Two-bundle conductor synchronous optimization automatic identification method and system, and storage medium

Abstract

The embodiment of the invention provides a two-bundle conductor synchronous optimization automatic identification method and system and a storage medium, and belongs to the field of power systems. The identification method comprises the following steps: driving a range radar to carry out ring measurement on a standard two-split conductor according to a preset radius; obtaining an optimal difference value between the range radar and two conductors in the standard two-split conductor during ring measurement; according to an optimal difference value between the range radar and two conductors in the standard two-bundle conductor during ring measurement, obtaining a range interval of the standard two-bundle conductor; according to the distance value between the distance measuring radar and each conductor in the two-split conductor in the distance measuring interval, the conductor number and the distribution mode of the two-split conductor can be determined; the distance value obtained in the distance measurement interval can reflect the large difference of the two conductors in the two-split conductors, so that synchronous and efficient identification of the conductor numbers of the two-split conductors is realized, the distribution mode of the two-split conductors is determined, and the identification efficiency and precision are high.

Description

Technical Field

[0001] The invention relates to the field of electric power systems, and in particular to a method, system and storage medium for automatically identifying synchronous optimization of two-split conductors. Background Art

[0002] With the rapid development of the power industry, transmission lines are an important part of the power system, and their stability and safety are crucial to the operation of the entire power grid. In high-voltage / ultra-high-voltage transmission lines, two-split conductors are widely used due to their excellent electrical performance and mechanical strength. Each conductor in the two-split conductor corresponds to a different line and has a different number. Therefore, during the inspection process, it is necessary to identify the two-split conductor numbers to ensure the accuracy and reliability of the inspection.

[0003] However, due to its complex structure and changing environmental factors, the traditional manual inspection method is not only inefficient, but also difficult to ensure the accuracy and reliability of measurement. In addition, interference under high noise background also puts higher requirements on the accurate identification of wires. Therefore, the existing technology has the problem of low recognition accuracy and poor effect for binary split wires. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a method, system and storage medium for automatically identifying a two-split conductor synchronously optimized, which has the function of high accuracy and good effect in identifying a two-split conductor synchronously optimized.

[0005] In order to achieve the above object, an embodiment of the present invention provides a method for automatically identifying a two-split conductor synchronous optimization, the method comprising:

[0006] Drive the ranging radar to perform a loop measurement on the standard binary split conductor according to a preset radius;

[0007] Obtaining the optimal difference between the ranging radar and two conductors in the standard two-split conductor during loop measurement;

[0008] Obtaining the ranging interval of the standard two-split conductor according to the optimal difference between the ranging radar and two conductors in the standard two-split conductor during the loop measurement;

[0009] Driving the ranging radar to move to the ranging interval of the current two-split conductor, and obtaining the distance value between the ranging radar and each conductor in the current two-split conductor;

[0010] The wire number and distribution mode of the binary split wire are identified according to the distance value between the ranging radar and each wire in the binary split wire.

[0011] Optionally, obtaining the optimal difference between the ranging radar and two conductors in the standard two-split conductor during the loop measurement includes:

[0012] Obtaining the total time difference of synchronous measurement between the measuring point of the ranging radar and the standard two-split conductor;

[0013] Acquire the coincidence measurement point of the standard two-split conductor according to the synchronous measurement total time difference;

[0014] Obtaining the measuring points of each conductor in the standard two-split conductor except the coincident measuring points;

[0015] The optimal difference between each conductor in the standard two-split conductor and the ranging radar is obtained according to the measurement points of each conductor in the standard two-split conductor except the coincident measurement points.

[0016] Optionally, obtaining the total time difference of synchronous measurement between the ranging radar and the standard binary split conductor includes:

[0017] According to formula (1), the total time difference of synchronous measurement between the ranging radar and the standard two-split conductor is obtained:

[0018] Δt=|t e -t s |<ε, (1)

[0019] Among them, Δt is the time difference to complete a measurement cycle, t e is the time to complete the scan of the starting point, t s is the time to complete the scan of the last measuring point, and ε is the synchronous measurement accuracy.

[0020] Optionally, obtaining the coincidence measurement point of the standard two-split conductor according to the synchronous measurement total time difference includes:

[0021] Determine whether the total time difference of synchronous measurement between the measuring point of the ranging radar and the standard two-split conductor is less than the synchronous measurement accuracy;

[0022] When it is determined that the total time difference between the synchronous measurement of the measuring point of the ranging radar and the standard two-split conductor is greater than or equal to the synchronous measurement accuracy, the measuring point is determined to be a coincident measuring point.

[0023] Optionally, obtaining the optimal difference between each conductor in the standard two-split conductor and the ranging radar according to the measurement points of each conductor in the standard two-split conductor except the coincident measurement points includes:

[0024] Obtaining the tangent distance between the ranging radar and the surface of the conductor;

[0025] According to formula (2), the calibration distance between the ranging radar and the conductor is obtained.

[0026]

[0027] Among them, d j is the calibration distance between the ranging radar and the conductor, d * is the tangent distance, r D is the radius of the wire.

[0028] Optionally, obtaining the optimal difference between each conductor in the standard two-split conductor and the ranging radar according to the measurement points of each conductor in the standard two-split conductor except the coincident measurement points includes:

[0029] According to formula (3), the distance difference between the ranging radar and the two conductors in the standard two-split conductor at each measuring point is obtained.

[0030] Δd=|d2-d1|, (3)

[0031] Wherein, d2 represents the distance from the ranging radar to A2 in the profile, d1 represents the distance from the ranging radar to A1 in the profile, and Δd is the distance difference;

[0032] The optimal difference is obtained according to the distance difference between the ranging radar and the two conductors in the standard binary split conductor at each measuring point.

[0033] Optionally, obtaining the ranging interval of the standard two-split conductor according to the optimal difference between the ranging radar and two conductors in the standard two-split conductor during the loop measurement includes:

[0034] Obtaining the ranging optimal point corresponding to the optimal difference;

[0035] The ranging interval of the standard binary split conductor is obtained according to the ranging optimal point.

[0036] Optionally, obtaining the ranging interval of the standard binary split conductor according to the ranging optimal point includes:

[0037] According to formula (4), the coverage angle of the optimal measurement interval is obtained:

[0038]

[0039] in, is the angle between the first measuring point and the line connecting the midpoints of the two conductors in the standard two-split conductor and the horizontal axis, is the angle between the second measuring point and the line connecting the midpoints of the two conductors in the standard two-split conductor and the horizontal axis, Adjust the arc difference for the measuring instrument, k is the interval coefficient.

[0040] Optionally, identifying the wire number and distribution mode in the binary split wire according to the distance value between the ranging radar and each wire in the binary split wire currently includes:

[0041] Obtaining the ranging interval in which the ranging radar is currently located and the first distance value and the second distance value;

[0042] Determine whether the ranging interval currently located by the ranging radar is the upper half;

[0043] In the case where it is determined that the current ranging interval of the ranging radar is the upper half, determining whether the ranging interval of the ranging radar is the first interval;

[0044] In the case where it is determined that the ranging interval in which the ranging radar is located is the first interval, determining whether the first distance value is less than the second distance value;

[0045] When it is determined that the first distance value is less than the second distance value, it is determined that the two wires in the current two split wires are distributed up and down, and the first distance value corresponds to the A1 wire, and the second distance value corresponds to the A2 wire;

[0046] In the case where it is determined that the first distance value is not less than the second distance value, the two wires in the two split wires are distributed left and right before determination, and the first distance value corresponds to the A1 wire, and the second distance value corresponds to the A2 wire;

[0047] When it is determined that the ranging interval in which the ranging radar is located is not the first interval, sorting the first distance value and the second distance value from small to large;

[0048] The wires corresponding to the sorted distance values ​​are mapped to the first distance value and the second distance value.

[0049] Optionally, identifying the wire number and distribution mode in the binary split wire according to the distance value between the ranging radar and each wire in the binary split wire currently includes: acquiring the ranging interval in which the ranging radar is currently located and the third distance value and the fourth distance value;

[0050] Determine whether the ranging interval currently located by the ranging radar is the lower half;

[0051] In the case where it is determined that the current ranging interval of the ranging radar is the lower half, determining whether the ranging interval of the ranging radar is the second interval;

[0052] In the case where it is determined that the ranging interval in which the ranging radar is located is the second interval, determining whether the third distance value is greater than the fourth distance value;

[0053] When it is determined that the third distance value is greater than the fourth distance value, it is determined that the two wires in the current two split wires are distributed up and down, and the third distance value corresponds to the A1 wire, and the fourth distance value corresponds to the A2 wire;

[0054] In the case where it is determined that the third distance value is not greater than the fourth distance value, it is determined that the two wires in the two split wires are distributed left and right, and the third distance value corresponds to the A1 wire, and the fourth distance value corresponds to the A2 wire;

[0055] When it is determined that the ranging interval in which the ranging radar is located is not the second interval, sorting the third distance value and the fourth distance value from small to large;

[0056] The wires corresponding to the sorted distance values ​​are mapped to the third distance value and the fourth distance value.

[0057] In another aspect, the present invention provides a system for automatically identifying two-split conductor synchronous optimization, the system comprising:

[0058] A drone, wherein the drone is provided with a ranging radar;

[0059] A processor is communicatively connected to the ranging radar, and is used to execute any of the automatic identification methods described above.

[0060] In yet another aspect, the present invention further provides a computer-readable storage medium storing instructions, wherein the instructions are used to be read by a machine so that the machine executes any of the above-mentioned measurement methods.

[0061] Through the above technical scheme, the present invention provides a method, system and storage medium for synchronous optimization and automatic identification of a two-split conductor, wherein the ranging interval of a standard two-split conductor is obtained according to the distance difference between a ranging radar and two conductors in the standard two-split conductor during loop measurement; when the actual two-split conductor is identified by using the ranging interval, the conductor number and distribution mode of the two-split conductor can be determined according to the distance value between the ranging radar and each conductor in the two-split conductor in the ranging interval; the distance value obtained in the ranging interval can reflect the large difference between the two conductors in the two-split conductor, thereby realizing synchronous and efficient identification of the conductor number of the two-split conductor, and determining the distribution mode of the two-split conductor, with high identification efficiency and high precision.

[0062] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0064] Figure 1 is a flow chart of an automatic identification method according to one embodiment of the present invention;

[0065] Figure 2 is a flow chart of obtaining an optimal difference between a standard two-split conductor and a ranging radar according to an embodiment of the present invention;

[0066] Figure 3 is a flow chart of obtaining coincident measurement points according to one embodiment of the present invention;

[0067] Figure 4 is a flowchart of obtaining a ranging interval according to an embodiment of the present invention;

[0068] Figure 5 is a flow chart for identifying a two-split conductor according to an embodiment of the present invention;

[0069] Figure 6 is a flow chart for identifying a two-split conductor according to an embodiment of the present invention;

[0070] Figure 7 is a schematic diagram of a distribution mode of two split conductors according to an embodiment of the present invention;

[0071] Figure 8 is a schematic diagram of a two-split conductor measuring point interval according to an embodiment of the present invention;

[0072] Fig. 9 is a schematic diagram of wire identification by two-split wires according to an embodiment of the present invention;

[0073] Fig.10 It is a schematic diagram of obtaining the calibration distance in the synchronous observation of two split conductors according to an embodiment of the present invention. DETAILED DESCRIPTION

[0074] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0075] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0076] Figure 1 is a flow chart of an automatic identification method according to an embodiment of the present invention, in which the identification method comprises:

[0077] In step S1, the ranging radar is driven to perform a ring measurement on the standard two-split conductor according to a preset radius. In the process of the ranging radar performing a ring measurement on the standard two-split conductor, the ranging radar uses a cross-sectional scanning method to measure the distance of each conductor. Specifically, the ranging radar may include a laser radar.

[0078] In step S2, the optimal difference between the ranging radar and the two conductors in the standard two-split conductor during the loop measurement is obtained. Wherein, when the ranging radar performs the loop measurement, the distance value between the ranging radar and the two conductors in the standard two-split conductor can form a corresponding distance difference, and the distance difference reflects the difference between the two conductors. The larger the distance difference, the greater the difference, and the optimal difference is the maximum value of the distance difference.

[0079] In step S3, the ranging interval of the standard two-split conductor is obtained according to the optimal difference between the ranging radar and the two conductors in the standard two-split conductor during the loop measurement. According to the difference between the two conductors, the interval with the largest difference is selected as the ranging interval.

[0080] In step S4, the ranging radar is driven to move to the ranging interval of the current two-split conductor, and the distance value between the ranging radar and each conductor in the current two-split conductor is obtained. When identifying the current two-split conductor, the same starting point as the standard two-split conductor loop measurement is selected, and the distance value is obtained in the corresponding ranging interval in a clockwise or counterclockwise direction. Specifically, the angle of the ranging interval relative to the starting point is fixed, and the ranging radar is driven to rotate the corresponding angle according to the preset radius to reach the corresponding ranging interval.

[0081] In step S5, the wire number and distribution mode of the binary split wire are identified according to the distance value between the ranging radar and each wire in the current binary split wire. According to the distance value obtained in the ranging interval, the wire number of each wire in the current binary split wire and the distribution mode of the current binary split wire can be obtained by analyzing the difference.

[0082] In step S1 to step S5, the distance measurement position on the standard two-split conductor where the difference between the two conductors is the largest is determined based on the optimal difference between the two conductors in the standard two-split conductor when the ranging radar is measuring the loop, and the distance measurement position is used as the distance measurement interval. When the conductor number of the two-split conductor is actually identified, the distance values ​​are obtained in the corresponding distance measurement interval, and further analysis is performed to realize the identification of the conductor number and distribution mode of the current two-classified conductor.

[0083] The traditional manual inspection method is not only inefficient, but also difficult to ensure the accuracy and reliability of the measurement, and the interference under the high noise background also puts higher requirements on the accurate identification of the conductor. In this embodiment of the present invention, by determining the ranging interval and obtaining the distance value according to the ranging interval, the large difference between the two conductors in the two-split conductor can be screened out, thereby realizing the synchronous and efficient identification of the conductor numbers of the two-split conductors, and determining the distribution mode of the two-split conductors, with high identification efficiency and high accuracy, thereby improving the reliability of the inspection or operation and maintenance of the transmission line.

[0084] When the ranging radar is located at a measuring point on the extension line of two wires in the standard two-split wire, it is difficult to distinguish the numbers of the two wires. Therefore, the measuring point may need to be removed in advance. In this embodiment, the method for obtaining the optimal difference between the ranging radar and the two wires in the standard two-split wire during the loop measurement can be a variety of methods known to those skilled in the art. In one embodiment of the present invention, as Figure 2 As shown, the specific steps for obtaining the optimal difference between the two conductors of the ranging radar and the standard two-split conductor during the ring measurement are as follows:

[0085] In step S21, the total time difference of synchronous measurement between the measuring point of the ranging radar and the standard two-split conductor is obtained. The total time difference of synchronous measurement is the difference between the start scanning time and the completion scanning time of the measuring point in the two-split conductor when the ranging radar is at a certain point in the loop measurement. Specifically, the total time difference of synchronous measurement can be calculated according to formula (1):

[0086] Δt=t e -t s , (1)

[0087] Where Δt is the total time difference of synchronous measurement, t e is the time to complete the ranging radar scanning of the starting point, t s The time when the ranging radar completes scanning the last measuring point.

[0088] In step S22, the coincidence measurement point of the standard two-split conductor is obtained according to the total time difference of synchronous measurement. If the ranging radar is located at or approximately located on the extension line of the two conductors in the two-split conductor, it may only measure the distance to one of the conductors or the ranging radar takes a particularly long time to scan the farther conductor. In this case, synchronous measurement cannot be achieved. Therefore, the synchronous measurement accuracy ε can be preset, and the total time difference of synchronous measurement is compared with the synchronous measurement accuracy ε to screen out the coincidence measurement point or coincidence measurement interval to ensure the requirement of synchronous measurement of the two conductors in the two-split conductor. The specific steps can be as follows: Figure 3 Specifically, Figure 3 In the automatic identification method, the automatic identification method may also include:

[0089] In step S221, it is determined whether the total time difference between the synchronous measurement of the measuring point of the ranging radar and the standard two-split conductor is less than the synchronous measurement accuracy.

[0090] In step S222, when it is determined that the total time difference of synchronous measurement between the measuring point of the ranging radar and the standard two-split conductor is greater than or equal to the synchronous measurement accuracy, the measuring point is determined to be a coincidence measurement point. If the total time difference of synchronous measurement is greater than or equal to the synchronous measurement accuracy, it means that the scanning time is too long to achieve synchronous measurement of the two conductors in the two-split conductor, so the measuring point is used as a coincidence measurement point, or a coincidence measurement interval is formed.

[0091] In step S23, the measurement points of each conductor in the standard two-split conductor except the coincident measurement points are obtained. The measurement points except the coincident measurement points can also be understood as the measurement points / measurement point intervals except the coincident measurement points / coincident measurement intervals.

[0092] In step S24, the optimal difference between each conductor in the standard two-split conductor and the ranging radar is obtained according to the measurement points of each conductor in the standard two-split conductor except the coincident measurement points.

[0093] In step S20 to step S24, the total time difference of synchronous measurement between the ranging radar and the standard two-split conductor is first obtained, and the coincidence measurement point / coincidence measurement interval of the two-split conductor can be determined according to the total time difference of synchronous measurement and the preset synchronous measurement accuracy. The coincidence measurement point / coincidence measurement interval in the ring measurement is removed to obtain the point / interval to be measured, and the distance difference between the ranging radar and each conductor in the standard two-split conductor in the point / interval to be measured can be obtained.

[0094] In this embodiment of the present invention, when the laser radar cross-section scans the wire to measure the distance, the distance between the measured points is the result of the signal calculation of the wire surface reflection, that is, only the wire surface is measured. As the diameters of wires of different types are different, directly using the distance measurement value will produce an error of 10-35mm. When actually measuring the wire distance, it is also necessary to consider the different types of wires (radius rD ), so the calculation of the calibration distance / precise distance between the ranging radar and the conductor can include: first obtaining the tangent distance between the ranging radar and the conductor surface, and then obtaining the calibration distance between the ranging radar and the conductor according to formula (2).

[0095]

[0096] Among them, d j is the calibration distance between the ranging radar and the conductor, d * is the tangent distance, r D is the radius of the wire.

[0097] In this embodiment of the present invention, when the tangent distance between the ranging radar and the conductor surface cannot be determined, the distance d between the two ranging radars that are not scanned can be obtained. i1 d ik , you can Fig.10 As shown. For the range-finding radar / lidar scan line chord length, the chord length can be calculated according to formula (5):

[0098]

[0099] Among them, d x is the length of the laser radar scan line chord, β = n·η, n is the number of scans, and η is the scanning accuracy.

[0100] Then, according to formula (6), the center angle O of the chord length of the broken-sweep wire is obtained: θ ,

[0101]

[0102] Among them, O θ It is the center angle of the chord length of the broken sweep conductor.

[0103] According to formula (5) and formula (6), the value of the calibration distance can be derived. Specifically, according to formula (7), the calibration distance between the ranging radar and the conductor is obtained:

[0104]

[0105] Furthermore, the range of values ​​for β can include

[0106] In this embodiment of the present invention, for the optimal difference between each wire in the standard binary wire and the ranging radar, it is necessary to first determine the distance difference between each wire in the standard binary wire and the ranging radar. The specific steps can be as follows: Figure 4 Specifically, Figure 4 In the automatic identification method, the automatic identification method may also include:

[0107] In step S31, the distance difference between the ranging radar and the two conductors in the standard binary split conductor at each measuring point is obtained according to formula (3):

[0108] Δd=|d2-d1|, (3)

[0109] Wherein, d2 represents the distance from the ranging radar to A2 in the profile, d1 represents the distance from the ranging radar to A1 in the profile, and Δd is the distance difference between the two conductors.

[0110] In step S32, the optimal difference is obtained based on the distance difference between the ranging radar and the two wires in the standard two-split wire at each measuring point. The optimal difference between the two wires in the standard two-split wire is not directly determined based on the size of the distance difference, but also needs to be determined in combination with the distribution of the two-split wires. Specifically, Figure 7 As shown, the distribution of the two-split conductor can include horizontal distribution and up-down / vertical distribution, and the optimal difference under the two distribution modes is at the measuring points on the horizontal axis and the vertical axis respectively. Therefore, considering the two-split conductors with different distribution modes in actual situations, the points with the largest distance difference under the two distribution modes are selected as the optimal difference between the two conductors in the standard two-split conductor, that is, the measuring point positions corresponding to 45°, 135°, 225° and 315°.

[0111] In this embodiment, the center of the standard two-split conductor is taken as the origin, and a rectangular coordinate system is established in the conductor section vertical to the measuring point Pc. The horizontal axis X is a horizontal line passing through the origin, and the vertical axis Y is a vertical line passing through the origin and perpendicular to the horizontal axis. The conductor section points are marked with capital letters in the clockwise direction. In the two-split conductor, A1 and A2 are the conductor section points, and the measuring point Pc performs a circular motion in the counterclockwise direction for ring measurement. (2) Indicates the radius of the measurement circle corresponding to the measurement point Pc with different splitting types. Figure 8 As shown, this modeling method divides the plane where the wire is located into regions I, II, III and IV, where I is the first interval and III is the second interval.

[0112] In step S33, the optimal distance measurement point corresponding to the optimal difference is obtained, wherein the optimal distance measurement point is the measurement point position corresponding to 45°, 135°, 225° and 315°.

[0113] In step S34, the ranging interval of the standard two-split conductor is obtained according to the ranging optimal point.

[0114] Considering the influence of the vibration of the drone and environmental factors when actually observing the two-split conductor, the optimal ranging point will fluctuate within a certain range, and the actual ranging advantage will fluctuate within the ranging interval. Therefore, in this embodiment, the specific steps for obtaining the ranging interval can be various known to those skilled in the art. In one example of the present invention, the specific steps may include:

[0115] According to formula (4), the coverage angle of the optimal measurement interval is obtained:

[0116]

[0117] in, is the angle between the first measuring point and the line connecting the midpoints of the two conductors in the standard two-split conductor and the horizontal axis, is the angle between the second measuring point and the line connecting the midpoints of the two conductors in the standard two-split conductor and the horizontal axis, Adjust the arc difference for the measuring instrument, k is the interval coefficient. According to the angle of the measuring point interval and the preset ring measurement radius, the arc length, area, and edge point coordinates of the measuring point interval can be obtained.

[0118] In this implementation, the wire numbers and distribution methods of the two-split wires can be identified according to the distance value between the ranging radar and each wire in the current two-split wires, and various methods known to those skilled in the art can be used. In one embodiment of the present invention, for example, Figure 5 and Fig. 9 Specifically, it includes:

[0119] In step S51, the ranging interval in which the current ranging radar is located and the first distance value and the second distance value are obtained.

[0120] In step S52, it is determined whether the current ranging radar is in the upper half of the ranging interval. If it is determined that the current ranging radar is in the upper half of the ranging interval, step S53 is executed, otherwise, step S61 is executed. Specifically, the upper half of the ranging interval may include area I and area II.

[0121] In step S53, it is determined whether the ranging interval in which the ranging radar is located is the first interval. If it is determined that the ranging interval in which the ranging radar is located is the first interval, step S54 is executed, and if it is determined that the ranging interval in which the ranging radar is located is not the first interval, step S57 is executed.

[0122] In step S54, it is determined whether the first distance value is less than the second distance value. If the first distance value is determined to be less than the second distance value, step S55 is executed, and if the first distance value is determined to be not less than the second distance value, step S56 is executed.

[0123] In step S55, it is determined that the two wires in the current two split wires are distributed up and down, and the first distance value corresponds to the A1 wire, and the second distance value corresponds to the A2 wire.

[0124] In step S56 , it is determined that the two wires in the first two split wires are distributed left and right, and the first distance value corresponds to the A1 wire, and the second distance value corresponds to the A2 wire.

[0125] In step S57, the first distance value and the second distance value are sorted from small to large.

[0126] In step S58, the conductors corresponding to the sorted distance values ​​are mapped to the first distance value and the second distance value. Among them, the contents shown in step S57 and step S58 can also be used as an alternative to the above, that is, when the distance measurement interval is the first interval, the distribution mode of the binary split conductor and the conductor number can also be determined by mapping. Specifically, the distance values ​​of the standard binary split conductor in the four measuring point intervals under the horizontal distribution and vertical distribution modes are all formed into a standard distance value set in order from small to large, and then one-to-one mapping is performed according to the actual measured distance values, so that the distribution mode of the binary split conductor and the conductor number can be determined, and the following steps S67 to step S68 are the same.

[0127] In this implementation, the wire numbers and distribution methods in the two-split wires can be identified according to the distance value between the ranging radar and each wire in the current two-split wires, and can be various methods known to those skilled in the art. In one embodiment of the present invention, specifically, as follows: Figure 6 As shown, including:

[0128] In step S61, the ranging interval in which the current ranging radar is located and the third distance value and the fourth distance value are obtained.

[0129] In step S62, it is determined whether the current ranging radar is in the lower half of the ranging interval. If it is determined that the current ranging radar is in the upper half of the ranging interval, step S63 is executed, otherwise, step S61 is executed. Specifically, the lower half may include area III and area IV.

[0130] In step S63, it is determined whether the ranging interval in which the ranging radar is located is the second interval. If it is determined that the ranging interval in which the ranging radar is located is the second interval, step S64 is executed, and if it is determined that the ranging interval in which the ranging radar is located is not the second interval, step S67 is executed.

[0131] In step S64, it is determined whether the third distance value is greater than the fourth distance value. If the third distance value is greater than the fourth distance value, step S65 is executed, and if the third distance value is not greater than the fourth distance value, step S66 is executed.

[0132] In step S65, it is determined that the two conductors in the current two-split conductor are distributed vertically, and the third distance value corresponds to the A1 conductor, and the fourth distance value corresponds to the A2 conductor.

[0133] In step S66, it is determined that the two conductors in the previous two-split conductor are distributed horizontally, and the third distance value corresponds to the A1 conductor, and the fourth distance value corresponds to the A2 conductor.

[0134] In step S67, the third distance value and the fourth distance value are sorted from small to large.

[0135] In step S68, the conductors corresponding to the sorted distance values are mapped to the third distance value and the fourth distance value.

[0136] When the two-split conductor is vertically distributed and the optimal distance measurement point is located in the upper half of the optimal area, it is obvious that d1 > d2. When the optimal distance measurement point is located in the lower half area, it is obvious that d1 < d2. When the two-split conductor is horizontally distributed and the optimal distance measurement point is located in the left half area, it is obvious that d2 > d1. When the optimal distance measurement point is located in the right half area, it is obvious that d2 < d1. Therefore, when the measurement point of the distance measurement radar is located in the first interval and the second interval for synchronous measurement of the two-split conductor, not only the conductor number can be identified, but also the spatial layout mode of the two-split conductor can be identified, which is of great significance for the maintenance and management of the power system.

[0137] In this embodiment of the present invention, the conductor identification of the two-split conductor can also be determined according to the scanning angle (the angle between the scanning direction and the horizontal plane) of the distance measurement radar. Specifically, if within the first interval, the scanning angle of the first distance value is less than the scanning angle of the second distance value, then the first distance value corresponds to the A1 conductor, the second distance value corresponds to the A2 conductor, and so on. In addition, the conductor can also be synchronously identified according to the magnitude of the distance value and the magnitude of the scanning angle.

[0138] On the other hand, the present invention also includes an automatic identification system for synchronous optimization of two-split conductors, which system includes a drone and a processor. Specifically, the drone can include a distance measurement radar.

[0139] A distance measurement radar is provided on the drone, and the processor is communicatively connected to the distance measurement radar for executing any one of the above automatic identification methods.

[0140] On yet another aspect, the present invention also includes a machine-readable storage medium, on which instructions are stored, and the instructions are used to cause a machine to execute any one of the above automatic identification methods.

[0141] Through the above technical scheme, the present invention provides a method, system and storage medium for synchronous optimization and automatic identification of a two-split conductor, wherein the ranging interval of a standard two-split conductor is obtained according to the distance difference between a ranging radar and two conductors in the standard two-split conductor during loop measurement; when the actual two-split conductor is identified by using the ranging interval, the conductor number and distribution mode of the two-split conductor can be determined according to the distance value between the ranging radar and each conductor in the two-split conductor in the ranging interval; the distance value obtained in the ranging interval can reflect the large difference between the two conductors in the two-split conductor, thereby realizing synchronous and efficient identification of the conductor number of the two-split conductor, and determining the distribution mode of the two-split conductor, with high identification efficiency and high precision.

[0142] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or two computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0143] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 One or two processes and / or boxes Figure 1 A device that performs the functions specified in one or two boxes.

[0144] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 One or two processes and / or boxes Figure 1 The function specified in one or two boxes.

[0145] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 One or two processes and / or boxes Figure 1 The steps of the function specified in one or two boxes.

[0146] In a typical configuration, a computing device includes one or two processors (CPUs), input / output interfaces, network interfaces, and memory.

[0147] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0148] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital dual function disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0149] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of further limitations, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0150] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for automatic identification of synchronous optimization of two-split conductors, characterized in that: The automatic identification method comprises: Drive the ranging radar to perform a loop measurement on the standard binary split conductor according to a preset radius; Obtaining the optimal difference between the ranging radar and two conductors in the standard two-split conductor during loop measurement; Obtaining the ranging interval of the standard two-split conductor according to the optimal difference between the ranging radar and two conductors in the standard two-split conductor during the loop measurement; Driving the ranging radar to move to the ranging interval of the current two-split conductor, and obtaining the distance value between the ranging radar and each conductor in the current two-split conductor; The wire number and distribution mode of the binary split wire are identified according to the distance value between the ranging radar and each wire in the binary split wire.

2. The automatic identification method according to claim 1, characterized in that: Obtaining the optimal difference between the ranging radar and two conductors in the standard two-split conductor during loop measurement, including: Obtaining the total time difference of synchronous measurement between the measuring point of the ranging radar and the standard two-split conductor; Acquire the coincidence measurement point of the standard two-split conductor according to the synchronous measurement total time difference; Obtaining the measurement points of each conductor in the standard two-split conductor except the coincident measurement points; The optimal difference between each conductor in the standard two-split conductor and the ranging radar is obtained according to the measurement points of each conductor in the standard two-split conductor except the coincident measurement points.

3. The automatic identification method according to claim 2, characterized in that: Obtaining the total time difference of synchronous measurement between the ranging radar and the standard binary split conductor includes: According to formula (1), the total time difference of synchronous measurement between the ranging radar and the standard two-split conductor is obtained: Δt=|t e -t s |<ε, (1) Among them, Δt is the time difference to complete a measurement cycle, t e is the time to complete the scan of the starting point, t s is the time to complete the scan of the last measuring point, and ε is the synchronous measurement accuracy.

4. The automatic identification method according to claim 3, characterized in that: Acquiring the coincidence measurement point of the standard two-split conductor according to the synchronous measurement total time difference includes: Determine whether the total time difference of synchronous measurement between the measuring point of the ranging radar and the standard two-split conductor is less than the synchronous measurement accuracy; When it is determined that the total time difference between the synchronous measurement of the measuring point of the ranging radar and the standard two-split conductor is greater than or equal to the synchronous measurement accuracy, the measuring point is determined to be a coincident measuring point.

5. The automatic identification method according to claim 3, characterized in that: Obtaining the optimal difference between each conductor in the standard two-split conductor and the ranging radar according to the measurement points of each conductor in the standard two-split conductor except the coincident measurement points includes: Obtaining the tangent distance between the ranging radar and the surface of the conductor; According to formula (2), the calibration distance between the ranging radar and the conductor is obtained. Among them, d j is the calibration distance between the ranging radar and the conductor, d * is the tangent distance, r D is the radius of the wire.

6. The automatic identification method according to claim 5, characterized in that: Obtaining the optimal difference between each conductor in the standard two-split conductor and the ranging radar according to the measurement points of each conductor in the standard two-split conductor except the coincident measurement points also includes: According to formula (3), the distance difference between the ranging radar and the two conductors in the standard two-split conductor at each measuring point is obtained. Δd=|d2-d1|, (3) Wherein, d2 represents the distance from the ranging radar to A2 in the profile, d1 represents the distance from the ranging radar to A1 in the profile, and Δd is the distance difference; The optimal difference is obtained according to the distance difference between the ranging radar and the two conductors in the standard binary split conductor at each measuring point.

7. The automatic identification method according to claim 6, characterized in that: The step of obtaining the ranging interval of the standard two-split conductor according to the optimal difference between the ranging radar and two conductors in the standard two-split conductor during the loop measurement includes: Obtaining the ranging optimal point corresponding to the optimal difference; The ranging interval of the standard binary split conductor is obtained according to the ranging optimal point.

8. The automatic identification method according to claim 7, characterized in that: Obtaining the ranging interval of the standard two-split conductor according to the ranging optimal point includes: According to formula (4), the coverage angle of the optimal measurement interval is obtained: in, is the angle between the first measuring point and the line connecting the midpoints of the two conductors in the standard two-split conductor and the horizontal axis, is the angle between the second measuring point and the line connecting the midpoints of the two conductors in the standard two-split conductor and the horizontal axis, Adjust the arc difference for the measuring instrument, k is the interval coefficient.

9. The automatic identification method according to claim 8, characterized in that: Identifying the wire number and distribution method in the binary split wire according to the distance value between the ranging radar and each wire in the binary split wire currently includes: Obtaining the ranging interval in which the ranging radar is currently located and the first distance value and the second distance value; Determine whether the ranging interval currently located by the ranging radar is the upper half; In the case where it is determined that the current ranging interval of the ranging radar is the upper half, determining whether the ranging interval of the ranging radar is the first interval; In the case where it is determined that the ranging interval in which the ranging radar is located is the first interval, determining whether the first distance value is less than the second distance value; When it is determined that the first distance value is less than the second distance value, it is determined that the two wires in the current two split wires are distributed up and down, and the first distance value corresponds to the A1 wire, and the second distance value corresponds to the A2 wire; In the case where it is determined that the first distance value is not less than the second distance value, the two wires in the two split wires are distributed left and right before determination, and the first distance value corresponds to the A1 wire, and the second distance value corresponds to the A2 wire; When it is determined that the ranging interval in which the ranging radar is located is not the first interval, sorting the first distance value and the second distance value from small to large; The wires corresponding to the sorted distance values ​​are mapped to the first distance value and the second distance value.

10. The automatic identification method according to claim 9, characterized in that: Identifying the wire number and distribution mode in the binary split wire according to the distance value between the ranging radar and each wire in the binary split wire currently includes: acquiring the ranging interval in which the ranging radar is currently located and the third distance value and the fourth distance value; Determine whether the ranging interval currently located by the ranging radar is the lower half; In the case where it is determined that the current ranging interval of the ranging radar is the lower half, determining whether the ranging interval of the ranging radar is the second interval; In the case where it is determined that the ranging interval in which the ranging radar is located is the second interval, determining whether the third distance value is greater than the fourth distance value; When it is determined that the third distance value is greater than the fourth distance value, it is determined that the two wires in the current two split wires are distributed up and down, and the third distance value corresponds to the A1 wire, and the fourth distance value corresponds to the A2 wire; In the case where it is determined that the third distance value is not greater than the fourth distance value, it is determined that the two wires in the two split wires are distributed left and right, and the third distance value corresponds to the A1 wire, and the fourth distance value corresponds to the A2 wire; When it is determined that the ranging interval in which the ranging radar is located is not the second interval, sorting the third distance value and the fourth distance value from small to large; The wires corresponding to the sorted distance values ​​are mapped to the third distance value and the fourth distance value.

11. An automatic identification system for synchronous optimization of two-split conductors, characterized in that: The system comprises: A drone, wherein the drone is provided with a ranging radar; A processor is communicatively connected to the ranging radar, and is used to execute the automatic identification method as described in any one of claims 1 to 10.

12. A machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the automatic identification method according to any one of claims 1 to 10.

Images