Measurement method and measurement system for ground wire sag of power transmission line and storage medium

Abstract

The embodiment of the invention provides a power transmission line ground wire sag measurement method and system and a storage medium, and belongs to the technical field of power transmission line ground wire sag measurement. The measurement method comprises the following steps: acquiring a model equation of a standard parabola of a power transmission line ground wire; obtaining a standard line selection coefficient and a standard sag value of the ground wire according to the model equation of the standard parabola; according to the method, a model equation of a standard parabola of the power transmission line ground wire is constructed, three measuring point intervals of the ground wire are determined according to the standard parabola, coordinates of three measuring points located in the three measuring point intervals on the current ground wire are obtained, and a real-time sag value of the current ground wire is obtained according to the coordinates of the three measuring points; according to the method, the measuring point interval is obtained by adopting the standard parabola, and the real-time measuring point coordinates are obtained according to the measuring point interval, so that the real-time sag of the ground wire can be accurately and efficiently obtained, and the convenience of measuring the sag of the ground wire is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of transmission line ground wire sag measurement, and in particular to a transmission line ground wire sag measurement method, a measurement system and a storage medium. Background Art

[0002] The sag of the ground conductor, also known as sag or deflection, is an important parameter in the design and operation of power lines. It is defined as the vertical distance between the mid-point of the span on the conductor suspension curve and the connecting line of the suspension points on both sides, that is, the sag at any point.

[0003] Considering that the environment in which the transmission line is located is relatively harsh, it is easily affected by external factors such as the regional environment. For example, the sag of the ground wire will be affected by external forces such as ice and strong winds, and it is easy for the ground wire to break, which will affect the reliability of the transmission line. Therefore, the measurement of the sag of the ground wire is one of the important inspection items to maintain the safe and stable operation of the transmission line.

[0004] At present, the sag measurement method of the ground wire mostly uses the coordinates of the end points of the ground wire and the coordinates of the lowest point of the ground wire to obtain them. However, due to the diversity of transmission towers, it is difficult to measure the end point coordinates of some transmission towers, which affects the accuracy and efficiency of the sag measurement.

[0005] The inventors of the present application discovered during the process of implementing the present invention that the above-mentioned solution in the prior art has the defects of low accuracy and efficiency in measuring the sag of the ground conductor. Summary of the invention

[0006] The purpose of the embodiments of the present invention is to provide a method, a system and a storage medium for measuring the sag of a ground wire of a transmission line. The method, the system and the storage medium for measuring the sag of a ground wire of a transmission line have the function of measuring the sag of the ground wire with high accuracy and efficiency.

[0007] In order to achieve the above object, an embodiment of the present invention provides a method for measuring the sag of a ground wire of a transmission line, comprising:

[0008] Obtaining the model equation of the standard parabola of the transmission line ground conductor;

[0009] Obtaining a standard line selection coefficient and a standard sag value of the ground conductor according to a model equation of the standard parabola;

[0010] Obtain three measuring point intervals of the ground conductor according to the standard line selection coefficient;

[0011] Obtaining the coordinates of the measuring points on the current ground conductor that are within the three measuring point intervals;

[0012] Obtaining the real-time line selection coefficient of the current ground conductor according to the coordinates of the measuring points within the three measuring point intervals;

[0013] Obtaining a model equation of a real-time parabola of the current ground conductor according to the real-time line selection coefficient;

[0014] The real-time sag value of the current ground conductor is obtained according to the model equation of the real-time parabola of the current ground conductor.

[0015] Optionally, the model equation for obtaining the standard parabola of the transmission line ground conductor includes:

[0016] The model equation of the standard parabola is shown in formula (1),

[0017] z=k b x 2 -k b lx+tanβ·x, (1)

[0018] Wherein, z is the height coordinate of the point on the ground line, x is the horizontal coordinate of the point on the ground line, and k b is the standard line selection coefficient, β is the height difference angle, and l is the horizontal distance between the two end points of the ground wire.

[0019] Optionally, obtaining a standard sag value and a standard line selection coefficient of the ground conductor according to a model equation of the standard parabola includes:

[0020] Obtain the coordinates of the left endpoint, the right endpoint and the lowest point of the ground wire;

[0021] According to formula (2), the horizontal distance between the left end point, the right end point and the lowest point of the ground wire is obtained.

[0022]

[0023] Wherein, ΔL1 is the horizontal distance from the left end point of the ground wire to the lowest point, and ΔL2 is the horizontal distance from the left end point of the ground wire to the right end point. is the horizontal coordinate of the left end point of the ground wire, is the horizontal coordinate of the lowest point of the ground conductor, is the horizontal coordinate of the right endpoint of the ground wire;

[0024] Obtaining the standard line selection coefficient of the ground wire according to formula (3);

[0025]

[0026] Among them, k b is the standard line selection coefficient of the ground conductor, is the height coordinate of the left end point of the ground wire, is the height coordinate of the lowest line of the ground conductor, is the height coordinate of the right endpoint of the ground wire.

[0027] Optionally, obtaining the standard sag value and standard line selection coefficient of the ground conductor according to the model equation of the standard parabola further includes:

[0028] The standard sag value of the ground conductor is calculated according to formula (4):

[0029]

[0030] Among them, f b is the standard sag value of the ground wire.

[0031] Optionally, obtaining three measuring point intervals of the ground conductor according to the standard line selection coefficient includes:

[0032] Discretizing the standard parabola of the ground conductor to obtain coordinates of a plurality of discrete points on the standard parabola;

[0033] Points are taken one by one from both ends of the standard parabola to the middle and the lowest point is taken, and three discrete points selected each time are taken as a group to obtain multiple grouped discrete points;

[0034] Obtain line selection coefficients of the three discrete points in each group according to formula (1);

[0035] According to formula (5), the line selection coefficient accuracy of the three discrete points in each group is obtained.

[0036] Δ k =|k ′ -k b |, (5)

[0037] Among them, Δ k k is the line selection coefficient accuracy of the three discrete points in each group, ′ is the line selection coefficient of each group of three discrete points;

[0038] The three measuring point intervals of the ground conductor are obtained according to the line selection coefficient accuracy of the three discrete points in each group.

[0039] Optionally, obtaining three measuring point intervals of the ground conductor according to the line selection coefficient accuracy of the three discrete points in each group includes:

[0040] Acquire multiple groups of minimum precision discrete points whose precision of the line selection coefficient is less than a preset threshold;

[0041] Obtain three discrete point cluster centers based on multiple groups of minimum precision discrete points;

[0042] Obtain the minimum horizontal spacing based on the cluster centers of three discrete points;

[0043] Obtaining the measuring point interval length according to the minimum horizontal spacing;

[0044] Three measuring point intervals of the ground wire are obtained according to the measuring point interval lengths.

[0045] Optionally, obtaining three measuring point intervals of the ground wire according to the measuring point interval lengths includes:

[0046] Taking the middle discrete point cluster center as the middle value of the middle measuring point interval, and obtaining the first interval according to the division length of the measuring point interval;

[0047] According to the division length of the measuring point interval, the second interval, the third interval, the fourth interval and the fifth interval are divided in sequence along both sides of the first interval;

[0048] The first section, the fourth section and the fifth section are used as three measuring point sections of the ground wire.

[0049] Optionally, obtaining the real-time line selection coefficient of the current ground conductor according to the coordinates of the measuring points within the three measuring point intervals includes:

[0050] Obtaining the horizontal spacing between the three measuring points according to the coordinates of the measuring points within the three measuring point intervals;

[0051] The real-time line selection coefficient of the current ground conductor is obtained according to the coordinates of the measuring points within the three measuring point intervals and the horizontal distances between the three measuring points.

[0052] Optionally, acquiring the horizontal spacing between three measuring points according to the coordinates of the measuring points within the three measuring point intervals includes:

[0053] The horizontal spacing between the three measuring points is calculated according to formula (7):

[0054] L ab =R·cos -1 (cosω a cosω b ·(cos(λ a -λ b )+sinω a sinω b ), (7)

[0055] Among them, L ab is the horizontal distance between the first measuring point and the second measuring point on the ground wire, R is the average radius of the earth, ω a is the first radian value of the first measuring point, ω b is the first arc value of the second measuring point, λ ais the second radian value of the first measuring point, λ b is the second radian value of the second measuring point.

[0056] Optionally, obtaining the real-time line selection coefficient of the current ground conductor according to the coordinates of the three measuring points within the measuring point interval and the horizontal spacing between the three measuring points further includes:

[0057] According to formula (8), the equation group of the real-time parabola of the current ground conductor is obtained.

[0058]

[0059] Among them, z1 is the height coordinate value of the first measuring point, z2 is the height coordinate value of the second measuring point, z3 is the height coordinate value of the third measuring point, x0 is the horizontal distance from the left end point to the first measuring point, ΔL 1t is the horizontal distance from the first measuring point to the second measuring point, ΔL 2t is the horizontal distance from the first measuring point to the third measuring point, and k is the real-time line selection coefficient of the current ground wire.

[0060] Optionally, obtaining the real-time line selection coefficient of the current ground conductor according to the coordinates of the three measuring points within the measuring point interval and the horizontal spacing between the three measuring points further includes:

[0061] According to formula (9), the real-time line selection coefficient of the current ground wire is obtained:

[0062]

[0063] Wherein, k is the real-time line selection coefficient.

[0064] Optionally, obtaining a model equation of a real-time parabola of the current ground conductor according to the real-time line selection coefficient includes:

[0065] According to formula (10), the model equation of the real-time parabola of the current ground conductor is obtained.

[0066] z t =kl t 2 -klx t +tanβ·x t , (10)

[0067] Among them, z t is the height coordinate of the point on the current ground line, x t The horizontal coordinate of the point on the current ground line.

[0068] Optionally, obtaining the real-time sag value of the current ground conductor according to the model equation of the real-time parabola of the current ground conductor includes:

[0069] According to formula (11), the real-time sag value of the current ground conductor is obtained.

[0070]

[0071] Wherein, f is the real-time sag value of the current ground wire.

[0072] Optionally, obtaining the real-time sag value of the current ground wire according to the model equation of the real-time parabola of the current ground wire further includes:

[0073] According to formula (12), the sag difference of the ground conductor is obtained:

[0074] Δ f = |ff b |, (12)

[0075] Among them, Δ f is the sag difference of the ground wire.

[0076] Optionally, obtaining the real-time sag value of the current ground wire according to the model equation of the real-time parabola of the current ground wire further includes:

[0077] According to formula (13), the sag error of the ground conductor is obtained:

[0078]

[0079] Among them, d f is the sag error of the ground wire.

[0080] On the other hand, the present invention also provides a system for measuring the sag of a ground wire of a power transmission line, comprising:

[0081] A drone, wherein the drone is provided with a sag measuring device, and the sag measuring device is used to identify and obtain the coordinates of three measuring points within a three-measurement point interval on a ground wire in a transmission line;

[0082] The controller is communicatively connected to the drone and is used to calculate the real-time sag value of the current ground wire according to the coordinates of the three measuring points identified and obtained by the sag measuring device, so as to execute any of the measurement methods described above.

[0083] 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.

[0084] Through the above technical scheme, the transmission line ground wire sag measurement method, measurement system and storage medium provided by the present invention construct a model equation of the standard parabola of the transmission line ground wire, determine three measuring point intervals of the ground wire according to the standard parabola, then obtain the coordinates of three measuring points on the current ground wire located within the three measuring point intervals, and obtain the real-time sag value of the current ground wire according to the three measuring point coordinates; by using the standard parabola to obtain the measuring point interval and obtaining the real-time measuring point coordinates according to the measuring point interval, the real-time sag of the ground wire can be accurately and efficiently obtained, and the convenience of measuring the sag of the ground wire is effectively improved.

[0085] 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

[0086] 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:

[0087] Figure 1 is a flow chart of a method for measuring the sag of a ground conductor of a power transmission line according to an embodiment of the present invention;

[0088] Figure 2 It is a flow chart of obtaining a standard line selection coefficient and a standard sag value in a method for measuring the sag of a ground wire of a transmission line according to an embodiment of the present invention;

[0089] Figure 3 It is a flow chart of obtaining a measuring point interval in a method for measuring the sag of a ground wire of a power transmission line according to an embodiment of the present invention;

[0090] Figure 4 It is a flow chart of obtaining three measuring point intervals in a method for measuring the sag of a ground wire of a power transmission line according to an embodiment of the present invention;

[0091] Figure 5 It is a flow chart of measuring point interval division in a method for measuring sag of a ground wire of a power transmission line according to an embodiment of the present invention;

[0092] Figure 6 It is a flow chart of obtaining a real-time line selection coefficient in a method for measuring the sag of a ground wire of a transmission line according to an embodiment of the present invention;

[0093] Figure 7 It is a flow chart of obtaining the horizontal spacing between measuring points in a method for measuring the sag of a ground wire of a power transmission line according to an embodiment of the present invention;

[0094] Figure 8It is a flow chart of obtaining a real-time line selection coefficient in a method for measuring the sag of a ground wire of a transmission line according to an embodiment of the present invention;

[0095] Fig. 9 It is a flow chart of judging the current ground wire sag in a method for measuring the ground wire sag of a power transmission line according to an embodiment of the present invention;

[0096] Fig.10 It is a schematic diagram of obtaining a real-time parabola at three measuring points in a method for measuring the sag of a ground conductor of a power transmission line according to an embodiment of the present invention;

[0097] Fig.11 is a schematic diagram of discretization of a standard parabola in a method for measuring the sag of a ground conductor of a transmission line according to an embodiment of the present invention;

[0098] Fig.12 is a schematic diagram of a standard parabola in a method for measuring the sag of a ground conductor of a power transmission line according to an embodiment of the present invention;

[0099] Fig.13 It is a schematic diagram of the division of measuring point intervals in a method for measuring the sag of a ground conductor of a transmission line according to an embodiment of the present invention. DETAILED DESCRIPTION

[0100] 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.

[0101] Figure 1 1 is a flow chart of a method for measuring the sag of a ground conductor of a power transmission line according to an embodiment of the present invention. Figure 1 In the present invention, the measuring method may include:

[0102] In step S1, the model equation of the standard parabola of the transmission line ground conductor is obtained. Among them, for the ground conductor of the transmission line, there are corresponding sag requirements and standards when it is constructed. Therefore, the model equation of the standard parabola of the transmission line ground conductor can be constructed in advance, and then the model equation of the standard parabola can be constructed according to the data when the ground conductor is constructed or under the standard requirements. Specifically, the endpoint coordinates and the lowest point coordinates of the ground conductor at the time of construction / under the standard can be used to bring into the model equation of the standard parabola, and the various coefficients of the model equation of the standard parabola can be obtained.

[0103] Specifically, the model equation for the standard parabola can be shown as formula (1):

[0104] z=k b x 2 -k blx+tanβ·x, (1)

[0105] Among them, z is the height coordinate of the point on the ground line, x is the horizontal coordinate of the point on the ground line, and k b is the standard line selection coefficient, β is the height difference angle, and l is the horizontal distance between the two end points of the ground wire, that is, the horizontal distance between the two hanging points. Specifically, the height difference angle β is the angle between the connecting line at both ends of the ground wire and the horizontal plane. Since the two hanging points of the ground wire are fixed, the height difference angle β is a known value.

[0106] According to formula (1), the model equation is a relationship in which the horizontal coordinate and the height coordinate of the ground conductor are used as variables. Specifically, the horizontal coordinate is the value on the horizontal plane connecting the two end points.

[0107] In step S2, the standard line selection coefficient and the standard sag value of the ground conductor are obtained according to the model equation of the standard parabola. According to formula (1), the standard line selection coefficient in the model equation of the standard parabola is the coefficient of the equation. Therefore, the coordinates of the endpoints and the lowest point of the ground conductor are introduced to obtain the coefficients of the model equation to obtain the standard line selection coefficient, and the standard sag value can be obtained according to the standard line selection coefficient. Specifically, the acquisition of the standard line selection coefficient and the standard sag value can be obtained according to the following method: Figure 2 Specifically, Figure 2 In the measurement method, the measurement method may further include:

[0108] In step S20, the coordinates of the left end point, the right end point and the lowest point of the ground wire are obtained, wherein the coordinates of the left end point, the right end point and the lowest point of the ground wire are the coordinates of the corresponding state during construction / under the standard.

[0109] In step S21, the horizontal distance between the left end point, the right end point and the lowest point of the ground wire is obtained according to formula (2).

[0110]

[0111] Among them, Fig.12 As shown, ΔL1 is the horizontal distance from the left end point of the ground conductor to the lowest point, and ΔL2 is the horizontal distance from the left end point of the ground conductor to the right end point. is the horizontal coordinate of the left end point of the ground wire, is the horizontal coordinate of the lowest point of the ground conductor, is the horizontal coordinate of the right end point of the ground conductor. Specifically, the horizontal distance ΔL2 from the left end point to the right end point in the model equation of the standard parabola is also the horizontal distance l between the two end points of the ground conductor. Specifically, the horizontal distance between the two points can include the equal-height horizontal arc values ​​of the two measuring points, that is, including the content shown in the subsequent formula (7).

[0112] In step S22, the standard line selection coefficient of the ground conductor is obtained according to formula (3);

[0113]

[0114] Among them, k b is the standard line selection coefficient of the ground conductor, is the height coordinate of the left end point of the ground conductor, is the height coordinate of the lowest point of the ground conductor, Specifically, the coordinates of the left end point, the right end point and the lowest point of the grounding wire are substituted into the model equation of the standard parabola of the grounding wire, and a simple calculation is performed to obtain the transformation formula shown in formula (3).

[0115] In step S23, the standard sag value of the ground conductor is calculated according to formula (4).

[0116]

[0117] Among them, f b is the standard sag value of the ground wire, l is the horizontal distance between the left and right endpoints of the ground wire, l = ΔL2.

[0118] In step S20 to step S23, the coordinates of the left end point, the lowest point and the right end point of the ground conductor are first obtained, and the coordinates of the three points are substituted into the model equation of the standard parabola of the ground conductor to obtain the calculation formula of the standard line selection coefficient. After the standard line selection coefficient is calculated, the standard sag of the ground conductor can be obtained according to the sag calculation formula, which facilitates the subsequent acquisition of accurate measuring point intervals.

[0119] In step S3, three measuring point intervals of the ground conductor are obtained according to the standard line selection coefficient. The measuring point interval of the ground conductor is the best / most accurate selection interval of the measuring points on the ground conductor. The determination of the measuring point interval can be based on the following method: Figure 3 Specifically, Figure 3 In the measurement method, the measurement method may further include:

[0120] In step S30, the standard parabola of the ground conductor is discretized to obtain the coordinates of multiple discrete points on the standard parabola. The discretization of the standard parabola of the ground conductor, that is, forming multiple discrete points on the standard parabola and obtaining the coordinates of each discrete point, can be specifically performed as follows: Fig.11 shown.

[0121] In step S31, points and the lowest point are taken one by one from the two ends of the standard parabola to the middle, and the three discrete points selected each time are taken as a group to obtain multiple grouped discrete points. The k value and the sag amplitude change of each group are analyzed by calculation. Specifically, considering the accuracy of the sag calculation, the middle point of each group can include the optimal lowest point.

[0122] In step S32, the line selection coefficients of the three discrete points in each group are obtained according to formula (1). After the coordinates of any three discrete points are obtained, they are taken as a group, and the line selection coefficients of each group are calculated according to the above formula (3).

[0123] In step S33, the line selection coefficient accuracy of each group of three discrete points is obtained according to formula (5).

[0124] Δ k =|k ′ -k b |, (5)

[0125] Among them, Δ k is the line selection coefficient accuracy of the three discrete points in each group, k ′ is the line selection coefficient of three discrete points in each group. Specifically, the line selection coefficient accuracy is the error with the standard line selection coefficient.

[0126] In step S34, the three measuring point intervals of the ground conductor are obtained according to the line selection coefficient accuracy of each group of three discrete points. After obtaining the line selection coefficient accuracy of multiple groups of three discrete points, the three measuring point intervals of the ground conductor are determined according to the multiple values. Specifically, the step of determining the measuring point interval can be as follows: Figure 4 Specifically, Figure 4 In the measurement method, the measurement method may further include:

[0127] In step S340, multiple groups of minimum precision discrete points whose line selection coefficient precision is less than a preset threshold are obtained. By comparing the line selection coefficient precision with the preset threshold, multiple groups of (minimum precision) discrete points can be obtained, each group including three discrete points.

[0128] In step S341, three discrete point cluster centers are obtained based on multiple groups of minimum precision discrete points. The three discrete points in each group are concentratedly distributed, that is, three discrete point clusters are formed, and the cluster center of each cluster is obtained, which can also be understood as the center point of the discrete points. Specifically, for the middle cluster center, if each group selects the lowest point as the middle point, then the middle cluster center is also the lowest point.

[0129] In step S342, the minimum horizontal spacing is obtained according to the cluster centers of the three discrete points. The minimum horizontal spacing is the basis for the division of the subsequent measuring point intervals, so the minimum horizontal spacing may include the selection of the cluster range of each cluster. Specifically, the mean of the cluster ranges of the three clusters may be selected. Considering the accuracy and effect of the interval measuring point selection, the value with the smallest cluster range among the three clusters may also be selected as the minimum horizontal spacing. If the middle cluster is the lowest point, the other two clusters are selected for conversion. In addition, considering that the three cluster ranges are all large, it may affect the measurement accuracy after point selection, and the shortest distance between adjacent clusters may also be used as the minimum horizontal spacing.

[0130] In step S343, the length of the measuring point interval is obtained according to the minimum horizontal spacing. The length of the measuring point interval may include the minimum horizontal spacing. In addition, the division of the measuring point interval may include an equal division method. If the equal division method is used, the number of measuring point intervals can be calculated according to formula (6):

[0131]

[0132] in, is the number of divisions of the measuring point interval, is the minimum horizontal spacing.

[0133] In step S344, three measuring point intervals of the ground conductor are obtained according to the measuring point interval length. After the measuring point interval length is obtained, three measuring point intervals can be obtained according to the measuring point interval length. The specific division step can be as follows: Figure 5 Specifically, Figure 5 In the step of dividing, the dividing step may include:

[0134] In step S3440, the middle discrete point cluster center is used as the middle value of the middlemost measuring point interval, and the first interval is obtained according to the division length of the measuring point interval. The middle value of the measuring point interval is extended to the left and right by 1 / 2 of the division length of the measuring point interval to obtain the first interval.

[0135] In step S3441, the second interval, the third interval, the fourth interval and the fifth interval are sequentially divided along the two sides of the first interval according to the division length of the measuring point interval. Among them, after obtaining the first interval, the fourth interval and the fifth interval can be obtained respectively according to the positions and division lengths of the remaining two cluster centers, the second interval is formed between the first interval and the fourth interval, and the third interval is formed between the first interval and the fifth interval. It is also possible to extend the division length of the measuring point interval on the left and right sides of the first interval after obtaining the first interval and use them as the second interval and the third interval respectively; extend the division length of the measuring point interval on the left side of the second interval and the right side of the third interval respectively and use them as the fourth interval and the fifth interval respectively. Specifically, considering that each cluster center / center point reflects the range of the selected point interval corresponding to the highest sag measurement accuracy, each cluster center is taken as the measuring point interval center as the midpoint of the interval. In addition, considering that the clusters located on both sides are generally concentrated near the two end points of the ground conductor, the fourth interval and the fifth interval can also be divided near the two end points of the ground conductor according to the division length, the second interval is formed between the first interval and the fourth interval, and the third interval is formed between the first interval and the fifth interval. Specifically, the divided interval can be Fig.13 shown.

[0136] In step S3442, the first section, the fourth section and the fifth section are used as three measuring point sections of the ground wire.

[0137] In step S3440 to step S3442, after obtaining the three discrete point cluster centers and the division length of the measuring point interval, the middle discrete point cluster center is used as the middle value of the middlemost measuring point interval, that is, the middle value of the first interval. Then, according to half the distance of the division length of the measuring point interval, the division is extended on both sides of the middle value to obtain the first interval. Then, according to the positions and division lengths of the remaining two cluster centers, the fourth interval and the fifth interval are obtained respectively, the second interval is formed between the first interval and the fourth interval, and the third interval is formed between the first interval and the fifth interval. Finally, the first interval, the fourth interval and the fifth interval are selected as the three measuring point intervals of the ground conductor.

[0138] In step S340 to step S344, after obtaining the line selection coefficient accuracy of multiple groups of discrete points, they can be compared with the preset threshold to obtain multiple groups of discrete points with smaller / minimum accuracy. The cluster centers of three discrete points can be obtained based on the distribution of multiple groups of discrete points with minimum accuracy, and the minimum horizontal spacing of the three discrete point cluster centers can be obtained and converted into the measurement point interval length. The measurement point interval of the ground conductor can be divided according to the measurement point interval length and the discrete point cluster center.

[0139] In step S30 to step S34, for obtaining the measuring point interval of the ground conductor, the standard parabola of the ground conductor is first discretized to obtain the coordinates of multiple discrete points. Three discrete points are randomly selected and the corresponding line selection coefficient accuracy is obtained, and then the line selection coefficient accuracy of multiple groups of discrete points can be obtained. According to the line selection coefficient accuracy of multiple groups of discrete points, the interval range of the optimal measuring point selection can be determined, that is, the three measuring point intervals can be determined according to the line selection coefficient accuracy, thereby effectively improving the accuracy and efficiency of measuring point selection.

[0140] In step S4, the coordinates of the measuring points on the current ground wire that are within the three measuring point intervals are obtained. Wherein, when it is actually necessary to measure the real-time sag on the ground wire, a drone is used to take real-time photos of the ground wire, and the coordinates of three measuring points on the ground wire that are within the three measuring point intervals are randomly obtained. Specifically, the three measuring point intervals are not located near the end point of the ground wire, but are located near the lowest point of the ground wire. Therefore, in the case of a tension tower or the like where it is not easy to measure the end of the ground wire, this method can be used to accurately obtain the real-time sag of the ground wire.

[0141] In step S5, the real-time line selection coefficient of the current ground conductor is obtained according to the coordinates of the three measuring points within the three measuring point interval. After obtaining the coordinates of the three measuring points within the three measuring point interval, the real-time line selection coefficient of the current ground conductor can be calculated according to the three measuring points. The calculation steps of the real-time line selection coefficient can be as follows: Figure 6 Specifically, Figure 6 In the measurement method, the measurement method may further include:

[0142] In step S50, the horizontal spacing between the three measuring points is obtained according to the measuring point coordinates of the three measuring point intervals. The measuring point coordinates output by the sag measuring device may include longitude and latitude coordinates, so it is necessary to convert the longitude and latitude coordinates of the measuring points captured by the sag measuring device. Specifically, according to the content shown in formula (3), when calculating the line selection coefficient of the ground conductor, it is also necessary to obtain the horizontal spacing between the three measuring points, so the horizontal spacing between the three measuring points can be obtained according to the longitude and latitude coordinates of the measuring points.

[0143] Specifically, Figure 7 As shown, the measurement method may also include:

[0144] In step S500, the radian values ​​of the three measuring points are obtained. Specifically, the radian values ​​of the measuring points can be calculated as shown in formula (14):

[0145]

[0146] Among them, ω a is the first radian value of measuring point A (the first measuring point), λ a is the second radian value of measuring point A (first measuring point), Ωa is the longitude of measuring point A (the first measuring point), Γ a is the latitude of measuring point A (the first measuring point), ω b is the first arc value of measuring point B (second measuring point), λ b is the second radian value of measuring point B (second measuring point), Ω b is the longitude of measuring point B (the second measuring point), Γ b is the latitude of measuring point B (the second measuring point). Specifically, the first measuring point and the second measuring point may include any two points among the three measuring points.

[0147] In step S501, the horizontal distance between the three measuring points is calculated according to formula (7):

[0148] L ab =R·cos -1 (cosω a cosω b ·(cos(λ a -λ b )+sinω a sinω b ), (7)

[0149] Among them, L ab is the horizontal distance between the first measuring point and the second measuring point on the ground line, and R is the average radius of the earth. Specifically, the coordinates of the measuring points are substituted into formula (7) to obtain the horizontal distance between the measuring points, including the horizontal distance L1 between the measuring points in the second interval and the measuring points in the first interval, the horizontal distance L2 between the measuring points in the second interval and the measuring points in the third interval, etc.

[0150] In step S51, the real-time line selection coefficient of the current ground line is obtained according to the coordinates of the measuring points within the three measuring point intervals and the horizontal spacing between the three measuring points. The real-time line selection coefficient of the current ground line can be calculated by referring to the calculation of the standard line selection coefficient. Specifically, the calculation steps of the real-time line selection coefficient can be as follows: Figure 8 As shown, in Figure 8 In the measurement method, the measurement method may further include:

[0151] In step S510, the equation group of the real-time parabola of the current ground conductor is obtained according to formula (8):

[0152]

[0153] Among them, z1 is the height coordinate value of the first measuring point, z2 is the height coordinate value of the second measuring point, z3 is the height coordinate value of the third measuring point, x0 is the horizontal distance from the left end point of the ground line to the first measuring point, k is the real-time line selection coefficient of the current ground line, ΔL 1tis the horizontal distance from the first measuring point to the second measuring point, ΔL 2t It is the horizontal distance from the first measuring point to the third measuring point.

[0154] In step S511, the real-time line selection coefficient of the current ground conductor is obtained according to formula (9):

[0155]

[0156] Wherein, k is the real-time line selection coefficient of the current ground wire.

[0157] In step S50 to step S51, if Fig.10 As shown in the figure, the horizontal spacing between the three measuring points is first obtained according to the coordinates of the measuring points within the three measuring point intervals, and then the real-time line selection coefficient of the current ground conductor is calculated according to the horizontal spacing and the coordinates of the three measuring points, and then the model equation of the real-time parabola of the current ground conductor can be obtained. The method of selecting measuring points within the measuring point interval to calculate the real-time line selection coefficient of the current ground conductor is convenient and safe to identify the coordinate points on the one hand, and accurate and reliable to calculate the structure on the other hand.

[0158] In step S6, the model equation of the real-time parabola of the current ground conductor is obtained according to the real-time line selection coefficient. After obtaining the real-time line selection coefficient of the current ground conductor, the model equation of the real-time parabola of the current ground conductor can be obtained as shown in formula (10),

[0159] z t =kx t 2 -klx t +tanβ· t , (10)

[0160] Among them, z t is the height coordinate of the point on the current ground line, x t The horizontal coordinates of the point on the current ground line.

[0161] In step S7, the real-time sag value of the current ground conductor is obtained according to the model equation of the real-time parabola of the current ground conductor. After obtaining the model equation of the real-time parabola, the real-time sag value of the current ground conductor can be calculated according to formula (11):

[0162]

[0163] Wherein, f is the real-time sag value of the current ground conductor.

[0164] In step S1 to step S7, firstly, the standard line selection coefficient and the standard sag value of the ground conductor are obtained according to the model equation of the standard parabola of the ground conductor in the transmission line. Then, according to the error accuracy of the standard line selection coefficient and the line selection coefficient of any three discrete points on the standard parabola, the three measuring point intervals on the ground conductor are determined. Specifically, the points inside the three measuring point intervals are the intervals corresponding to the minimum error of the standard line selection coefficient. Therefore, in practice, the coordinates of the three measuring points within the three measuring point intervals are obtained in real time, and the real-time line selection coefficient and the model equation of the real-time parabola of the current ground conductor are determined according to the coordinates of the three measuring points. Finally, the real-time sag value of the current ground conductor is obtained according to the model equation of the real-time parabola.

[0165] The traditional method of measuring the sag of the ground wire mostly uses the coordinates of the endpoints of the ground wire and the coordinates of the lowest point of the ground wire to obtain the coordinates. However, due to the diversity of transmission towers and the interference of hardware such as insulators on the transmission towers, it is difficult to measure the endpoint coordinates of transmission towers such as tension towers, which in turn affects the accuracy and efficiency of sag measurement. In this embodiment of the present invention, a standard parabola is used to obtain the measuring point interval of the ground wire, and combined with the real-time measuring points within the current three measuring point intervals, the real-time sag of the ground wire can be accurately and efficiently obtained, and the convenience of measuring the sag of the ground wire of different towers is effectively improved, with stronger versatility and wider applicability.

[0166] In this embodiment of the present invention, in order to further determine that the real-time sag of the current ground wire meets the sag requirement, the error verification of the real-time sag value can be performed. The specific verification steps can be as follows: Fig. 9 Specifically, Fig. 9 In the measurement method, the measurement method may further include:

[0167] In step S80, the sag difference of the ground conductor is obtained according to formula (12):

[0168] Δ f = |ff b |, (12)

[0169] Among them, Δ f is the sag difference of the ground wire.

[0170] In step S81, the sag error of the ground conductor is obtained according to formula (13):

[0171]

[0172] Among them, d f is the sag error of the ground wire.

[0173] In step S82, it is determined whether the sag error of the current ground conductor is within a preset error threshold range.

[0174] In step S83, when it is determined that the sag error of the current ground conductor is within the preset error threshold range, it is determined that the sag of the current ground conductor is normal.

[0175] In step S84, when it is determined that the sag error of the current ground wire is not within the preset error threshold range, it is determined that the sag of the current ground wire is abnormal. If the sag error of the current ground wire is not within the preset error threshold range, it means that the current ground wire is under heavy pressure such as snow and ice, and there is a risk of breaking, so corresponding emergency measures need to be taken as soon as possible.

[0176] In steps S80 to S84, after obtaining the real-time sag value of the ground wire, the sag difference and sag error of the current ground wire need to be calculated. The sag error is compared with the preset error threshold to determine whether the current ground wire is under heavy pressure, etc. If so, corresponding preventive measures need to be taken as soon as possible to ensure the reliability of the transmission line.

[0177] On the other hand, the present invention also provides a system for measuring the sag of a ground wire of a power transmission line. Specifically, the measuring system may include a drone and a controller. Specifically, the drone may include a sag measuring device.

[0178] The drone is provided with a sag measuring device, which is used to identify and obtain the coordinates of three measuring points within the three measuring point interval on the ground wire of the transmission line. The controller is connected to the drone for communication, and is used to calculate the real-time sag value of the current ground wire according to the coordinates of the three measuring points identified and obtained by the sag measuring device. The controller is used to execute any of the above measurement methods. Specifically, the sag measuring device may include an RTK camera.

[0179] 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 as to enable the machine to execute any of the above measurement methods.

[0180] Through the above technical scheme, the transmission line ground wire sag measurement method, measurement system and storage medium provided by the present invention construct a model equation of the standard parabola of the transmission line ground wire, determine three measuring point intervals of the ground wire according to the standard parabola, then obtain the coordinates of three measuring points on the current ground wire located within the three measuring point intervals, and obtain the real-time sag value of the current ground wire according to the three measuring point coordinates; by using the standard parabola to obtain the measuring point interval and obtaining the real-time measuring point coordinates according to the measuring point interval, the real-time sag of the ground wire can be accurately and efficiently obtained, and the convenience of measuring the sag of the ground wire is effectively improved.

[0181] 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 in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0182] 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 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0183] 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 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0184] 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 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0185] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0186] 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.

[0187] 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 versatile 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.

[0188] 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 more restrictions, 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.

[0189] 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 measuring the sag of a ground wire of a power transmission line, characterized in that: include: Obtaining the model equation of the standard parabola of the transmission line ground conductor; Obtaining a standard line selection coefficient and a standard sag value of the ground conductor according to a model equation of the standard parabola; Obtain three measuring point intervals of the ground conductor according to the standard line selection coefficient; Obtaining the coordinates of the measuring points on the current ground conductor that are within the three measuring point intervals; Obtaining the real-time line selection coefficient of the current ground conductor according to the coordinates of the measuring points within the three measuring point intervals; Obtaining a model equation of a real-time parabola of the current ground conductor according to the real-time line selection coefficient; The real-time sag value of the current ground conductor is obtained according to the model equation of the real-time parabola of the current ground conductor.

2. The measuring method according to claim 1, characterized in that: The model equations for obtaining the standard parabola of the transmission line ground conductor include: The model equation of the standard parabola is shown in formula (1), z=k b x 2 -k b lx+tanβ·x,(1) Wherein, z is the height coordinate of the point on the ground line, x is the horizontal coordinate of the point on the ground line, and k b is the standard line selection coefficient, β is the height difference angle, and l is the horizontal distance between the two end points of the ground wire.

3. The measuring method according to claim 2, characterized in that: Obtaining the standard sag value and standard line selection coefficient of the ground conductor according to the model equation of the standard parabola includes: Obtain the coordinates of the left endpoint, the right endpoint and the lowest point of the ground wire; According to formula (2), the horizontal distance between the left end point, the right end point and the lowest point of the ground wire is obtained. Wherein, ΔL1 is the horizontal distance from the left end point of the ground wire to the lowest point, and ΔL2 is the horizontal distance from the left end point of the ground wire to the right end point. is the horizontal coordinate of the left end point of the ground wire, is the horizontal coordinate of the lowest point of the ground wire, is the horizontal coordinate of the right endpoint of the ground wire; Obtaining the standard line selection coefficient of the ground wire according to formula (3); Among them, k b is the standard line selection coefficient of the ground conductor, is the height coordinate of the left end point of the ground wire, is the height coordinate of the lowest line of the ground conductor, is the height coordinate of the right endpoint of the ground wire.

4. The measuring method according to claim 3, characterized in that: Obtaining the standard sag value and the standard line selection coefficient of the ground conductor according to the model equation of the standard parabola also includes: The standard sag value of the ground conductor is calculated according to formula (4): Among them, f b is the standard sag value of the ground wire.

5. The measuring method according to claim 4, characterized in that: The three measuring point intervals of the ground wire are obtained according to the standard line selection coefficient, including: Discretizing the standard parabola of the ground conductor to obtain coordinates of a plurality of discrete points on the standard parabola; Points are taken one by one from both ends of the standard parabola to the middle and the lowest point is taken, and three discrete points selected each time are taken as a group to obtain multiple grouped discrete points; Obtain line selection coefficients of the three discrete points in each group according to formula (1); According to formula (5), the line selection coefficient accuracy of the three discrete points in each group is obtained. D k =|k ′ -k b |, (5) Among them, Δ k k is the line selection coefficient accuracy of the three discrete points in each group, ′ is the line selection coefficient of each group of three discrete points; The three measuring point intervals of the ground conductor are obtained according to the line selection coefficient accuracy of the three discrete points in each group.

6. The measuring method according to claim 5, characterized in that: Acquiring three measuring point intervals of the ground conductor according to the line selection coefficient accuracy of the three discrete points in each group includes: Acquire multiple groups of minimum precision discrete points whose precision of the line selection coefficient is less than a preset threshold; Obtain three discrete point cluster centers based on multiple groups of minimum precision discrete points; Obtain the minimum horizontal spacing based on the cluster centers of three discrete points; Obtaining the measuring point interval length according to the minimum horizontal spacing; Three measuring point intervals of the ground wire are obtained according to the measuring point interval lengths.

7. The measuring method according to claim 6, characterized in that: Acquiring three measuring point intervals of the ground wire according to the measuring point interval length includes: Taking the middle discrete point cluster center as the middle value of the middle measuring point interval, and obtaining the first interval according to the division length of the measuring point interval; According to the division length of the measuring point interval, the second interval, the third interval, the fourth interval and the fifth interval are divided in sequence along both sides of the first interval; The first section, the fourth section and the fifth section are used as three measuring point sections of the ground wire.

8. The measuring method according to claim 2, characterized in that: Acquiring the real-time line selection coefficient of the current ground conductor according to the coordinates of the measuring points within the three measuring point intervals includes: Obtaining the horizontal spacing between the three measuring points according to the coordinates of the measuring points within the three measuring point intervals; The real-time line selection coefficient of the current ground conductor is obtained according to the coordinates of the measuring points within the three measuring point intervals and the horizontal distances between the three measuring points.

9. The measuring method according to claim 8, characterized in that: Acquiring the horizontal spacing between three measuring points according to the coordinates of the measuring points within the three measuring point intervals comprises: The horizontal spacing between the three measuring points is calculated according to formula (7): L ab =R cos -1 (cosω) a I'm sorry. b ·(cos(λ a -l b )+sinω a sin b ),(7) Among them, L ab is the horizontal distance between the first measuring point and the second measuring point on the ground wire, R is the average radius of the earth, ω a is the first radian value of the first measuring point, ω b is the first arc value of the second measuring point, λ a is the second radian value of the first measuring point, λ b is the second radian value of the second measuring point.

10. The measuring method according to claim 9, characterized in that: Acquiring the real-time line selection coefficient of the current ground conductor according to the coordinates of the measuring points within the three measuring point intervals and the horizontal spacing between the three measuring points also includes: According to formula (8), the equation group of the real-time parabola of the current ground conductor is obtained. Among them, z1 is the height coordinate value of the first measuring point, z2 is the height coordinate value of the second measuring point, z3 is the height coordinate value of the third measuring point, x0 is the horizontal distance from the left end point to the first measuring point, ΔL 1t is the horizontal distance from the first measuring point to the second measuring point, ΔL 2t is the horizontal distance from the first measuring point to the third measuring point, and k is the real-time line selection coefficient of the current ground wire.

11. The measuring method according to claim 10, characterized in that: Acquiring the real-time line selection coefficient of the current ground conductor according to the coordinates of the measuring points within the three measuring point intervals and the horizontal spacing between the three measuring points also includes: According to formula (9), the real-time line selection coefficient of the current ground wire is obtained: Wherein, k is the real-time line selection coefficient.

12. The measuring method according to claim 11, characterized in that: The model equation for obtaining the real-time parabola of the current ground conductor according to the real-time line selection coefficient includes: According to formula (10), the model equation of the real-time parabola of the current ground conductor is obtained. z t =kx t 2 -klx t +tanβ·x t ,(10) Among them, z t is the height coordinate of the point on the current ground line, x t The horizontal coordinate of the point on the current ground line.

13. The measuring method according to claim 11, characterized in that: Acquiring the real-time sag value of the current ground conductor according to the model equation of the real-time parabola of the current ground conductor comprises: According to formula (11), the real-time sag value of the current ground conductor is obtained. Wherein, f is the real-time sag value of the current ground wire.

14. The measuring method according to claim 13, characterized in that: Acquiring the real-time sag value of the current ground conductor according to the model equation of the real-time parabola of the current ground conductor also includes: According to formula (12), the sag difference of the ground conductor is obtained: D f =|ff b |, (12) Among them, Δ f is the sag difference of the ground wire.

15. The measuring method according to claim 14, characterized in that: Acquiring the real-time sag value of the current ground conductor according to the model equation of the real-time parabola of the current ground conductor also includes: According to formula (13), the sag error of the ground conductor is obtained: Among them, d f is the sag error of the ground wire.

16. A system for measuring the sag of a ground conductor of a power transmission line, characterized in that: include: A drone, wherein the drone is provided with a sag measuring device, and the sag measuring device is used to identify and obtain the coordinates of three measuring points within a three-measurement point interval on a ground wire in a transmission line; A controller is communicatively connected to the drone and is used to calculate the real-time sag value of the current ground wire according to the coordinates of the three measuring points identified and obtained by the sag measuring device, and is used to execute the measurement method as described in any one of claims 1-15.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and the instructions are used to be read by a machine so that the machine executes the measurement method according to any one of claims 1 to 15.

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