Power transmission line galloping monitoring method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a power transmission line galloping monitoring method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring acceleration sensing data collected by an attitude motion sensor on a power transmission line; under the condition that the acceleration sensing data characterizes that the acceleration of the attitude motion sensor exceeds a threshold value, switching the attitude motion sensor to a high-frequency sampling mode; in the high-frequency sampling mode, acquiring high-frequency acceleration sensing data synchronously acquired by a plurality of attitude motion sensors; carrying out positioning processing on the attitude motion sensor to obtain position information of the sensor; and then track identification processing is carried out to obtain a galloping track monitoring result of the power transmission line. According to the application, the balance between the power consumption and the performance of the attitude motion sensor is maintained by setting the threshold value, the galloping condition can be detected with lower power consumption in a normal state, and when galloping occurs, higher monitoring precision can be provided based on the high-frequency acceleration sensing data.

Description

Technical Field

[0001] The present application relates to the technical field of line monitoring, and in particular to a method, device, computer equipment, readable storage medium and program product for monitoring the galloping of a power transmission line. Background Art

[0002] With the development of electrical technology, online monitoring technology for transmission lines has emerged. Overhead transmission lines may vibrate and swing due to external forces such as wind, snow load, and temperature changes. This phenomenon belongs to line galloping monitoring in power monitoring. Line galloping may cause line tripping, breaking, and even deformation or collapse of towers. Studies have shown that the galloping of transmission lines mainly occurs in winter. The ice covering makes the conductors have a larger windward surface, and the ice shedding and galloping after ice covering are important factors that make the lines more prone to galloping in winter.

[0003] At present, the vibration monitoring of power transmission lines is generally achieved by acceleration measurement or high-precision positioning. The high-precision positioning method requires at least centimeter-level accuracy, usually using RTK. At this time, the monitoring equipment needs to be in a high-power data communication state, and the overall power consumption is high. Summary of the invention

[0004] Based on this, it is necessary to provide a transmission line dancing monitoring method, device, computer equipment, computer readable storage medium and computer program product that can reduce power consumption and ensure monitoring accuracy in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for monitoring the galloping of a power transmission line, the method comprising:

[0006] Acquire acceleration sensor data collected by attitude motion sensors on transmission lines;

[0007] When the acceleration sensor data indicates that the acceleration of the posture motion sensor exceeds a threshold, switching the posture motion sensor to a high-frequency sampling mode;

[0008] In high-frequency sampling mode, high-frequency acceleration sensor data collected synchronously by multiple attitude motion sensors is obtained;

[0009] Performing positioning processing on the posture motion sensor based on the high-frequency acceleration sensor data to obtain position information corresponding to each of the plurality of posture motion sensors;

[0010] Trajectory recognition processing is performed according to the position information to obtain a monitoring result of the dancing trajectory of the transmission line.

[0011] In one embodiment, the positioning processing of the posture motion sensor based on the high-frequency acceleration sensor data to obtain the position information corresponding to each of the plurality of posture motion sensors includes:

[0012] Performing Kalman filtering on the high-frequency acceleration sensor data to obtain acceleration window data;

[0013] Performing integration processing based on the acceleration window data to obtain sensor displacement data;

[0014] The posture motion sensor is positioned based on the sensor displacement data to obtain position information corresponding to each of the plurality of posture motion sensors.

[0015] In one embodiment, it also includes:

[0016] Get the air wake-up setting parameters;

[0017] Based on the air wake-up setting parameters, a receiving state wake-up interval and a receiving state duration of the gesture motion sensor are set.

[0018] The acquisition of acceleration sensor data collected by the attitude motion sensor on the transmission line includes:

[0019] Based on the receiving state wake-up interval and the receiving state duration, the acceleration sensing data collected by the posture motion sensor on the transmission line is acquired.

[0020] In one embodiment, the posture motion sensor includes a power supply system using an amorphous silicon solar cell as a main battery and a supercapacitor battery as a backup battery.

[0021] In one embodiment, the energy supply system further includes a solar panel.

[0022] In one embodiment, the method further comprises:

[0023] Get access request of gesture motion sensor;

[0024] Extracting the sensor identity included in the access request;

[0025] Performing identity authentication processing on the gesture motion sensor based on the sensor identity identifier to obtain an identity authentication result;

[0026] Access processing is performed on the gesture motion sensor according to the identity authentication result.

[0027] In a second aspect, the present application also provides a transmission line dancing monitoring device, comprising:

[0028] A first data acquisition module is used to acquire acceleration sensor data collected by a posture motion sensor on a transmission line;

[0029] A mode switching module, used for switching the posture motion sensor to a high-frequency sampling mode when the acceleration sensing data indicates that the acceleration of the posture motion sensor exceeds a threshold value;

[0030] A second data acquisition module is used to acquire high-frequency acceleration sensor data synchronously collected by multiple posture motion sensors in a high-frequency sampling mode;

[0031] A positioning processing module, used for performing positioning processing on the posture motion sensor based on the high-frequency acceleration sensing data to obtain position information corresponding to each of the plurality of posture motion sensors;

[0032] The trajectory recognition module is used to perform trajectory recognition processing according to the position information to obtain the dancing trajectory monitoring result of the transmission line.

[0033] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0034] Acquire acceleration sensor data collected by attitude motion sensors on transmission lines;

[0035] When the acceleration sensing data indicates that the acceleration of the posture motion sensor exceeds a threshold, switching the posture motion sensor to a high-frequency sampling mode;

[0036] In high-frequency sampling mode, high-frequency acceleration sensor data collected synchronously by multiple attitude motion sensors is obtained;

[0037] Performing positioning processing on the posture motion sensor based on the high-frequency acceleration sensor data to obtain position information corresponding to each of the plurality of posture motion sensors;

[0038] Trajectory recognition processing is performed according to the position information to obtain a monitoring result of the dancing trajectory of the transmission line.

[0039] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0040] Acquire acceleration sensor data collected by attitude motion sensors on transmission lines;

[0041] When the acceleration sensing data indicates that the acceleration of the posture motion sensor exceeds a threshold, switching the posture motion sensor to a high-frequency sampling mode;

[0042] In high-frequency sampling mode, high-frequency acceleration sensor data collected synchronously by multiple attitude motion sensors is obtained;

[0043] Performing positioning processing on the posture motion sensor based on the high-frequency acceleration sensor data to obtain position information corresponding to each of the plurality of posture motion sensors;

[0044] Trajectory recognition processing is performed according to the position information to obtain a monitoring result of the dancing trajectory of the transmission line.

[0045] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0046] Acquire acceleration sensor data collected by attitude motion sensors on transmission lines;

[0047] When the acceleration sensor data indicates that the acceleration of the posture motion sensor exceeds a threshold, switching the posture motion sensor to a high-frequency sampling mode;

[0048] In high-frequency sampling mode, high-frequency acceleration sensor data collected synchronously by multiple attitude motion sensors is obtained;

[0049] Performing positioning processing on the posture motion sensor based on the high-frequency acceleration sensor data to obtain position information corresponding to each of the plurality of posture motion sensors;

[0050] Trajectory recognition processing is performed according to the position information to obtain a monitoring result of the dancing trajectory of the transmission line.

[0051] The above-mentioned transmission line dancing monitoring method, device, computer equipment, computer-readable storage medium and computer program product obtain the acceleration sensor data collected by the posture motion sensor on the transmission line; when the acceleration sensor data indicates that the acceleration of the posture motion sensor exceeds the threshold, switch the posture motion sensor to the high-frequency sampling mode; in the high-frequency sampling mode, obtain the high-frequency acceleration sensor data synchronously collected by multiple posture motion sensors; based on the high-frequency acceleration sensor data, position the posture motion sensor to obtain the position information corresponding to each of the multiple posture motion sensors; perform trajectory recognition processing according to the position information to obtain the transmission line dancing trajectory monitoring result. This application acquires the sensor data by switching the posture motion sensor to the high-frequency sampling mode after monitoring that the acceleration of the posture motion sensor exceeds the threshold, and maintains the balance between the power consumption and performance of the posture motion sensor by setting the threshold. Under normal conditions, the dancing situation can be detected with lower power consumption, and when dancing occurs, the high-frequency acceleration sensor data can be collected through the high-frequency sampling mode, and the sensor is positioned and the dancing trajectory is recognized based on it, thereby providing higher monitoring accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 A diagram showing an application environment of a method for monitoring power transmission line galloping in one embodiment;

[0054] Figure 2 A schematic diagram of a flow chart of a method for monitoring power transmission line galloping in one embodiment;

[0055] Figure 3 A schematic diagram of a flow chart of automatic switching logic of a gesture motion sensor according to an embodiment;

[0056] Figure 4 It is a schematic diagram of a flow chart of positioning processing based on high-frequency acceleration sensor data in one embodiment;

[0057] Figure 5 A schematic diagram of a receiving state wake-up interval and a sensor receiving state duration in one embodiment;

[0058] Figure 6 is a schematic diagram of a gesture motion sensor including a miniaturized solar panel in one embodiment;

[0059] Figure 7 A schematic diagram of the functional structure of a gesture motion sensor in one embodiment;

[0060] Figure 8 is a structural block diagram of a transmission line dancing monitoring device in one embodiment;

[0061] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0063] The transmission line dancing monitoring method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the front-end host 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. The front-end host 102 is also connected to multiple sensor devices on the transmission line, responsible for collecting the data collected by the sensor devices to perform data processing in the monitoring process. The front-end host 102 will continuously obtain the acceleration sensor data collected by the posture motion sensor on the transmission line for monitoring; and when the acceleration sensor data represents that the acceleration of the posture motion sensor exceeds the threshold, the posture motion sensor is switched to the high-frequency sampling mode; in the high-frequency sampling mode, the high-frequency acceleration sensor data collected synchronously by multiple posture motion sensors is obtained; the posture motion sensor is positioned based on the high-frequency acceleration sensor data to obtain the position information corresponding to each of the multiple posture motion sensors; the trajectory recognition processing is performed according to the position information to obtain the dancing trajectory monitoring result of the transmission line. Finally, the obtained dancing trajectory monitoring result is returned to the server 104 for analysis and processing by the staff on the server 104 side. The front-end host 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. IoT devices may be smart speakers, smart TVs, smart air conditioners, smart car devices, projection devices, etc. Portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. Head-mounted devices may be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. The server 104 may be an independent physical server, or a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides cloud computing services.

[0064] In an exemplary embodiment, Figure 2 As shown, a method for monitoring the vibration of a transmission line is provided. Figure 1 Taking the front-end host 102 in the example as an example, the method includes the following steps 201 to 209. Among them:

[0065] Step 201, acquiring acceleration sensor data collected by a posture motion sensor on a transmission line.

[0066] Step 203 : when the acceleration sensor data indicates that the acceleration of the posture motion sensor exceeds a threshold, switch the posture motion sensor to a high-frequency sampling mode.

[0067] Among them, the transmission line is realized by using a transformer to step up the voltage of the electric energy generated by the generator, and then connecting it to the transmission line through control equipment such as circuit breakers. In terms of structural form, the transmission line is divided into overhead transmission lines and cable lines. Overhead transmission lines are composed of line towers, conductors, insulators, line hardware, guy wires, tower foundations, grounding devices, etc., and are erected above the ground. The attitude motion sensor is set on the transmission line and is used to collect the acceleration change at the corresponding transmission line position. These sensors are suspended on the transmission line conductors to monitor the dancing state of the transmission line conductors. They have the functions of conductor displacement measurement, conductor dancing frequency measurement, suspension point inclination angle and other state monitoring. Usually, multiple displacement measurement sensors need to be suspended on a conductor. By monitoring the conductor displacement and dancing state of multiple suspension points, the conductor dancing characteristics of the transmission line can be obtained. Through the dancing characteristic data, targeted safety protection measures can be taken for the conductor. The threshold is the basis for judging whether the transmission line is dancing. The threshold can be set according to the location of the transmission line and the actual monitoring needs. The high-frequency sampling mode refers to adjusting the sampling frequency of the gesture motion sensor to hundreds of times the dancing frequency. For example, the sampling frequency can be set to 2kHz, and the oversampling rate is more than 400 times for the dancing frequency range of 0.1-5Hz, which can fully meet the accurate calculation of displacement and frequency.

[0068] For example, currently in cold areas or in winter, due to external forces such as wind, wind and snow load, temperature changes, etc., vibration and swinging may occur, which belongs to line dancing monitoring in power monitoring. Line dancing may cause line tripping, breaking, and even deformation or collapse of the tower. Therefore, the transmission line dancing monitoring method of the present application can be used to monitor the state data such as the conductor dancing amplitude, dancing frequency, and dancing ellipse inclination angle to realize the monitoring of line dancing. During the construction and operation of the transmission line, according to the dancing monitoring situation, an anti-dancing device can be added to the line design to reduce the harm caused by dancing to the transmission line. As for the specific monitoring process, it needs to be realized based on the continuous collection and analysis of sensor data. Therefore, when monitoring the transmission line dancing, the front-end host 102 needs to first obtain the acceleration sensor data collected by the posture motion sensor on the transmission line. Then, it is necessary to determine whether the line is dancing based on the acceleration sensor data. When the acceleration of the attitude motion sensor exceeds the threshold, it means that the transmission line is dancing. At this time, the attitude motion sensor can be switched to high-frequency sampling mode to perform efficient data collection and processing. The change in line position is determined by the change in acceleration of the attitude motion sensor. By analyzing the sensor data of multiple attitude motion sensors, the movement trajectory of the line can be determined as the basis for subsequent analysis. In one embodiment of the present application, the attitude motion sensor can switch to the high-frequency sampling mode based on the sampling frequency automatic switching logic. The overall flow chart can be referred to Figure 3 As shown, in a normal state, after the chip of the posture motion sensor is initialized, it samples at a lower speed to perform low-power monitoring processing. When it is detected that the acceleration exceeds the threshold, it automatically enters the high-frequency sampling mode to collect high-frequency acceleration sensing data. The high-frequency sampling mode can adopt a timing method. When the set time limit is reached, the device re-enters the low-power monitoring state and waits for the trigger of the next cycle. In a specific embodiment, for device selection, the posture motion sensor can adopt the ST low-power LSM6D series posture motion sensor, which has an acceleration threshold trigger function in addition to the micro-power acquisition state. The main processor can adopt the STM32L0 series micro-power sensor, which has lower power consumption in the sleep state.

[0069] Step 205 , in a high-frequency sampling mode, obtaining high-frequency acceleration sensing data synchronously collected by a plurality of posture motion sensors.

[0070] Step 207 , positioning the attitude motion sensor based on the high-frequency acceleration sensor data to obtain position information corresponding to each of the plurality of attitude motion sensors.

[0071] Step 209, performing trajectory recognition processing according to the position information to obtain the dancing trajectory monitoring result of the transmission line.

[0072] Among them, frequency acceleration sensing data refers to sensing data obtained through high-frequency sampling. In a specific embodiment, a posture motion sensor can be used for high-frequency sampling of 2KHz. Through high-frequency sampling, higher dancing amplitude and dancing frequency monitoring accuracy can be achieved. Thereby improving the monitoring effect of dancing monitoring. The position information corresponding to each posture motion sensor can characterize the position of the cable corresponding to the posture motion sensor after dancing occurs, and by analyzing multiple position information, the trajectory of dancing can be obtained.

[0073] Exemplarily, after the transmission line dancing is detected, the posture motion sensor can be switched to the high-frequency sampling mode, and these newly collected sensor data are high-frequency acceleration sensor data, and the sensor data collected by multiple posture motion sensors can be collected at the same time for comprehensive analysis. For the analysis process, the posture motion sensor can be positioned by high-frequency acceleration sensor data, so as to obtain the position information corresponding to each of the multiple posture motion sensors, and these positions also correspond to the positions of the cables on the transmission line, and the dancing trajectory monitoring results of the transmission line are obtained by performing trajectory recognition processing on these position information. The dancing trajectory monitoring results identified by the front-end host 102 will be submitted to the server 104, so that the server 104 can understand the dancing of the transmission line near the front-end host 102. At the same time, the state data such as the dancing amplitude, dancing frequency, and dancing ellipse inclination angle of the conductor can also be monitored. By using this solution to monitor the dancing of the line, during the construction and operation of the transmission line, according to the dancing monitoring situation, an anti-dancing device can be added to the line design to reduce the harm caused by the dancing to the transmission line.

[0074] The above-mentioned method for monitoring the dancing of a transmission line obtains acceleration sensor data collected by a posture motion sensor on the transmission line; when the acceleration sensor data indicates that the acceleration of the posture motion sensor exceeds a threshold, the posture motion sensor is switched to a high-frequency sampling mode; in the high-frequency sampling mode, high-frequency acceleration sensor data synchronously collected by multiple posture motion sensors are obtained; positioning processing is performed on the posture motion sensor based on the high-frequency acceleration sensor data to obtain the position information corresponding to each of the multiple posture motion sensors; trajectory recognition processing is performed according to the position information to obtain the monitoring result of the dancing trajectory of the transmission line. The present application collects sensor data by switching the posture motion sensor to a high-frequency sampling mode after monitoring that the acceleration of the posture motion sensor exceeds a threshold, and maintains a balance between the power consumption and performance of the posture motion sensor by setting a threshold. Under normal conditions, the dancing situation can be detected with lower power consumption, and when dancing occurs, the high-frequency acceleration sensor data can be collected through the high-frequency sampling mode, and the sensor positioning and dancing trajectory recognition are performed accordingly, thereby achieving higher dancing amplitude and dancing frequency monitoring accuracy.

[0075] In an exemplary embodiment, Figure 4 As shown, step 207 includes:

[0076] Step 401, performing Kalman filtering on high-frequency acceleration sensor data to obtain acceleration window data.

[0077] Step 403: Perform integration processing based on the acceleration window data to obtain sensor displacement data.

[0078] Step 405 , positioning the attitude motion sensor based on the sensor displacement data to obtain position information corresponding to each of the plurality of attitude motion sensors.

[0079] Among them, Kalman filtering is an algorithm that uses the linear system state equation to optimally estimate the system state through the system input and output observation data. Since the observation data includes the influence of noise and interference in the system, the optimal estimation can also be regarded as a filtering process. Kalman filtering can further improve the quality of the collected high-frequency acceleration sensor data.

[0080] Exemplarily, the signal data obtained from the attitude motion sensor needs to be processed to a certain extent, because there is no way to directly convert the acceleration or inertial measurement results with the position relationship. At the same time, since there is a certain amount of noise in the signal, the signal must be digitally filtered. The present application adopts the Kalman filtering method to process the high-frequency acceleration sensor data. Some filtered data may still cause errors due to mechanical noise, and it is necessary to implement the filtering function of the erroneous data, and determine a real acceleration window data for calculation according to the number of filtered samples. Since the present application adopts the acceleration measurement method, in order to obtain the position, the acceleration needs to be integrated twice. Sampling a signal to obtain the instantaneous value of the signal size can obtain a small area between two samplings. In order to obtain a coherent value, the sampling time must be the same. The sampling time represents the width of the area, and the sampled value represents the height of the area. In order to eliminate multiplication with fractions (microseconds or milliseconds), the time is assumed to be a unit quantity. Assume that each sampling time representing the width of the area is equal to 1. The next conclusion is: the value of the integral can be approximately equal to the sum of the area of ​​the area. If the sampling time approaches 0, then the conclusion will be correct. The present application improves the sampling rate of acceleration through high-frequency sampling, which can greatly improve the measurement accuracy of the positioning process. In this embodiment, the sampled high-frequency acceleration sensor data is preprocessed according to the Kalman filter algorithm, and then the collected data is subjected to secondary integral calculation, thereby achieving more accurate dancing parameter recognition processing.

[0081] In an exemplary embodiment, the method further includes: obtaining air wake-up setting parameters; and setting the receiving state wake-up interval and receiving state duration of the gesture motion sensor based on the air wake-up setting parameters. Step 201 includes: obtaining acceleration sensor data collected by the gesture motion sensor on the transmission line based on the receiving state wake-up interval and the receiving state duration.

[0082] Among them, the air wake-up is to periodically let the sensor enter the RX receiving state and maintain it for a certain period of time to receive data, rather than using the method of being in the receiving state for a long time. Through this mode, the host can ensure the control of the sensor while reducing the power consumption of the sensor. The receiving state wake-up interval refers to the interval between two rounds of receiving states, and the receiving state duration refers to the continuous receiving time in one round of receiving state.

[0083] For example, since posture motion sensors generally need to be installed with multiple sensors in one monitoring span, multiple sensors within the same span need to be synchronized to ensure the accuracy of the measurement. The host and the sensor adopt a master-slave two-way communication method, and the sensor acts as a slave to receive the synchronization signal of the host. Low power consumption needs to be considered in the design of the sensor. Since wireless communication methods such as Lora usually require a receiving current of about 10mA in the receiving state, it is relatively large for low-power solutions. Therefore, low power consumption can be set through air wake-up. The staff pre-sets the air wake-up setting parameters and then sends them to the host. The host uses these setting parameters to set the receiving state wake-up interval and receiving state duration of the posture motion sensor. Through such a mode, the host can ensure the control of the sensor while reducing the power consumption of the sensor. In one embodiment, it can be specifically as follows Figure 5 As shown, the corresponding receiving state wake-up interval Wor_timer_set is set, and the sensor receiving state duration Wor_rxtimer_set is set, so as to reduce the power consumption of the dancing sensor receiving state, thereby ensuring that the sensor control response time is within 500ms. In addition, the sensor synchronous measurement delay error is within 20ms. When the host detects the fluctuation of the wire tension, the sensor automatic acquisition control instruction is started, the sensor actively collects the displacement measurement data and actively reports it to the host. After the tension fluctuation stops, the sensor acquisition control mode is automatically turned off. In this embodiment, the chip hardware trigger wake-up method is adopted, and the host and sensor are synchronously awakened and enter a low-power state, which greatly reduces the energy demand of the device. At the same time, the wireless communication using the air wake-up method realizes two-way communication of data and reduces the power consumption of two-way communication of the device. Based on the air wake-up method, it realizes low-power control and synchronization of sensors. The sensor reduces the receiving power consumption to 1 / 20 of the original while ensuring the communication delay.

[0084] In an exemplary embodiment, the gesture motion sensor includes a power supply system with an amorphous silicon solar cell as a main battery and a super capacitor battery as a backup battery. Meanwhile, the power supply system also includes a solar panel.

[0085] Exemplarily, the present application can power the gesture motion sensor through the ability to obtain electricity from weak light sources. The improvement of the ability to obtain electricity from weak light sources refers to improving the efficiency and ability to collect energy from weak light sources, which is particularly important for the self-powered systems of IoT devices, sensors and other low-power devices. The present application adopts amorphous silicon solar cells, and the material solar panels can be self-equipped into flexible and thin structures, adapting to various complex surfaces and shapes, and facilitating the structural design of sensors. Amorphous silicon cells perform better than crystalline silicon cells under weak light conditions, which enables them to work efficiently under different lighting conditions. Amorphous silicon materials have a wide spectral response range, which means that they can absorb more photons at lower light intensities, thereby generating photocurrents. The backup battery can be a supercapacitor battery, which combines the fast charging and discharging capabilities of traditional capacitors with the higher energy density of batteries, and has the characteristics of high power density, long cycle life, wide operating temperature range and environmental friendliness. Long life and high reliability can greatly reduce the subsequent maintenance costs and ensure that the sensor can be used trouble-free for more than 8 years. At the same time, since there is no chemical reaction, thermal runaway will not occur, which is safer to use. Due to the reduction of sensor power consumption, the power supply method is optimized, so when designing the sensor, there is no need to consider the CT induction power supply method, which is relatively large in size and weight. Only a 0.5W solar panel is needed, which greatly reduces the size and weight of the sensor. The structure of the sensor can be referred to Figure 6 As shown. In this embodiment, an amorphous silicon solar panel is used as the main battery. The amorphous silicon solar panel has good adaptability to low light and strong light, and can maintain a relatively high charging efficiency in a weak light environment, ensuring that the sensor can also obtain energy to meet the equipment needs in rainy days. The efficiency of low-light power supply is improved, and the volume of the backup battery due to low power consumption is reduced, and it can be applied to AC and DC lines; at the same time, through improvements, the volume of the posture motion sensor can also be reduced, which is convenient for installation, while reducing the impact of the posture motion sensor on the power transmission line; and the use of supercapacitor batteries as backup batteries has a wide operating temperature, ensuring that the low-temperature capacity is not lost, and ensuring low-temperature endurance.

[0086] In an exemplary embodiment, the method also includes: obtaining an access request of a posture motion sensor; extracting a sensor identity included in the access request; performing identity authentication processing on the posture motion sensor based on the sensor identity to obtain an identity authentication result; and performing access processing on the posture motion sensor according to the identity authentication result.

[0087] Exemplarily, the present application can network the host side and the sensor side through a wireless ad hoc network. In the development of the near-ground transmission protocol, the present application designs a wireless ad hoc network. The posture motion sensor connected to the system has its own unique identity and can confirm its identity with the gateway host. After confirming the identity, the posture motion sensor can be connected to the gateway as a sensor node to achieve plug-and-play functionality. That is, when a new posture motion sensor needs to be connected, the connected posture motion sensor will submit its own identity information to the host side, and the host side will complete the authentication and access processing based on the information. In this embodiment, the plug-and-play sensor wireless access automatic networking function brings great convenience to the equipment's operation and maintenance and later replacement and maintenance. There is no need to reconfigure the on-site equipment. Thereby, deployment and maintenance in complex environments can be achieved without the need for external network infrastructure.

[0088] In one embodiment, the transmission line dancing monitoring method of the present application includes: obtaining an access request of a posture motion sensor; extracting a sensor identity included in the access request; performing identity authentication processing on the posture motion sensor based on the sensor identity to obtain an identity authentication result; performing access processing on the posture motion sensor according to the identity authentication result. Obtaining air wake-up setting parameters; setting the receiving state wake-up interval and receiving state duration of the posture motion sensor based on the air wake-up setting parameters; obtaining acceleration sensor data collected by the posture motion sensor on the transmission line based on the receiving state wake-up interval and receiving state duration; switching the posture motion sensor to a high-frequency sampling mode when the acceleration sensor data indicates that the acceleration of the posture motion sensor exceeds a threshold; obtaining high-frequency acceleration sensor data synchronously collected by multiple posture motion sensors in the high-frequency sampling mode; performing Kalman filtering processing on the high-frequency acceleration sensor data to obtain acceleration window data; performing integration processing based on the acceleration window data to obtain sensor displacement data; performing positioning processing on the posture motion sensor based on the sensor displacement data to obtain the position information corresponding to each of the multiple posture motion sensors; performing trajectory recognition processing based on the position information to obtain the dancing trajectory monitoring result of the transmission line. The functional structure of the gesture motion sensor selected in this application can refer to Figure 7As shown in the figure, in terms of device selection, ST low-power LSM6D series attitude motion sensor is used. In addition to the micro-power acquisition state, the sensor also has the acceleration threshold trigger function. The main processor uses the STM32L0 series micro-power sensor, which has lower power consumption in the sleep state. After exceeding the threshold trigger, it enters the high-speed sampling mode, and the sampling frequency can reach 2kHz. The power supply part adopts CT induction power supply method and amorphous silicon solar panels for energy supply. Amorphous silicon solar panels have good adaptability to low light and strong light, and can maintain a relatively high charging efficiency in weak light environments, ensuring that the sensor can also obtain energy to meet the equipment needs in rainy days. The sensor backup battery uses a supercapacitor battery. The near-ground wireless communication between the sensor and the host adopts the wireless LoRa self-organizing network method. The sensor is a slave device in the self-organizing network and communicates data with the host. Lora has a long transmission distance and a stable communication distance of more than 700 meters, which can meet the monitoring range of the full-span of the power transmission line.

[0089] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0090] Based on the same inventive concept, the embodiment of the present application also provides a power transmission line galloping monitoring device for implementing the power transmission line galloping monitoring method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more power transmission line galloping monitoring device embodiments provided below can refer to the limitations of the power transmission line galloping monitoring method above, and will not be repeated here.

[0091] In an exemplary embodiment, Figure 8 As shown, a transmission line dancing monitoring device is provided, comprising:

[0092] The first data acquisition module 801 is used to acquire acceleration sensor data collected by the attitude motion sensor on the transmission line;

[0093] A mode switching module 803 is used to switch the posture motion sensor to a high-frequency sampling mode when the acceleration sensor data indicates that the acceleration of the posture motion sensor exceeds a threshold value;

[0094] The second data acquisition module 805 is used to acquire high-frequency acceleration sensor data synchronously collected by multiple posture motion sensors in a high-frequency sampling mode;

[0095] A positioning processing module 807 is used to perform positioning processing on the posture motion sensor based on the high-frequency acceleration sensor data to obtain position information corresponding to each of the plurality of posture motion sensors;

[0096] The trajectory recognition module 809 is used to perform trajectory recognition processing according to the position information to obtain the monitoring result of the dancing trajectory of the transmission line.

[0097] In one embodiment, the positioning processing module 807 is also included and is specifically used for: performing Kalman filtering on the high-frequency acceleration sensor data to obtain acceleration window data; performing integration processing based on the acceleration window data to obtain sensor displacement data; performing positioning processing on the attitude motion sensor based on the sensor displacement data to obtain the position information corresponding to each of the multiple attitude motion sensors.

[0098] In one embodiment, a parameter setting module is further included, which is used to: determine the air wake-up setting parameters; and set the receiving state wake-up interval and receiving state duration of the attitude motion sensor based on the air wake-up setting parameters. The first data acquisition module 801 is specifically used to: obtain the acceleration sensor data collected by the attitude motion sensor on the transmission line based on the receiving state wake-up interval and the receiving state duration.

[0099] In one embodiment, the fault parameters of the de-icing jump include the duration and impact load of the de-icing jump; the fault monitoring module 807 is specifically used to: extract the jumping state record data from the high-frequency tension sensor data; perform data screening and processing on the jumping state record data to determine the duration and impact load of the de-icing jump.

[0100] In one embodiment, the gesture motion sensor includes a power supply system using an amorphous silicon solar cell as a main battery and a super capacitor battery as a backup battery.

[0101] In one embodiment, the energy supply system further comprises a solar panel.

[0102] In one embodiment, it also includes an access detection module, which is used to: obtain an access request from a posture motion sensor; extract the sensor identity included in the access request; perform identity authentication processing on the posture motion sensor based on the sensor identity to obtain an identity authentication result; and perform access processing on the posture motion sensor according to the identity authentication result.

[0103] Each module in the above-mentioned power transmission line dancing monitoring system can be implemented in whole or in part by software, hardware and their combination. Each of 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 each of the above modules.

[0104] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig. 9 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. 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 and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a method for monitoring the dancing of a power transmission line is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0105] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0106] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0107] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0108] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-mentioned method embodiments.

[0109] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0110] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method 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. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0111] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0112] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for monitoring the galloping of a transmission line, characterized in that: include: Acquire acceleration sensor data collected by attitude motion sensors on transmission lines; When the acceleration sensor data indicates that the acceleration of the posture motion sensor exceeds a threshold, switching the posture motion sensor to a high-frequency sampling mode; In high-frequency sampling mode, high-frequency acceleration sensor data collected synchronously by multiple attitude motion sensors is obtained; Performing positioning processing on the posture motion sensor based on the high-frequency acceleration sensor data to obtain position information corresponding to each of the plurality of posture motion sensors; Trajectory recognition processing is performed according to the position information to obtain a monitoring result of the dancing trajectory of the transmission line.

2. The method according to claim 1, characterized in that The positioning processing of the posture motion sensor based on the high-frequency acceleration sensor data to obtain the position information corresponding to each of the plurality of posture motion sensors includes: Performing Kalman filtering on the high-frequency acceleration sensor data to obtain acceleration window data; Performing integration processing based on the acceleration window data to obtain sensor displacement data; The posture motion sensor is positioned based on the sensor displacement data to obtain position information corresponding to each of the plurality of posture motion sensors.

3. The method according to claim 1, characterized in that The method further comprises: Get the air wake-up setting parameters; Based on the air wake-up setting parameters, setting the receiving state wake-up interval and the receiving state duration of the gesture motion sensor; The acquisition of acceleration sensing data collected by the attitude motion sensor on the transmission line includes: Based on the receiving state wake-up interval and the receiving state duration, the acceleration sensing data collected by the posture motion sensor on the transmission line is acquired.

4. The method according to claim 1, characterized in that: The posture motion sensor comprises an energy supply system with an amorphous silicon solar cell as a main battery and a supercapacitor battery as a backup battery.

5. The method according to claim 1, characterized in that The energy supply system also includes solar panels.

6. The method according to claim 1, characterized in that The method further comprises: Get access request of gesture motion sensor; Extracting the sensor identity included in the access request; Performing identity authentication processing on the gesture motion sensor based on the sensor identity identifier to obtain an identity authentication result; Access processing is performed on the gesture motion sensor according to the identity authentication result.

7. A transmission line dancing monitoring device, characterized in that: include; A first data acquisition module is used to acquire acceleration sensor data collected by a posture motion sensor on a transmission line; A mode switching module, used for switching the posture motion sensor to a high-frequency sampling mode when the acceleration sensing data indicates that the acceleration of the posture motion sensor exceeds a threshold value; A second data acquisition module is used to acquire high-frequency acceleration sensor data synchronously collected by multiple posture motion sensors in a high-frequency sampling mode; A positioning processing module, used for performing positioning processing on the posture motion sensor based on the high-frequency acceleration sensing data to obtain position information corresponding to each of the plurality of posture motion sensors; The trajectory recognition module is used to perform trajectory recognition processing according to the position information to obtain the dancing trajectory monitoring result of the transmission line.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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