Method for fixing and hanging high-voltage transmission line spacer by adopting unmanned aerial vehicle

Abstract

The invention discloses a method for fixing and hanging high-voltage transmission line spacers by adopting an unmanned aerial vehicle, and relates to the technical field of power transmission line construction. Traditional spacer hanging mainly depends on manual operation and experience judgment, efficiency is low, and accurate fixed-point hanging is difficult to achieve. The method comprises the following steps: carrying out RTK module debugging on a shooting unmanned aerial vehicle and a carrying unmanned aerial vehicle; acquiring height and latitude and longitude information of sampling points on the power transmission line by using a shooting unmanned aerial vehicle; the PC performs image preprocessing on the pictures acquired by the unmanned aerial vehicle, and draws a catenary model; according to the latitude and longitude and height information calculated by the model, carrying the unmanned aerial vehicle to carry a paint spraying device for precise paint spraying; and the carrying unmanned aerial vehicle carries the automatic hanging hook to finish accurate hanging of the spacer. Precise fixed-point paint spraying and spacer hanging can be achieved, the stability and reliability of the spacer are improved, and the difficulty and cost of manual operation are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of power transmission line construction, and in particular to a method for fixing and hanging spacers of high-voltage transmission lines by using an unmanned aerial vehicle. Background Art

[0002] In high-voltage power transmission systems, spacers are important components for ensuring the distance between conductors and suppressing corona and vibration. The way they are hung is directly related to the stability and safety of transmission lines. Traditionally, the hanging of spacers mainly relies on manual operation and experience judgment, which is not only inefficient but also difficult to achieve accurate fixed-point hanging. With the rapid development of the power industry and the advancement of smart grids, the requirements for monitoring, management and maintenance of high-voltage transmission lines are increasing. In this context, some new spacer technologies have emerged, which use more advanced materials and processes to improve the mechanical properties and durability of spacers. However, most of these technologies have not fundamentally solved the problem of inaccurate hanging of spacers. In order to overcome the shortcomings of the existing technology, some patents have proposed improvement plans. For example, some patents propose a spacer hanging method based on GPS positioning technology to achieve accurate positioning of spacers. However, these methods still have some limitations in practical applications, such as the positioning accuracy is greatly affected by the environment and the cost is high. Summary of the invention

[0003] The technical problem to be solved and the technical task proposed by the present invention are to improve and perfect the existing technical solutions, and provide a method for fixing and hanging the spacer bars of high-voltage transmission lines by using drones, so as to improve the positioning accuracy of the spacer bars and reduce the difficulty and cost of manual operation. To this end, the present invention adopts the following technical solutions.

[0004] A method for positioning and anchoring spacers of high-voltage transmission lines using an unmanned aerial vehicle comprises the following steps: 1) Debug the RTK modules of the shooting drone and the carrier drone to ensure waypoint flight with centimeter-level error; 2) Using a high-definition camera, the drone collects the height, longitude and latitude information of the sampling points on the transmission line; 3) The photos collected by the drone are transmitted to the PC through the base station for image preprocessing and the catenary model is drawn; 4) Based on the longitude, latitude and altitude information calculated by the catenary model, the carrier drone is equipped with a paint spraying device to accurately position and spray paint; 5) After the painting is completed, the carrier drone is equipped with an automatic docking hook, which carries the spacer bar to complete the precise docking of the spacer bar. This method combines RTK module debugging, high-definition camera information acquisition, image preprocessing, catenary model drawing, precise positioning painting and automatic docking hook technology to form a complete and efficient fixed-point docking system. This method covers the entire process from drone debugging to precise docking of the spacer bar. Through intelligent drone operation, the positioning accuracy of the spacer bar is improved, and the precise positioning and efficient docking of the spacer bar are achieved. It can effectively reduce the difficulty and cost of manual operation, improve the stability and safety of high-voltage transmission lines, and provide strong guarantees for the safe and stable operation of high-voltage transmission systems.

[0005] As a preferred technical means: the step 2) comprises the following steps: 201) Obtain the three-dimensional coordinates of the end points of the transmission line: the drone takes horizontal photos from the side of the two end points of the transmission line to obtain the height information; the drone takes vertical downward photos from directly above the two end points of the transmission line to obtain the longitude and latitude information; 202) Obtain the coordinates of several points in the middle of the transmission line: determine the drone route based on the two end points, keep a certain safe distance from the route, take horizontal photos from the side, and record the shooting interval to obtain altitude information; rise to a certain height so that the drone is directly above the route, maintain the same interval, take vertical downward photos to obtain latitude and longitude information.

[0006] This process describes in detail the implementation method of step 2), including obtaining the three-dimensional coordinates of the end points and several points in the middle of the transmission line. By taking photos from the side and directly above the two end points and the middle point of the transmission line by drone, the longitude and latitude and altitude information of these points can be accurately obtained. This information provides key data support for the subsequent drawing of the catenary model and the fixed-point mounting of the spacer rods.

[0007] As a preferred technical means: the step 3) comprises the following steps: 301) The longitude and latitude information directly extracted from the drone is not conducive to the subsequent coordinate calculation. Converting the longitude and latitude coordinates to Mercator projection coordinates can improve the map's readability, calculation convenience, and compatibility with other geographic information systems. and latitude Φ (in radians), and then use the following formulas (1) and (2) to obtain the Mercator projection coordinates that are easy to calculate: , where z represents the height. is the radius of the Earth, the Mercator projection coordinate x is calculated as follows: (1) The calculation of the Mercator projection coordinate 𝑦 is as follows: (2); 302) Through coordinate calculation, the catenary equation is fitted: By coordinate translation, the origin of the coordinate system is moved to the power tower on either side, and a straight line is fitted using the projection coordinates of each point. ,by is the new horizontal axis ( Axis), calculate the distance between the translated coordinates and the origin, and use it as the plane coordinate system The horizontal coordinate of the selected point is obtained; Based on the two-dimensional coordinate data obtained by coordinate transformation, the least squares fitting is performed using the following formula (3): (3); Where: is the ordinate of a point on the wire, is the horizontal coordinate of a point on the wire; is an unknown parameter that determines the shape of the catenary. Its exponential form is as follows: (4); 303) After obtaining the catenary model, the location where the spacer needs to be placed is calculated according to the actual construction requirements, and then the calculated coordinates are converted into longitude, latitude and altitude according to formulas (4) and (5). The latitude Φ is calculated as follows: (5) longitude The calculation is as follows: (6); 304) The obtained latitude and longitude information is sorted and converted, output as standard KML, and transmitted to the carrier drone.

[0008] This process describes in detail the image preprocessing and catenary model drawing process in step 3). First, the longitude and latitude coordinates collected by the drone are converted into Mercator projection coordinates to improve the readability of the map and the convenience of calculation. Then, the catenary equation is obtained through coordinate calculation and least squares fitting. This catenary model can accurately reflect the shape and position of the high-voltage transmission line, providing an accurate mathematical model for the subsequent fixed-point mounting of the spacer rods.

[0009] As a preferred technical means: in the step 4), the carrier drone starts the lifting mode, connects the lifting fixture of the carrier drone to the painting device, and the drone flies to the designated waypoint according to the route according to the KML file for touch-type painting. The precise positioning painting process in step 4) is described, which not only realizes the precise marking of the spacer rod hanging position, but also provides a clear reference point for the subsequent automatic hanging hook. At the same time, the structure of the touch-type painting device is relatively simple, easy to operate, and also ensures the accuracy and durability of the marking.

[0010] As a preferred technical means: in the step 5), the carrier drone starts the lifting mode, connects the drone's lifting fixture to the automatic hanging hook, and the drone flies to the designated waypoint according to the route according to the KML file. At the same time, referring to the spray paint mark, after the automatic hanging hook contacts the transmission line, the drone is operated to open the lifting fixture to separate from the spacer. The precise hanging process of the spacer in step 5) is described. Through intelligent drone operation and precise spray paint marking, the spacer is quickly and accurately hung, which improves the stability and safety of the high-voltage transmission line.

[0011] Beneficial effects: This method uses drones to locate and anchor spacers, and through intelligent drone operation, it improves the positioning accuracy of spacers, achieves precise positioning and efficient anchoring of spacers, can effectively reduce the difficulty and cost of manual operation, improve the stability and safety of high-voltage transmission lines, and provide strong guarantees for the safe and stable operation of high-voltage transmission systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the process of the present invention.

[0013] Figure 2 The present invention Figure 1 Schematic diagram of the process of step S3 in FIG.

[0014] Figure 3 is the coordinate system converted in step S302 of the present invention Schematic diagram.

[0015] Figure 4 It is a schematic diagram of a fitting example based on the catenary model in step S302 of the present invention. DETAILED DESCRIPTION

[0016] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings.

[0017] like Figure 1 As shown, a method for positioning and anchoring spacers of high-voltage transmission lines using a drone includes the following steps: S1: Debug the RTK modules of the filming drone and the carrier drone to ensure the waypoint flight with centimeter-level error. In this step, since the accuracy of ordinary GPS modules is difficult to meet, it is necessary to use an RTK module with centimeter-level error for precise positioning. Both the filming drone and the carrier drone need to debug the RTK module. In this example, the filming drone uses DJI Phantom 4 and the carrier drone uses DJI FC30. S2: Using a 1080p high-definition camera mounted on a drone, the drone collects the height and longitude and latitude information of the sampling points on the transmission line; S3: The photos collected by the drone are transmitted to the PC via the base station, the images are pre-processed, and the catenary model is drawn; S4: The carrier drone starts the lifting mode, connects the lifting fixture of the carrier drone to the painting device, and the carrier drone flies to the designated waypoint according to the KML file of the latitude, longitude and altitude information calculated by the catenary model. The paint spraying device carried by the carrier drone performs touch-type painting with precise positioning to achieve accurate marking of the spacer rod hanging position, providing a clear reference point for the subsequent automatic hanging hook. The touch-type painting device has a relatively simple structure and is easy to operate, which also ensures the accuracy and durability of the marking; S5: After the painting is completed, the carrier drone starts the lifting mode, connects the drone's lifting fixture to the automatic hanging hook, and carries the automatic hanging hook, which carries the spacer. The drone flies to the designated waypoint according to the route based on the KML file, and refers to the painting mark made in step S4. After the automatic hanging hook contacts the transmission line, the drone is operated to open the lifting fixture to separate from the spacer, completing the precise hanging and unhooking return of the spacer. The hanging of the spacer is accurate and the operation is fast, which can effectively improve the stability and safety of the high-voltage transmission line.

[0018] In step S2, the shooting drone collects the height and longitude and latitude of the sampling points on the transmission line, which specifically includes the following steps: S201: Obtaining the three-dimensional coordinates of the end points of the transmission line: The drone takes horizontal photos from the sides of the two end points of the transmission line to obtain the height information; the drone takes vertical downward photos from directly above the two end points of the transmission line to obtain the longitude and latitude information; S202: Obtain the coordinates of several points in the middle of the transmission line: determine the drone route based on the two end points, take horizontal photos from the side while keeping a certain safe distance from the route, and record the shooting interval to obtain altitude information; rise to a certain height so that the drone is directly above the route, keep the same interval, take vertical downward photos, and obtain latitude and longitude information.

[0019] In step S3, Figure 2 As shown, the specific steps include: S301: The longitude and latitude information directly extracted from the drone is not conducive to the subsequent coordinate calculation. Converting the longitude and latitude coordinates to Mercator projection coordinates can improve the map's readability, calculation convenience, and compatibility with other geographic information systems. and latitude Φ (in radians), and then use the following formulas (1) and (2) to obtain the Mercator projection coordinates (x, y, z) that are easy to calculate, where z represents the height. is the radius of the Earth, using the WGS 84 standard, usually 6378137 meters. The calculation of the Mercator projection coordinate x is as follows: (1) The calculation of the Mercator projection coordinate 𝑦 is as follows: (2); S302: Fit the catenary equation through coordinate calculation: By coordinate translation, the origin of the coordinate system is moved to the power tower on either side, and a straight line is fitted using the projection coordinates of each point. ,by is the new horizontal axis ( Axis), calculate the distance between the translated coordinates and the origin, and use it as the plane coordinate system The horizontal coordinate of the selected point is obtained, and the schematic diagram after conversion is as follows: Figure 3 As shown; According to the two-dimensional coordinate data obtained by coordinate transformation, the least squares fitting is performed. The specific catenary expression formula is as follows. The general formula is selected as follows: (3); Where: is the ordinate of a point on the wire, is the horizontal coordinate of a point on the wire; is an unknown parameter that determines the shape of the catenary. Its exponential form is as follows: (4) Obtain the unknown parameters by converting the two-dimensional coordinates obtained by actual conversion , and then the catenary model is obtained. The following table is an example of the coordinate points obtained by conversion:

[0020] Based on the catenary model, the fitting results are as follows Figure 4 As shown; S303: Calculate the three-dimensional coordinates and convert them into longitude and latitude coordinates: After obtaining the catenary model, calculate the location where the spacer needs to be placed according to the actual construction requirements, and then convert the calculated coordinates into longitude and latitude and altitude according to formula (4) and formula (5). The latitude Φ is calculated as follows: (5) longitude The calculation is as follows: (6); S304: Convert and export to a KML file that can be used by drones: The drone cannot directly read the longitude and latitude information given in step S303. Currently, many popular map software support the import of KML files. The obtained longitude and latitude information is sorted and converted, and the standard KML is output and transmitted to the carrier drone.

[0021] This method covers the entire process from UAV debugging to precise mounting of spacer bars. Through intelligent UAV operation, the positioning accuracy of spacer bars is improved, and precise positioning and precise mounting of spacer bars are achieved, which can effectively reduce the difficulty and cost of manual operation, improve the stability and safety of high-voltage transmission lines, and provide strong guarantees for the safe and stable operation of high-voltage transmission systems.

[0022] The above-mentioned method of fixing and hanging spacers of high-voltage transmission lines using a drone is a specific embodiment of the present invention, which has embodied the outstanding substantial features and progress of the present invention. It can be modified equivalently according to actual use needs under the guidance of the present invention, and all of them are within the protection scope of this scheme.

Claims

1. A method for positioning and anchoring spacers of high-voltage transmission lines using an unmanned aerial vehicle, characterized in that The following steps are involved: 1) Debug the RTK modules of the shooting drone and the carrier drone to ensure waypoint flight with centimeter-level error; 2) Using a high-definition camera, the drone collects the height, longitude and latitude information of the sampling points on the transmission line; 3) The photos collected by the drone are transmitted to the PC through the base station for image preprocessing and the catenary model is drawn; 4) Based on the longitude, latitude and altitude information calculated by the catenary model, the carrier drone is equipped with a paint spraying device to accurately position and spray paint; 5) After the painting is completed, the carrier drone is equipped with an automatic hanging hook, which carries the spacer rod to complete the precise hanging of the spacer rod.

2. The method for positioning and anchoring spacers of high-voltage transmission lines using an unmanned aerial vehicle according to claim 1, characterized in that: The step 2) comprises the following steps: 201) Obtain the three-dimensional coordinates of the end points of the transmission line: the drone takes horizontal photos from the side of the two end points of the transmission line to obtain the height information; the drone takes vertical downward photos from directly above the two end points of the transmission line to obtain the longitude and latitude information; 202) Obtain the coordinates of several points in the middle of the transmission line: determine the drone route based on the two end points, keep a certain safe distance from the route, take horizontal photos from the side, and record the shooting interval to obtain altitude information; rise to a certain height so that the drone is directly above the route, maintain the same interval, take vertical downward photos to obtain latitude and longitude information.

3. The method for positioning and anchoring spacers of high-voltage transmission lines using an unmanned aerial vehicle according to claim 1, characterized in that: The step 3) comprises the following steps: 301) The longitude and latitude information directly extracted from the drone is not conducive to the subsequent coordinate calculation. Converting the longitude and latitude coordinates to Mercator projection coordinates can improve the map's readability, calculation convenience, and compatibility with other geographic information systems. and latitude Φ, and then use the following formulas (1) and (2) to obtain the Mercator projection coordinates (x, y, z) that are easy to calculate, where z represents the height; is the radius of the Earth, the Mercator projection coordinate x is calculated as follows: （1） Mercator projection coordinates The calculation of is as follows: （2）； 302) Through coordinate calculation, the catenary equation is fitted: By coordinate translation, the origin of the coordinate system is moved to the power tower on either side, and a straight line is fitted using the projection coordinates of each point. ,by is the new horizontal axis, Axis, calculate the distance between the translated coordinate and the origin, and use it as the plane coordinate system The horizontal coordinate of the selected point is obtained; Based on the two-dimensional coordinate data obtained by coordinate transformation, the least squares fitting is performed using the following formula (3): （3）； Where: is the ordinate of a point on the wire, is the horizontal coordinate of a point on the wire; is an unknown parameter that determines the shape of the catenary. Its exponential form is as follows: （4）； 303) After obtaining the catenary model, the location where the spacer needs to be placed is calculated according to the actual construction requirements, and then the calculated coordinates are converted into longitude, latitude and altitude according to formulas (4) and (5). The latitude Φ is calculated as follows: （5） longitude The calculation is as follows: （6）； 304) The obtained latitude and longitude information is sorted and converted, output as standard KML, and transmitted to the carrier drone.

4. The method for positioning and anchoring spacers of high-voltage transmission lines using an unmanned aerial vehicle according to claim 3 is characterized in that: In the step 4), the carrier drone starts the lifting mode, connects the lifting fixture of the carrier drone to the painting device, and the drone flies to the designated waypoint according to the route based on the KML file to perform touch-type painting.

5. The method for positioning and anchoring spacers of high-voltage transmission lines using an unmanned aerial vehicle according to claim 4, characterized in that: In the step 5), the carrier drone starts the lifting mode, connects the lifting fixture of the drone to the automatic docking hook, and the drone flies to the designated waypoint according to the route based on the KML file, and refers to the painted mark. After the automatic docking hook contacts the transmission line, the drone is operated to open the lifting fixture to separate from the spacer.

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