Method and Device for Safety Monitoring of Transmission Lines Based on Doppler Radar Technology

Abstract

This invention relates to the field of data processing technology and proposes a method and apparatus for safety monitoring of transmission lines based on Doppler radar technology. The method includes: acquiring several analytical frequency shift sequences; obtaining several stable frequency shift sequences based on the analytical frequency shift sequences; obtaining a bias dispersion index and a directional continuity index based on the stable frequency shift sequences; obtaining a frequency shift continuity degree based on the bias dispersion index and the directional continuity index; obtaining several vehicle frequency shift sequences based on the frequency shift continuity degree; obtaining a corrected frequency shift sequence based on the vehicle frequency shift sequences; obtaining a vehicle speed result sequence based on the corrected frequency shift sequence; and performing safety monitoring of the transmission line based on the vehicle speed result sequence. This invention obtains a more accurate vehicle speed result sequence based on the corrected frequency shift sequence, thereby improving the accuracy of transmission line safety monitoring.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, specifically to a method and apparatus for safety monitoring of power transmission lines based on Doppler radar technology. Background Technology

[0002] In the process of power transmission line safety monitoring, preventing transmission lines from being impacted by external forces is a crucial link in ensuring the safe operation of the power system. Once a transmission line is impacted, it may lead to 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 monitoring the operating status of transmission lines in real time, identifying potential risks, and issuing timely warnings, the risk of safety accidents caused by external impacts can be effectively reduced, the reliability and risk resistance of the power transmission system can be improved, maintenance costs can be reduced, and the safe and stable operation of the power grid can be guaranteed.

[0003] Currently, power transmission line damage prevention warning devices mainly rely on visual or audible warnings, but the reliability of these warning methods is not high. In intelligent systems based on Doppler radar speed measurement technology, the electromagnetic waves emitted by Doppler radar are used to determine vehicle speed, and warnings are issued based on the vehicle speed to reduce the risk of external damage to power transmission lines.

[0004] When using Doppler radar technology to measure vehicle speed, the radar can detect multiple moving vehicles simultaneously, and the radar data between the vehicles can interfere with each other, thereby reducing the accuracy of vehicle speed measurement and the accuracy of power transmission line safety monitoring. Summary of the Invention

[0005] This invention provides a method and apparatus for safety monitoring of power transmission lines based on Doppler radar technology, in order to solve the problem of low accuracy in existing power transmission line safety monitoring. The specific technical solution adopted is as follows:

[0006] This invention proposes a method for safety monitoring of power transmission lines based on Doppler radar technology, which includes the following steps:

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

[0008] Based on the proximity relationship between Doppler frequency shifts at different times, several analytical frequency shift sequences are obtained; based on the fluctuation of elements in the analytical frequency shift sequences, several stable frequency shift sequences are obtained by screening the analytical frequency shift sequences.

[0009] Based on the overall changes of elements in the stable frequency shift sequence, the bias dispersion index of each stable frequency shift sequence is obtained; based on the temporal change relationship of elements in the stable frequency shift sequence, the directional continuity index of each stable frequency shift sequence is obtained; based on the bias dispersion index and the directional continuity index of the stable frequency shift sequence, the frequency shift continuity of each stable frequency shift sequence is obtained; based on the frequency shift continuity of the stable frequency shift sequence, several vehicle frequency shift sequences are obtained by filtering the stable frequency shift sequences.

[0010] The corrected frequency shift sequence for each vehicle frequency shift sequence is obtained by correcting each element value based on the maximum value in the vehicle frequency shift sequence.

[0011] Based on the corrected frequency shift sequence of each vehicle frequency shift sequence, the vehicle speed result sequence of each vehicle frequency shift sequence is obtained; based on the vehicle speed result sequences of all vehicle frequency shift sequences, the transmission line is subjected to safety monitoring.

[0012] Furthermore, the specific method for obtaining several analytical frequency shift sequences based on the proximity relationship between Doppler frequency shifts at different times includes:

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

[0014] Step 2: Among the several Doppler frequency shifts at the next time step after the target frequency shift, the Doppler frequency shift with the smallest absolute value of the difference from the target frequency shift is denoted as the associated frequency shift of the target frequency shift;

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

[0016] Step 4: Repeat steps 2 and 3 until the new target frequency shift occurs at the last moment;

[0017] Step 5: The time sequence consisting of the first target frequency shift and all Doppler frequency shifts that are over-correlated frequency shifts during the entire repetition process is denoted as the analysis frequency shift sequence.

[0018] Furthermore, the specific method for selecting several stable frequency shift sequences based on the fluctuation of elements in the analyzed frequency shift sequence includes:

[0019] For any frequency shift analysis sequence, the inverse proportional normalization result of the variance of all elements in the frequency shift analysis sequence is denoted as the frequency shift stability of the frequency shift analysis 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 specific method for obtaining the bias dispersion index of each stable frequency shift sequence based on the overall change of elements in the stable frequency shift sequence includes:

[0022] For any element in any stable frequency shift sequence, the difference between that element and the next element is denoted as the frequency shift offset of that element.

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

[0024] Furthermore, the specific method for obtaining the directional continuity index of each stable frequency shift sequence based on the temporal variation relationship of elements in the stable frequency shift sequence includes:

[0025] For any element in any stable frequency shift sequence, if the sign of the frequency shift offset of the element is the same as that of the next element, the velocity change contribution index of the element is recorded as 1; if the sign of the frequency shift offset of the element is different from that of the next element, the velocity 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 velocity change contribution index of the element is recorded as 1.

[0026] The mean of the velocity change contribution indices of all elements in the stable frequency shift sequence is denoted as the directional continuity index of the stable frequency shift sequence.

[0027] Furthermore, the specific method for obtaining the frequency shift continuity of each stable frequency shift sequence based on the bias dispersion index and the direction continuity index of the stable frequency shift sequence includes:

[0028] For any stable frequency shift sequence, the linear normalization result of the ratio of the directional continuity index to the skewness dispersion index of the stable frequency shift sequence is denoted as the frequency shift continuity of the stable frequency shift sequence.

[0029] Furthermore, the specific method for obtaining the corrected frequency shift sequence for each vehicle frequency shift sequence by correcting each element value based on the maxima in the vehicle frequency shift sequence includes:

[0030] Let any element in any vehicle frequency shift sequence be the target element, and let any element in any other vehicle frequency shift sequence that is at the same time as the target element be the reference element. Let the absolute value of the difference between the target element and the reference element be the confidence contribution of the reference element. Let the linear normalized result of the sum of the confidence contributions of all reference elements of the target element be the confidence level of the target element.

[0031] Obtain all maxima in the frequency shift sequence of the vehicle, and denote the maxima that is closest to the target element in time as the reference extreme value of the target element;

[0032] The corrected frequency shift value of the b-th element in the a-th vehicle frequency shift sequence is calculated as follows:

[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 b-th element in the frequency shift sequence of the a-th vehicle; a,b B is the value of the b-th element in the frequency shift sequence of the a-th vehicle; ′ a,b C is the reference extreme value of the b-th element in the frequency shift sequence of the a-th vehicle; a,b The credibility of the b-th element in the frequency shift sequence of the a-th vehicle;

[0035] The sequence formed by the corrected frequency shift values ​​of all elements in any vehicle frequency shift sequence is denoted as the corrected frequency shift sequence of that vehicle frequency shift sequence.

[0036] Furthermore, the specific method for obtaining the vehicle speed result sequence for each vehicle frequency shift sequence based on the corrected frequency shift sequence of each vehicle frequency shift sequence includes:

[0037] For any corrected frequency shift value in the corrected frequency shift sequence of any vehicle frequency shift sequence, obtain the vehicle speed corresponding to the corrected frequency shift value. The sequence formed by the vehicle speeds corresponding to all corrected frequency shift values ​​in the corrected frequency shift sequence of the vehicle frequency shift sequence is denoted as the vehicle speed result sequence of the vehicle frequency shift sequence.

[0038] Furthermore, the specific method for conducting safety monitoring of transmission lines based on the vehicle speed result sequence of all vehicle frequency shift sequences includes:

[0039] Obtain the maximum value of all elements in the vehicle speed result sequence of all vehicle frequency shift sequences. If the maximum value is greater than the preset vehicle speed threshold, use the loudspeakers on the road to remind the driver to slow down and display the speeding warning information on the electronic display screen.

[0040] This invention also proposes a power transmission line safety monitoring device based on Doppler radar technology. The device includes a data acquisition module, a data analysis module, and a power transmission line safety early warning module. The data acquisition module acquires Doppler frequency shift data. The data analysis module obtains a vehicle speed result sequence from the vehicle frequency shift sequence by calling a computer program to implement the steps of a power transmission line safety monitoring method based on Doppler radar technology. The power transmission line safety early warning module provides early warnings to vehicles near the power transmission line based on the vehicle speed result sequence from the vehicle frequency shift sequence.

[0041] The beneficial effects of this invention are as follows: When using Doppler radar technology for safety monitoring and protection of power transmission lines, since there may be multiple vehicles within the monitoring range of the Doppler radar, it is necessary to distinguish the Doppler frequency shifts of different vehicles when analyzing the Doppler frequency shift of each vehicle. This invention obtains several analytical frequency shift sequences by analyzing the proximity relationship between the Doppler frequency shifts at different times, and makes a preliminary distinction between the Doppler frequency shifts of different vehicles. Since the vehicle speed change is continuous, this invention obtains the degree of frequency shift continuity by acquiring the bias dispersion index and the direction continuity index, and filters the stable frequency shift sequences to obtain several vehicle frequency shift sequences, and further filters the Doppler frequency shift data belonging to vehicles. Since there may be multiple vehicles within the monitoring range of the Doppler radar, when the Doppler frequency shifts of different vehicles are similar at the same time, some Doppler frequency shifts are unreliable. This invention corrects the value of each element in the vehicle frequency shift sequence by correcting the maximum value in the vehicle frequency shift sequence to obtain a corrected frequency shift sequence for each vehicle frequency shift sequence. Thus, this invention obtains the vehicle speed result sequence by correcting the frequency shift sequence, and then performs safety monitoring on the transmission line, thereby improving the accuracy of transmission line safety monitoring. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of a power transmission line safety monitoring method based on Doppler radar technology provided in an embodiment of the present invention. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Please see Figure 1 The diagram illustrates a flowchart of a power transmission line safety monitoring method based on Doppler radar technology according to an embodiment of the present invention. The method includes 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 from road traffic monitoring near power transmission lines to measure and warn of vehicle speeds, thereby monitoring the safety of power transmission lines. Therefore, it is necessary to acquire Doppler radar data first.

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

[0049] Specifically, a Doppler radar is installed at the power transmission line where safety monitoring is required. The Doppler radar emits electromagnetic waves of a preset frequency towards the traffic road where vehicle speed needs to be monitored, and receives several echo signals reflected back from the vehicles. Every 0.01 seconds is considered a time interval, and the frequencies of all echo signals received at each time interval within the last second are obtained. Based on the frequencies of all echo signals at each time interval and the preset frequency, several Doppler frequency shifts at each time interval are obtained. The preset frequency is 35 GHz, and this embodiment uses it as an example for description. The method for obtaining the Doppler frequency shift is a well-known technology, and the specific method will not be described here.

[0050] Step S002: Based on the proximity relationship between Doppler frequency shifts at different times, several analytical frequency shift sequences are obtained; based on the fluctuation of elements in the analytical frequency shift sequences, several stable frequency shift sequences are obtained by screening the analytical frequency shift sequences.

[0051] It should be noted that when multiple vehicles appear within the detection range of a Doppler radar at the same time, that moment will contain multiple Doppler frequency shifts, each potentially corresponding to one vehicle. Since vehicle speed changes are not significant over a short period, the Doppler frequency shifts of different vehicles will also not change drastically. However, due to differences in speed among different vehicles, their Doppler frequency shifts will differ, thus requiring differentiation between the Doppler frequency shifts of different vehicles.

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

[0053] Step 2: Among the several Doppler frequency shifts at the next time step after the target frequency shift, the Doppler frequency shift with the smallest absolute value of the difference from the target frequency shift is denoted as the associated frequency shift of the target frequency shift;

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

[0055] Step 4: Repeat steps 2 and 3 until the new target frequency shift occurs at the last moment;

[0056] Step 5: The time sequence consisting of the first target frequency shift and all Doppler frequency shifts that are over-correlated frequency shifts during the entire repetition process is denoted as the analysis frequency shift sequence.

[0057] Several frequency shift sequences for analysis were obtained using the method described above.

[0058] It should be noted that each analyzed frequency shift sequence may belong to the frequency shift data of a single vehicle during the monitoring period. Since the speed of each vehicle does not change much in a short period of time, the probability that each analyzed frequency shift sequence belongs to the frequency shift data of a single vehicle during the monitoring period is determined by 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 that the analyzed frequency shift sequence belongs to the frequency shift data of the same vehicle during the monitoring period.

[0059] Specifically, for any frequency shift analysis sequence, the inverse proportional normalization result of the variance of all elements in the frequency shift analysis sequence is denoted as the frequency shift stability of the frequency shift analysis 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 using this as an example.

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

[0062] Several stable frequency shift sequences were obtained using the method described above.

[0063] Step S003: Based on the overall changes of elements in the stable frequency shift sequence, obtain the bias dispersion index of each stable frequency shift sequence; based on the temporal change relationship of elements in the stable frequency shift sequence, obtain the directional continuity index of each stable frequency shift sequence; based on the bias dispersion index and directional continuity index of the stable frequency shift sequence, obtain the frequency shift continuity of each stable frequency shift sequence; based on the frequency shift continuity of the stable frequency shift sequence, filter the stable frequency shift sequences to obtain several vehicle frequency shift sequences.

[0064] It should be noted that during the speed measurement of a vehicle, the vehicle may be accelerating or decelerating, and the vehicle speed may change slightly in a short period of time. Since the change in vehicle speed is continuous, the element values ​​of the stable frequency shift sequence will not change abruptly. Therefore, the continuity of the frequency shift of the stable frequency shift sequence is obtained accordingly.

[0065] Specifically, for any element in any stable frequency shift sequence, the difference between that element and the next element is denoted as the frequency shift offset of that 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 of the absolute values ​​of the frequency shift biases of all elements in the stable frequency shift sequence is denoted as the bias dispersion index of the stable frequency shift sequence; where the object of linear normalization is the mean of the absolute values ​​of the frequency shift biases of all elements in all stable frequency shift sequences.

[0067] It should be noted that the smaller the skewness dispersion index of a stable frequency shift sequence, the less likely the stable frequency shift sequence is to undergo abrupt changes in time.

[0068] It should be further explained that since the vehicle will not undergo multiple acceleration changes in a short period of time, that is, the direction of the elements in the stable frequency shift sequence will not change multiple times with the temporal sequence, 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 is the same as that of the next element, the velocity change contribution index of the element is recorded as 1; if the sign of the frequency shift offset of the element is different from that of the next element, the velocity 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 velocity change contribution index of the element is recorded as 1.

[0070] The mean of the velocity change contribution indices of all elements in the stable frequency shift sequence is denoted as the directional 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, the less the direction of the element changes in the stable frequency shift sequence has changed, and the more it matches the motion characteristics of the vehicle.

[0072] It should be noted that when the bias dispersion index of the stable frequency shift sequence is smaller and the directional continuity index of the stable frequency shift sequence is larger, it indicates that the stable frequency shift sequence exhibits strong frequency shift continuity in a short period of time.

[0073] Specifically, for any stable frequency shift sequence, the linear normalization result of the ratio of the directional continuity index to the skewness dispersion index of the stable frequency shift sequence is denoted as the frequency shift continuity of the stable frequency shift sequence; where the object of linear normalization is the ratio of the directional continuity index to the skewness dispersion index of all stable frequency shift sequences.

[0074] It should be noted that the greater the continuity of the frequency shift, the more likely a stable frequency shift sequence belongs to the frequency shift data of a single vehicle.

[0075] Furthermore, a stable frequency shift sequence with a frequency shift continuity greater than a preset continuity threshold is denoted as a vehicle frequency shift sequence; wherein the preset continuity threshold is 0.8, and this embodiment will be described using this as an example.

[0076] Based on 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 the 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 within a short period of time. When issuing a warning for a vehicle, it is necessary to obtain the vehicle speed at each moment based on the vehicle frequency shift sequence during that period. However, if the Doppler frequency shifts of different vehicles are similar at the same moment, the radar will rely on frequency differences to separate the echoes of different targets, which will make it difficult to distinguish the echo signals received by the radar in terms of frequency. This will cause mutual interference of signals, making some Doppler frequency shifts unreliable. Therefore, when the radar detects a large number of vehicles at a certain moment, it is necessary to correct the Doppler frequency shift.

[0079] It should be further noted that the Doppler frequency shift peak usually corresponds to the main characteristic value of vehicle speed. This is because, over a period of time, the vehicle's motion exhibits a certain degree of stability, and its main speed tends to concentrate near the frequency shift corresponding to the peak. Even under interference, the peak frequency shift, due to its higher signal energy and statistical proportion, can usually more accurately reflect the vehicle's true speed. Therefore, the peak values ​​of elements in the vehicle frequency shift sequence are used to correct for unreliable Doppler frequency shifts.

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

[0081] Obtain all maxima in the frequency shift sequence of the vehicle, and denote the maxima that is closest to the target element in time as the reference extreme value of the target element;

[0082] The corrected frequency shift value of the b-th element in the a-th vehicle frequency shift sequence is calculated as follows:

[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 b-th element in the frequency shift sequence of the a-th vehicle; a,b B is the value of the b-th element in the frequency shift sequence of the a-th vehicle; ′ a,b C is the reference extreme value of the b-th element in the frequency shift sequence of the a-th vehicle; a,b The credibility of the b-th element in the frequency shift sequence of the a-th vehicle;

[0085] The sequence formed by the corrected frequency shift values ​​of all elements in any vehicle frequency shift sequence is denoted as the corrected frequency shift sequence of that vehicle frequency shift sequence.

[0086] Step S005: Obtain the vehicle speed result sequence for each vehicle frequency shift sequence based on the corrected frequency shift sequence for each vehicle frequency shift sequence; perform safety monitoring on the transmission line based on the vehicle speed result sequences of all vehicle frequency shift sequences.

[0087] It should be noted that the corrected frequency shift sequence of each vehicle frequency shift sequence represents the frequency shift data of a vehicle, while each element in the corrected frequency shift sequence of the vehicle frequency shift sequence represents the actual Doppler frequency shift at the corresponding time. Thus, the vehicle speed can be obtained based on 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 based on the corrected frequency shift value, and the sequence formed by the vehicle speeds corresponding to all corrected frequency shift values ​​in the corrected frequency shift sequence of the vehicle frequency shift sequence is denoted as the 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 is as follows:

[0090] v a,c =A ′ a,c ×λ

[0091] In the formula, v a,c A represents the vehicle speed corresponding to the c-th corrected frequency shift value in the corrected frequency shift sequence of the a-th vehicle frequency shift sequence; ′ a,c λ is the c-th corrected frequency shift value in the corrected frequency shift sequence of the a-th vehicle frequency shift sequence; λ is a hyperparameter, and this embodiment uses λ = 0.00429 as an example for description.

[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 the preset vehicle speed threshold, the driver is reminded to slow down by the loudspeaker on the road, and an overspeed warning message is displayed on the electronic display screen. This is to protect the power transmission line and reduce the risk of external damage to the power transmission line. The preset vehicle speed threshold is 60, and this embodiment is described using this as an example.

[0093] This embodiment uses the exp(-Z) model to represent the inverse proportional relationship and normalization processing. exp() is an exponential function with the 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 power transmission line safety monitoring device based on Doppler radar technology. The device includes: a data acquisition module, a data analysis module, and a power transmission line safety early warning module. The data acquisition module acquires Doppler frequency shift data. The data analysis module obtains a vehicle speed result sequence of the vehicle frequency shift sequence by calling a computer program to implement the steps of a power transmission line safety monitoring method based on Doppler radar technology. The power transmission line safety early warning module issues early warnings to vehicles near the power transmission line based on 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 within the protection scope of the present invention.

Claims

1. A method for safety monitoring of power transmission lines based on Doppler radar technology, characterized in that, The method includes the following steps: Obtain several Doppler frequency shifts at each moment; Based on the proximity relationship between Doppler frequency shifts at different times, several analytical frequency shift sequences are obtained; based on the fluctuation of elements in the analytical frequency shift sequences, several stable frequency shift sequences are obtained by screening the analytical frequency shift sequences. Based on the overall changes of elements in the stable frequency shift sequence, the bias dispersion index of each stable frequency shift sequence is obtained; based on the temporal change relationship of elements in the stable frequency shift sequence, the directional continuity index of each stable frequency shift sequence is obtained; based on the bias dispersion index and the directional continuity index of the stable frequency shift sequence, the frequency shift continuity of each stable frequency shift sequence is obtained; based on the frequency shift continuity of the stable frequency shift sequence, several vehicle frequency shift sequences are obtained by filtering the stable frequency shift sequences. The corrected frequency shift sequence for each vehicle frequency shift sequence is obtained by correcting each element value based on the maximum value in the vehicle frequency shift sequence. Based on the corrected frequency shift sequence of each vehicle frequency shift sequence, the vehicle speed result sequence of each vehicle frequency shift sequence is obtained; based on the vehicle speed result sequences of all vehicle frequency shift sequences, the transmission line is subjected to safety monitoring.

2. The transmission line safety monitoring method based on Doppler radar technology according to claim 1, characterized in that, The method for obtaining several analytical frequency shift sequences based on the proximity 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 several Doppler frequency shifts at the next time step after the target frequency shift, the Doppler frequency shift with the smallest absolute value of the difference from the target frequency shift is denoted as the associated frequency shift of the target frequency shift; Step 3: Use this associated frequency shift as the new target frequency shift; Step 4: Repeat steps 2 and 3 until the new target frequency shift occurs at the last moment; Step 5: The time sequence consisting of the first target frequency shift and all Doppler frequency shifts that are over-correlated frequency shifts during the entire repetition process is denoted as the analysis frequency shift sequence.

3. The transmission line safety monitoring method based on Doppler radar technology according to claim 1, characterized in that, The method for selecting several stable frequency shift sequences based on the fluctuation of elements in the analyzed frequency shift sequence includes: For any frequency shift analysis sequence, the inverse proportional normalization result of the variance of all elements in the frequency shift analysis sequence is denoted as the frequency shift stability of the frequency shift analysis 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 method for safety monitoring of transmission lines based on Doppler radar technology according to claim 1, characterized in that, The method for obtaining the bias dispersion index of each stable frequency shift sequence based on the overall change of elements in the stable frequency shift sequence includes: For any element in any stable frequency shift sequence, the difference between that element and the next element is denoted as the frequency shift offset of that element. The linear normalization result of the mean of the absolute values ​​of the frequency shift biases of all elements in the stable frequency shift sequence is denoted as the bias dispersion index of the stable frequency shift sequence.

5. The transmission line safety monitoring method based on Doppler radar technology according to claim 4, characterized in that, The specific method for obtaining the directional continuity index of each stable frequency shift sequence based on the temporal variation relationship of elements in the stable frequency shift sequence includes: For any element in any stable frequency shift sequence, if the sign of the frequency shift offset of the element is the same as that of the next element, the velocity change contribution index of the element is recorded as 1; if the sign of the frequency shift offset of the element is different from that of the next element, the velocity 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 velocity change contribution index of the element is recorded as 1. The mean of the velocity change contribution indices of all elements in the stable frequency shift sequence is denoted as the directional continuity index of the stable frequency shift sequence.

6. The method for safety monitoring of transmission lines based on Doppler radar technology according to claim 1, characterized in that, The method for obtaining the frequency shift continuity of each stable frequency shift sequence based on the skewness dispersion 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 skewness dispersion index of the stable frequency shift sequence is denoted as the frequency shift continuity of the stable frequency shift sequence.

7. The method for safety monitoring of transmission lines based on Doppler radar technology according to claim 1, characterized in that, The specific method for obtaining the corrected frequency shift sequence of each vehicle frequency shift sequence by correcting each element value based on the maximum value in the vehicle frequency shift sequence includes: Let any element in any vehicle frequency shift sequence be the target element, and let any element in any other vehicle frequency shift sequence that is at the same time as the target element be 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 of the sum of the credible contributions of all reference elements of the target element is denoted as the credibility of the target element. Obtain all maxima in the frequency shift sequence of the vehicle, and denote the maxima that is closest to the target element in time as the reference extreme value of the target element; The corrected frequency shift value of the b-th element in the a-th vehicle frequency shift sequence is calculated as follows: 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 b-th element in the frequency shift sequence of the a-th vehicle; a,b B is the value of the b-th element in the frequency shift sequence of the a-th vehicle; ′ a,b C is the reference extreme value of the b-th element in the a-th vehicle frequency shift sequence; a,b The credibility of the b-th element in the frequency shift sequence of the a-th vehicle; The sequence formed by the corrected frequency shift values ​​of all elements in any vehicle frequency shift sequence is denoted as the corrected frequency shift sequence of that vehicle frequency shift sequence.

8. The method for safety monitoring of transmission lines based on Doppler radar technology according to claim 1, characterized in that, The specific method for obtaining the vehicle speed result sequence for each vehicle frequency shift sequence based on 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, obtain the vehicle speed corresponding to the corrected frequency shift value. The sequence formed by the vehicle speeds corresponding to all corrected frequency shift values ​​in the corrected frequency shift sequence of the vehicle frequency shift sequence is denoted as the vehicle speed result sequence of the vehicle frequency shift sequence.

9. The method for safety monitoring of transmission lines based on Doppler radar technology according to claim 1, characterized in that, The specific method for safety monitoring of transmission lines based on the vehicle speed result sequence of all vehicle frequency shift sequences includes: Obtain the maximum value of all elements in the vehicle speed result sequence of all vehicle frequency shift sequences. If the maximum value is greater than the preset vehicle speed threshold, use the loudspeakers on the road to remind the driver to slow down and display the speeding warning information on the electronic display screen.

10. A power transmission line safety monitoring device based on Doppler radar technology, characterized in that, The device includes: The system comprises a data acquisition module, a data analysis module, and a power transmission line safety early warning module; wherein the data acquisition module is used to acquire Doppler frequency shift data; the data analysis module obtains a vehicle speed result sequence of the 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 1-8; and the power transmission line safety early warning module provides early warnings to vehicles near the power transmission line based on the vehicle speed result sequence of the vehicle frequency shift sequence.

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