative search, there is at least one posture vector among the added posture vectors that is different from the last posture vector selected in the previous search.

8. The transmission line live construction collision detection system based on the GIM model is characterized by: The system is used to implement the transmission line live construction collision detection method based on the GIM model as described in any one of claims 1 to 7, comprising: Model building module, used to build a transmission line scenario model consisting of a ground model and a GIM model; The positioning acquisition module is used to collect the GPS positioning information of the construction equipment during the construction process, and to intercept the positioning identification area from the construction area based on the GPS positioning information; The posture acquisition module is used to collect the posture information of the construction equipment in the construction area and generate the corresponding posture vector according to the posture information; A positioning correction module, used to identify a unique moving track of the construction equipment from the positioning recognition area according to a plurality of continuous posture vectors, and determine the corrected positioning information of the construction equipment at the current moment; The collision detection module is used to detect whether there is a construction collision risk for the construction equipment based on the corrected positioning information, posture vector, safe distance of live equipment and mechanical wall execution parameters in the construction equipment at the current moment.

9. A computer terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the GIM model-based live transmission line construction collision detection method as described in any one of claims 1 to 7 is implemented.

10. A computer readable medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to implement the live construction collision detection method for transmission lines based on the GIM model as described in any one of claims 1 to 7.

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