Power transmission line safety monitoring method and device based on Doppler radar technology

Abstract

The invention relates to the technical field of data processing, and provides a power transmission line safety monitoring method and device based on Doppler radar technology, and the method comprises the steps: obtaining a plurality of analysis frequency shift sequences; obtaining a plurality of stable frequency shift sequences according to the analysis frequency shift sequence; obtaining a deviator discrete index and a direction continuity index according to the stable frequency shift sequence; obtaining a frequency shift continuity degree according to the deviator discrete index and the direction continuity index; obtaining a plurality of vehicle frequency shift sequences according to the frequency shift continuity degree; obtaining a corrected frequency shift sequence according to the vehicle frequency shift sequence; obtaining a vehicle speed result sequence according to the corrected frequency shift sequence; and performing safety monitoring on the power transmission line according to the vehicle speed result sequence. The more accurate vehicle speed result sequence is obtained according to the corrected frequency shift sequence, then safety monitoring is carried out on the power transmission line, and the accuracy of safety monitoring of the power transmission line is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a method and a device for power transmission line safety monitoring based on Doppler radar technology. Background Art

[0002] In the process of transmission line safety monitoring, preventing transmission lines from being hit by external forces is a key link in ensuring the safe operation of the power system. Once a transmission line is hit by external forces, it may cause line breakage, equipment damage, or even large-scale power outages, seriously threatening the stability of power supply and the safety of people's lives and property. Therefore, by real-time monitoring of the operating status of transmission lines, identifying potential risks and issuing early warnings in a timely manner, the risk of safety accidents caused by external force impacts can be effectively reduced, the reliability and risk resistance of the transmission system can be improved, and at the same time, maintenance costs can be reduced to ensure the safe and stable operation of the power grid.

[0003] At present, the power transmission line anti-damage warning device is mainly based on visual warning or sound warning, but the reliability of this warning method is not high. In the intelligent system based on Doppler radar technology speed measurement, the electromagnetic waves emitted by the Doppler radar are used to judge the vehicle speed, and warnings are issued based on the vehicle speed to reduce the risk of power transmission line damage.

[0004] When using Doppler radar technology to measure vehicle speed, since the radar will detect multiple moving vehicles at the same time, the radar data between vehicles will affect each other, thereby reducing the accuracy of vehicle speed measurement and the accuracy of transmission line safety monitoring. Summary of the invention

[0005] The present invention provides a power transmission line safety monitoring method and device based on Doppler radar technology to solve the problem of low accuracy of existing power transmission line safety monitoring. The technical solution adopted is as follows:

[0006] The present invention proposes a transmission line safety monitoring method based on Doppler radar technology, which comprises the following steps:

[0007] Get several Doppler frequency shifts at each moment;

[0008] According to the close relationship between Doppler frequency shifts at different times, several analysis frequency shift sequences are obtained; according to the fluctuation of elements in the analysis frequency shift sequence, the analysis frequency shift sequence is screened to obtain several stable frequency shift sequences;

[0009] According to the overall change of elements in the stable frequency shift sequence, the bias discrete index of each stable frequency shift sequence is obtained; according to the time series change relationship of the elements in the stable frequency shift sequence, the directional continuity index of each stable frequency shift sequence is obtained; according to the bias discrete index and directional continuity index of the stable frequency shift sequence, the frequency shift continuity degree of each stable frequency shift sequence is obtained; according to the frequency shift continuity degree of the stable frequency shift sequence, the stable frequency shift sequence is screened to obtain several vehicle frequency shift sequences;

[0010] Correcting each element value according to the maximum value in the vehicle frequency shift sequence to obtain a corrected frequency shift sequence for each vehicle frequency shift sequence;

[0011] According to the corrected frequency shift sequence of each vehicle frequency shift sequence, a vehicle speed result sequence of each vehicle frequency shift sequence is obtained; according to the vehicle speed result sequence of all vehicle frequency shift sequences, the transmission line is safely monitored.

[0012] Furthermore, the method of obtaining several analysis frequency shift sequences according to the close relationship between Doppler frequency shifts at different times includes the following specific methods:

[0013] Step 1: record any Doppler frequency shift at the first moment as the target frequency shift;

[0014] Step 2: Among the Doppler frequency shifts at the next moment of the target frequency shift, the Doppler frequency shift with the smallest absolute difference with the target frequency shift is recorded as the associated frequency shift of the target frequency shift;

[0015] Step 3: Use the associated frequency shift as a new target frequency shift;

[0016] Step 4, repeating steps 2 and 3 until the moment of the new target frequency shift is the last moment;

[0017] Step 5: Record the time series consisting of the first target frequency shift and all Doppler frequency shifts that are over-correlated frequency shifts in the entire repetitive process as the analysis frequency shift sequence.

[0018] Furthermore, the specific method of screening the analysis frequency shift sequence to obtain several stable frequency shift sequences according to the fluctuation of the elements in the analysis frequency shift sequence includes:

[0019] For any analysis frequency shift sequence, the inverse proportional normalization result of the variance of all elements in the analysis frequency shift sequence is recorded as the frequency shift stability of the analysis frequency shift sequence;

[0020] If the frequency shift stability of the analyzed frequency shift sequence is greater than a preset possible threshold, the analyzed frequency shift sequence is recorded as a stable frequency shift sequence.

[0021] Furthermore, the method of obtaining the bias discrete index of each stable frequency shift sequence according to the overall change of the elements in the stable frequency shift sequence includes the following specific methods:

[0022] For any element in any stable frequency shift sequence, the difference between the element and the next element is recorded as the frequency shift deviation of the element;

[0023] The linear normalization result of the average of the absolute values ​​of the frequency shift biases of all elements in the stable frequency shift sequence is recorded as the bias dispersion index of the stable frequency shift sequence.

[0024] Furthermore, the directional continuity index of each stable frequency shift sequence is obtained according to the time sequence change relationship of the elements in the stable frequency shift sequence, including the specific method of:

[0025] For any element in any stable frequency shift sequence, if the frequency shift offset of this element and its next element has the same sign, the speed change contribution index of this element is recorded as 1; if the frequency shift offset of this element and its next element has different signs, the speed change contribution index of this element is recorded as 0; if the frequency shift offset of this element or its next element is 0, the speed change contribution index of this element is recorded as 1;

[0026] The average value of the speed change contribution index of all elements in the stable frequency shift sequence is recorded as the direction continuity index of the stable frequency shift sequence.

[0027] Furthermore, the frequency shift continuity degree of each stable frequency shift sequence is obtained according to the bias discrete index and the direction continuity index of the stable frequency shift sequence, including the specific method of:

[0028] For any stable frequency shift sequence, the linear normalization result of the ratio of the directional continuity index to the bias discrete index of the stable frequency shift sequence is recorded as the frequency shift continuity degree of the stable frequency shift sequence.

[0029] Furthermore, the method of correcting each element value according to the maximum value in the vehicle frequency shift sequence to obtain a corrected frequency shift sequence of each vehicle frequency shift sequence includes the following specific methods:

[0030] Any element in any vehicle frequency shift sequence is recorded as the target element, and the element in any vehicle frequency shift sequence other than the vehicle frequency shift sequence that is at the same time as the target element is recorded as the reference element of the target element; the absolute value of the difference between the target element and the reference element is recorded as the credible contribution of the reference element; the linear normalization result of the sum of the credible contributions of all reference elements of the target element is recorded as the credibility of the target element;

[0031] Obtain all the maximum values ​​in the vehicle frequency shift sequence, and record the maximum value closest to the target element in time sequence as the reference extreme value of the target element;

[0032] The calculation method of the corrected frequency shift value of the bth element in the ath vehicle frequency shift sequence is:

[0033] A a,b =B a,b +(B ′ a,b -B a,b )×(1-C a,b )

[0034] In the formula, A a,b B is the corrected frequency shift value of the bth element in the frequency shift sequence of the ath vehicle; a,b is the bth element value in the frequency shift sequence of the ath vehicle; B ′ a,b is the reference extreme value of the bth element in the frequency shift sequence of the ath vehicle; C a,b is the credibility of the bth element in the frequency shift sequence of the ath vehicle;

[0035] A sequence composed of the corrected frequency shift values ​​of all elements in any vehicle frequency shift sequence is recorded as the corrected frequency shift sequence of the vehicle frequency shift sequence.

[0036] Furthermore, the method of obtaining the vehicle speed result sequence of each vehicle frequency shift sequence according to the corrected frequency shift sequence of each vehicle frequency shift sequence includes the following specific methods:

[0037] For any corrected frequency shift value in the corrected frequency shift sequence of any vehicle frequency shift sequence, the vehicle speed corresponding to the corrected frequency shift value is obtained according to the corrected frequency shift value, and the sequence constituted by the vehicle speeds corresponding to all corrected frequency shift values ​​in the corrected frequency shift sequence of the vehicle frequency shift sequence is recorded as the vehicle speed result sequence of the vehicle frequency shift sequence.

[0038] Furthermore, the safety monitoring of the transmission line according to the vehicle speed result sequence of all vehicle frequency shift sequences includes the following specific methods:

[0039] The maximum value of all elements in the vehicle speed result sequence of all vehicle frequency shift sequences is obtained. If the maximum value is greater than the preset vehicle speed threshold, the loudspeaker on the road is used to remind the driver to slow down, and a speeding warning message is displayed on the electronic display screen.

[0040] The present invention also proposes a transmission line safety monitoring device based on Doppler radar technology, which includes: a data acquisition module, a data analysis module and a transmission line safety early warning module; wherein the data acquisition module is used to obtain Doppler frequency shift data; the data analysis module obtains a vehicle speed result sequence of a vehicle frequency shift sequence by calling a computer program to implement the steps of a transmission line safety monitoring method based on Doppler radar technology; and the transmission line safety early warning module issues an early warning to vehicles near the transmission line according to the vehicle speed result sequence of the vehicle frequency shift sequence.

[0041] The beneficial effects of the present invention are as follows: when using Doppler radar technology to perform safety monitoring and protection on power transmission lines, since there may be multiple vehicles within the monitoring range of the Doppler radar, when analyzing the Doppler frequency shift of each vehicle, it is first necessary to distinguish the Doppler frequency shifts of different vehicles. The present invention obtains several analysis frequency shift sequences through the proximity relationship between the Doppler frequency shifts at different times, and preliminarily distinguishes the Doppler frequency shifts of different vehicles; since the vehicle speed change is continuous, the present invention obtains the degree of frequency shift continuity by obtaining the bias discrete index and the direction continuity index, screens the stable frequency shift sequence to obtain several vehicle frequency shift sequences, and further screens the Doppler frequency shift data belonging to the vehicle; since there may be multiple vehicles within the monitoring range of the Doppler radar, when the Doppler frequency shifts of different vehicles at the same time are similar, some Doppler frequency shifts are unreliable. The present invention corrects each element value through the maximum value in the vehicle frequency shift sequence to obtain a corrected frequency shift sequence of each vehicle frequency shift sequence. Thus, the present invention obtains the vehicle speed result sequence by correcting the frequency shift sequence, and then performs safety monitoring on the power transmission line, thereby improving the accuracy of the safety monitoring of the power transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0043] Figure 1 A schematic flow chart of a method for power transmission line safety monitoring based on Doppler radar technology provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] See also Figure 1 , which shows a flow chart of a power transmission line safety monitoring method based on Doppler radar technology provided by an embodiment of the present invention, the method comprising the following steps:

[0046] Step S001: Obtain several Doppler frequency shifts at each moment.

[0047] It should be noted that this embodiment mainly analyzes Doppler radar data obtained by monitoring road traffic near the transmission line, measures and warns vehicle speeds, and then monitors the safety of the transmission line, so it is necessary to obtain Doppler radar data first.

[0048] It should be further explained that Doppler radar transmits electromagnetic waves of a fixed frequency and receives echoes reflected by the target. It analyzes the changes in echo frequency based on the Doppler effect and infers the relative speed of the target.

[0049] Specifically, a Doppler radar is installed at a power transmission line that needs to be monitored for safety. The Doppler radar is used to transmit electromagnetic waves of a preset frequency in the direction of the traffic road where the vehicle speed needs to be monitored, and a number of echo signals reflected by the vehicle are received. The frequencies of all echo signals received at each moment within nearly 1 second are obtained every 0.01 second. According to the frequencies of all echo signals at each moment and the preset frequency, a number of Doppler frequency shifts at each moment are obtained. The preset frequency is 35 GHz, and this embodiment is described by taking this as an example. The method for obtaining the Doppler frequency shift is a well-known technology, and the specific method is not introduced here.

[0050] Step S002: obtaining a number of analysis frequency shift sequences according to the close relationship between Doppler frequency shifts at different times; and screening the analysis frequency shift sequences to obtain a number of stable frequency shift sequences according to the fluctuation of elements in the analysis frequency shift sequences.

[0051] It should be noted that when multiple vehicles appear in the detection range of the Doppler radar at the same time, the moment will contain multiple Doppler frequency shifts, and each Doppler frequency shift may correspond to one vehicle. Since the speed of a vehicle will not change too much in a short period of time, the Doppler frequency shift of the vehicle will not change too much in a short period of time. However, since the speeds of different vehicles are different, the Doppler frequency shifts of different vehicles are different, so the Doppler frequency shifts of different vehicles are distinguished accordingly.

[0052] Specifically, step 1, recording any Doppler frequency shift at the first moment as the target frequency shift;

[0053] Step 2: Among the Doppler frequency shifts at the next moment of the target frequency shift, the Doppler frequency shift with the smallest absolute difference with the target frequency shift is recorded as the associated frequency shift of the target frequency shift;

[0054] Step 3: Use the associated frequency shift as a new target frequency shift;

[0055] Step 4, repeating steps 2 and 3 until the moment of the new target frequency shift is the last moment;

[0056] Step 5: Record the time series consisting of the first target frequency shift and all Doppler frequency shifts that are over-correlated frequency shifts in the entire repetitive process as the analysis frequency shift sequence.

[0057] According to the above method, several analysis frequency shift sequences are obtained.

[0058] It should be noted that each analyzed frequency shift sequence may belong to the frequency shift data of a vehicle during the monitoring period. Since the speed of each vehicle will not change too much in a short period of time, the possibility of each analyzed frequency shift sequence belonging to the frequency shift data of a vehicle during the monitoring period is judged according to the volatility of the elements in each analyzed frequency shift sequence. The smaller the volatility of the elements in the analyzed frequency shift sequence, the more likely it is that the analyzed frequency shift sequence belongs to the frequency shift data of the same vehicle during the monitoring period.

[0059] Specifically, for any analysis frequency shift sequence, the inverse proportional normalization result of the variance of all elements in the analysis frequency shift sequence is recorded as the frequency shift stability of the analysis frequency shift sequence;

[0060] If the frequency shift stability of the analyzed frequency shift sequence is greater than a preset possible threshold, the analyzed frequency shift sequence is recorded as a stable frequency shift sequence; wherein the preset possible threshold is 0.86, and this embodiment is described by taking this as an example.

[0061] It should be noted that the greater the frequency shift stability of the analysis frequency shift sequence, the more stable the changes of the elements in the analysis frequency shift sequence, and the more likely the analysis frequency shift sequence is to be the frequency shift data of a vehicle.

[0062] According to the above method, several stable frequency shift sequences are obtained.

[0063] Step S003, according to the overall change of elements in the stable frequency shift sequence, obtain the bias discrete index of each stable frequency shift sequence; according to the time series change relationship of the elements in the stable frequency shift sequence, obtain the directional continuity index of each stable frequency shift sequence; according to the bias discrete index and directional continuity index of the stable frequency shift sequence, obtain the frequency shift continuity degree of each stable frequency shift sequence; according to the frequency shift continuity degree of the stable frequency shift sequence, screen the stable frequency shift sequence to obtain several vehicle frequency shift sequences.

[0064] It should be noted that in the process of measuring the speed of a vehicle, since the vehicle may be in an accelerating or decelerating state, the vehicle speed will change slightly in a short period of time. Since the vehicle speed change is continuous, the element value of the stable frequency shift sequence will not change suddenly, so the frequency shift continuity of the stable frequency shift sequence is obtained based on this.

[0065] Specifically, for any element in any stable frequency shift sequence, the difference between the element and the next element is recorded as the frequency shift offset of the element; it should be noted that the frequency shift offset of the last element in the stable frequency shift sequence is 0;

[0066] The linear normalization result of the mean absolute value of the frequency shift bias of all elements in the stable frequency shift sequence is recorded as the bias dispersion index of the stable frequency shift sequence; wherein the object of linear normalization is the mean absolute value of the frequency shift bias of all elements in all stable frequency shift sequences.

[0067] It should be noted that the smaller the bias dispersion index of the stable frequency shift sequence is, the smaller the possibility of a sudden change in the timing of the stable frequency shift sequence is.

[0068] It should be further explained that since the vehicle will not change its acceleration multiple times in a short period of time, that is, the direction of the elements in the stable frequency shift sequence will not change multiple times as the time sequence changes, the direction continuity index of the stable frequency shift sequence is obtained accordingly.

[0069] Specifically, for any element in any stable frequency shift sequence, if the sign of the frequency shift offset of the element and the next element is the same, the speed change contribution index of the element is recorded as 1; if the sign of the frequency shift offset of the element and the next element is different, the speed change contribution index of the element is recorded as 0; if the frequency shift offset of the element or the next element is 0, the speed change contribution index of the element is recorded as 1;

[0070] The average value of the speed change contribution index of all elements in the stable frequency shift sequence is recorded as the direction continuity index of the stable frequency shift sequence.

[0071] It should be noted that the larger the directional continuity index of the stable frequency shift sequence is, the less likely the direction of the element change in the stable frequency shift sequence is to change, and the more consistent it is with the motion characteristics of the vehicle.

[0072] It should be noted that when the bias discrete index of the stable frequency shift sequence is smaller and the directional continuity index of the stable frequency shift sequence is larger, it means that the stable frequency shift sequence presents stronger frequency shift continuity in a short time.

[0073] Specifically, for any stable frequency shift sequence, the linear normalization result of the ratio of the directional continuity index to the bias discrete index of the stable frequency shift sequence is recorded as the frequency shift continuity degree of the stable frequency shift sequence; wherein the object of linear normalization is the ratio of the directional continuity index to the bias discrete index of all stable frequency shift sequences.

[0074] It should be noted that the more continuous the frequency shift is, the more likely it is that the stable frequency shift sequence belongs to the frequency shift data of a vehicle.

[0075] Furthermore, a stable frequency shift sequence whose frequency shift continuity is greater than a preset continuity threshold is recorded as a vehicle frequency shift sequence; wherein the preset continuity threshold is 0.8, and this embodiment is described by taking this as an example.

[0076] According to the above method, several vehicle frequency shift sequences are obtained.

[0077] Step S004: correct each element value according to the maximum value in the vehicle frequency shift sequence to obtain a corrected frequency shift sequence of each vehicle frequency shift sequence.

[0078] It should be noted that each vehicle frequency shift sequence represents the frequency shift data of a vehicle in a short period of time. When issuing an early warning to a vehicle, it is necessary to obtain the vehicle speed at each moment based on the vehicle frequency shift sequence of the vehicle during that period of time. However, if the Doppler frequency shifts of different vehicles are similar at the same moment, because the radar relies on frequency differences to separate the echoes of different targets, the echo signals received by the radar will be difficult to distinguish in frequency, which will cause the signals to interfere with each other, resulting in some Doppler frequency shifts being unreliable. Therefore, when the radar monitors a large number of vehicles at a certain moment, the Doppler frequency shift needs to be corrected.

[0079] It should be further explained that the peak value of the Doppler frequency shift usually corresponds to the main characteristic value of the vehicle speed, because the vehicle's motion state will show a certain stability over a period of time, and its main motion speed tends to be concentrated near the frequency shift corresponding to the peak value. Even if interfered, the peak frequency shift can usually more accurately reflect the real speed of the vehicle due to its higher signal energy and statistical proportion, so the unreliable Doppler frequency shift is corrected according to the peak value of the elements in the vehicle frequency shift sequence.

[0080] Specifically, any element in any vehicle frequency shift sequence is recorded as the target element, and the element in any vehicle frequency shift sequence other than the vehicle frequency shift sequence that is at the same time as the target element is recorded as the reference element of the target element; the absolute value of the difference between the target element and the reference element is recorded as the credible contribution of the reference element; the linear normalization result of the sum of the credible contributions of all reference elements of the target element is recorded as the credibility of the target element; wherein the normalization object is the sum of the credible contributions of all reference elements of each element;

[0081] Obtain all the maximum values ​​in the vehicle frequency shift sequence, and record the maximum value closest to the target element in time sequence as the reference extreme value of the target element;

[0082] The calculation method of the corrected frequency shift value of the bth element in the ath vehicle frequency shift sequence is:

[0083] A a,b =B a,b +(B ′ a,b -B a,b )×(1-C a,b )

[0084] In the formula, A a,b B is the corrected frequency shift value of the bth element in the frequency shift sequence of the ath vehicle; a,b is the bth element value in the frequency shift sequence of the ath vehicle; B ′ a,b is the reference extreme value of the bth element in the frequency shift sequence of the ath vehicle; C a,b is the credibility of the bth element in the frequency shift sequence of the ath vehicle;

[0085] A sequence composed of the corrected frequency shift values ​​of all elements in any vehicle frequency shift sequence is recorded as the corrected frequency shift sequence of the vehicle frequency shift sequence.

[0086] Step S005: obtaining a vehicle speed result sequence of each vehicle frequency shift sequence according to the corrected frequency shift sequence of each vehicle frequency shift sequence; and performing safety monitoring on the transmission line according to the vehicle speed result sequences of all vehicle frequency shift sequences.

[0087] It should be noted that each corrected frequency shift sequence of the vehicle frequency shift sequence represents the frequency shift data of a vehicle, and each element in the corrected frequency shift sequence of the vehicle frequency shift sequence represents the actual Doppler frequency shift at the corresponding moment, and then the speed of the corresponding vehicle can be obtained according to each actual Doppler frequency shift.

[0088] Specifically, for any corrected frequency shift value in the corrected frequency shift sequence of any vehicle frequency shift sequence, the vehicle speed corresponding to the corrected frequency shift value is obtained according to the corrected frequency shift value, and a sequence consisting of vehicle speeds corresponding to all corrected frequency shift values ​​in the corrected frequency shift sequence of the vehicle frequency shift sequence is recorded as a vehicle speed result sequence of the vehicle frequency shift sequence;

[0089] The specific method for obtaining the vehicle speed corresponding to the corrected frequency shift value according to the corrected frequency shift value is:

[0090] v a,c =A ′ a,c ×λ

[0091] In the formula, v a,c A is the vehicle speed corresponding to the cth corrected frequency shift value in the corrected frequency shift sequence of the ath vehicle frequency shift sequence; ′ a,c is the cth corrected frequency shift value in the corrected frequency shift sequence of the ath vehicle frequency shift sequence; λ is a hyperparameter, and this embodiment is described by taking λ=0.00429 as an example.

[0092] Furthermore, the maximum value of all elements in the vehicle speed result sequence of all vehicle frequency shift sequences is obtained. If the maximum value is greater than a preset vehicle speed threshold, a loudspeaker on the road is used to remind the driver to slow down, and an overspeed warning message is displayed on an electronic display screen, so as to protect the power transmission line and reduce the risk of external damage to the power transmission line. Among them, the preset vehicle speed threshold is 60, and this embodiment is described as an example.

[0093] This embodiment uses the exp(-Z) model to present the inverse proportional relationship and normalization processing, exp() is an exponential function with a natural constant as the base, and Z is the input of the model. The implementer can set the inverse proportional function and the normalization function according to the actual situation.

[0094] Another embodiment of the present invention provides a transmission line safety monitoring device based on Doppler radar technology, the device comprising: a data acquisition module, a data analysis module and a transmission line safety warning module; wherein the data acquisition module is used to obtain Doppler frequency shift data; the data analysis module obtains a vehicle speed result sequence of a vehicle frequency shift sequence by calling a computer program to implement the steps of a transmission line safety monitoring method based on Doppler radar technology; and the transmission line safety warning module warns vehicles near the transmission line according to the vehicle speed result sequence of the vehicle frequency shift sequence.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A power transmission line safety monitoring method based on Doppler radar technology, characterized in that: The method comprises the following steps: Get several Doppler frequency shifts at each moment; According to the close relationship between Doppler frequency shifts at different times, several analysis frequency shift sequences are obtained; according to the fluctuation of elements in the analysis frequency shift sequence, the analysis frequency shift sequence is screened to obtain several stable frequency shift sequences; According to the overall change of elements in the stable frequency shift sequence, the bias discrete index of each stable frequency shift sequence is obtained; according to the time series change relationship of the elements in the stable frequency shift sequence, the directional continuity index of each stable frequency shift sequence is obtained; according to the bias discrete index and directional continuity index of the stable frequency shift sequence, the frequency shift continuity degree of each stable frequency shift sequence is obtained; according to the frequency shift continuity degree of the stable frequency shift sequence, the stable frequency shift sequence is screened to obtain several vehicle frequency shift sequences; Correcting each element value according to the maximum value in the vehicle frequency shift sequence to obtain a corrected frequency shift sequence for each vehicle frequency shift sequence; According to the corrected frequency shift sequence of each vehicle frequency shift sequence, a vehicle speed result sequence of each vehicle frequency shift sequence is obtained; according to the vehicle speed result sequence of all vehicle frequency shift sequences, the transmission line is safely monitored.

2. The power transmission line safety monitoring method based on Doppler radar technology according to claim 1 is characterized in that: The method of obtaining several analysis frequency shift sequences according to the close relationship between Doppler frequency shifts at different times includes: Step 1: record any Doppler frequency shift at the first moment as the target frequency shift; Step 2: Among the Doppler frequency shifts at the next moment of the target frequency shift, the Doppler frequency shift with the smallest absolute difference with the target frequency shift is recorded as the associated frequency shift of the target frequency shift; Step 3: Use the associated frequency shift as a new target frequency shift; Step 4, repeating steps 2 and 3 until the moment of the new target frequency shift is the last moment; Step 5: Record the time series consisting of the first target frequency shift and all Doppler frequency shifts that are over-correlated frequency shifts in the entire repetitive process as the analysis frequency shift sequence.

3. The power transmission line safety monitoring method based on Doppler radar technology according to claim 1 is characterized in that: The specific method of screening the analysis frequency shift sequence to obtain several stable frequency shift sequences according to the fluctuation of the elements in the analysis frequency shift sequence is as follows: For any analysis frequency shift sequence, the inverse proportional normalization result of the variance of all elements in the analysis frequency shift sequence is recorded as the frequency shift stability of the analysis frequency shift sequence; If the frequency shift stability of the analyzed frequency shift sequence is greater than a preset possible threshold, the analyzed frequency shift sequence is recorded as a stable frequency shift sequence.

4. The power transmission line safety monitoring method based on Doppler radar technology according to claim 1 is characterized in that: The method of obtaining the bias discrete index of each stable frequency shift sequence according to the overall change of the elements in the stable frequency shift sequence includes: For any element in any stable frequency shift sequence, the difference between the element and the next element is recorded as the frequency shift deviation of the element; The linear normalization result of the average of the absolute values ​​of the frequency shift biases of all elements in the stable frequency shift sequence is recorded as the bias dispersion index of the stable frequency shift sequence.

5. The power transmission line safety monitoring method based on Doppler radar technology according to claim 4 is characterized in that: The specific method of obtaining the directional continuity index of each stable frequency shift sequence according to the time sequence change relationship of the elements in the stable frequency shift sequence is as follows: For any element in any stable frequency shift sequence, if the frequency shift offset of this element and its next element has the same sign, the speed change contribution index of this element is recorded as 1; if the frequency shift offset of this element and its next element has different signs, the speed change contribution index of this element is recorded as 0; if the frequency shift offset of this element or its next element is 0, the speed change contribution index of this element is recorded as 1; The average value of the speed change contribution index of all elements in the stable frequency shift sequence is recorded as the direction continuity index of the stable frequency shift sequence.

6. The power transmission line safety monitoring method based on Doppler radar technology according to claim 1 is characterized in that: The method of obtaining the frequency shift continuity degree of each stable frequency shift sequence according to the deviation discrete index and the direction continuity index of the stable frequency shift sequence includes the following specific methods: For any stable frequency shift sequence, the linear normalization result of the ratio of the directional continuity index to the bias discrete index of the stable frequency shift sequence is recorded as the frequency shift continuity degree of the stable frequency shift sequence.

7. The power transmission line safety monitoring method based on Doppler radar technology according to claim 1 is characterized in that: The method of correcting each element value according to the maximum value in the vehicle frequency shift sequence to obtain a corrected frequency shift sequence of each vehicle frequency shift sequence includes the following specific methods: Any element in any vehicle frequency shift sequence is recorded as a target element, and an element in any vehicle frequency shift sequence other than the vehicle frequency shift sequence that is at the same time as the target element is recorded as a reference element of the target element; The absolute value of the difference between the target element and the reference element is recorded as the credible contribution of the reference element; The linear normalization result of the sum of the credible contributions of all reference elements of the target element is recorded as the credibility of the target element; Obtain all the maximum values ​​in the vehicle frequency shift sequence, and record the maximum value closest to the target element in time sequence as the reference extreme value of the target element; The calculation method of the corrected frequency shift value of the bth element in the ath vehicle frequency shift sequence is: A a,b =B a,b +(B ′ a,b -B a,b )×(1-C a,b ) In the formula, A a,b B is the corrected frequency shift value of the bth element in the frequency shift sequence of the ath vehicle; a,b is the bth element value in the frequency shift sequence of the ath vehicle; B ′ a,b is the reference extreme value of the bth element in the frequency shift sequence of the ath vehicle; C a,b is the credibility of the bth element in the ath vehicle frequency shift sequence; A sequence composed of the corrected frequency shift values ​​of all elements in any vehicle frequency shift sequence is recorded as the corrected frequency shift sequence of the vehicle frequency shift sequence.

8. The power transmission line safety monitoring method based on Doppler radar technology according to claim 1 is characterized in that: The specific method of obtaining the vehicle speed result sequence of each vehicle frequency shift sequence according to the corrected frequency shift sequence of each vehicle frequency shift sequence includes: For any corrected frequency shift value in the corrected frequency shift sequence of any vehicle frequency shift sequence, the vehicle speed corresponding to the corrected frequency shift value is obtained according to the corrected frequency shift value, and the sequence constituted by the vehicle speeds corresponding to all corrected frequency shift values ​​in the corrected frequency shift sequence of the vehicle frequency shift sequence is recorded as the vehicle speed result sequence of the vehicle frequency shift sequence.

9. The power transmission line safety monitoring method based on Doppler radar technology according to claim 1, characterized in that: The specific method of performing safety monitoring on the transmission line according to the vehicle speed result sequence of all vehicle frequency shift sequences is as follows: The maximum value of all elements in the vehicle speed result sequence of all vehicle frequency shift sequences is obtained. If the maximum value is greater than the preset vehicle speed threshold, the loudspeaker on the road is used to remind the driver to slow down, and a speeding warning message is displayed on the electronic display screen.

10. A power transmission line safety monitoring device based on Doppler radar technology, characterized in that: The device includes: A data acquisition module, a data analysis module and a power transmission line safety warning module; wherein the data acquisition module is used to obtain Doppler frequency shift data; the data analysis module obtains a vehicle speed result sequence of a vehicle frequency shift sequence by calling a computer program to implement the steps of the power transmission line safety monitoring method based on Doppler radar technology according to any one of claims 1 to 8; and the power transmission line safety warning module warns vehicles near the transmission line according to the vehicle speed result sequence of the vehicle frequency shift sequence.

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