Multi-split conductor synchronous optimization automatic identification method and system

Abstract

The embodiment of the invention provides a multi-split conductor synchronous optimization automatic identification method and system, and belongs to the technical field of conductor automatic identification. The automatic identification method comprises the following steps: driving a range radar to carry out ring measurement on a standard multi-split conductor according to a preset radius; acquiring a distance set between the ranging radar and each conductor in the standard multi-split conductor during ring measurement; according to a distance set between the distance measuring radar and each conductor in the standard multi-split conductor during ring measurement, obtaining a distance measuring interval of the standard multi-split conductor; driving the distance measuring radar to move into a distance measuring interval of the current multi-split conductor, and acquiring a distance set between the distance measuring radar and each conductor in the current multi-split conductor; by automatically identifying the multi-split conductor, the low efficiency of manual operation is avoided, the identification efficiency of the multi-split conductor is greatly improved, the position and the number of the conductor can be accurately identified, the identification accuracy is improved, and the operation stability of the conductor is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic identification of conductors, and in particular to a synchronously optimized automatic identification method and system for multiple split conductors. Background Art

[0002] In power transmission lines and communication networks, the splitting and connection of conductors are common phenomena. During the inspection of power transmission lines, for example, when measuring the conductor spacing and sag, it is necessary to identify each conductor in the multiple split conductors.

[0003] Traditional wire identification and optimization methods usually rely on manual monitoring, that is, manual ground measurement methods, and each wire needs to be measured one by one. These methods have certain limitations in efficiency and accuracy. Especially when there are many wires and the splitting situation is complicated, traditional methods are difficult to achieve real-time and efficient automatic identification, and thus cannot effectively inspect and maintain multiple split wires, resulting in poor reliability of transmission lines. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a method and system for automatically identifying multiple split conductors through synchronous optimization. The identification method can efficiently and accurately identify multiple split conductors.

[0005] In order to achieve the above object, an embodiment of the present invention provides an automatic identification method for synchronous optimization of multiple split conductors, the automatic identification method comprising:

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

[0007] Acquire a distance set between the ranging radar and each conductor in the standard multi-split conductor during loop measurement;

[0008] Acquire the ranging interval of the standard multi-split conductor according to the distance set between the ranging radar and each conductor in the standard multi-split conductor during the loop measurement;

[0009] Driving the ranging radar to move to the ranging interval of the current multi-split conductors, and obtaining a distance set between the ranging radar and each conductor in the current multi-split conductors;

[0010] The wire number in the multi-branch wire is identified according to the distance set between the ranging radar and each wire in the multi-branch wire.

[0011] Optionally, obtaining a distance set between the ranging radar and each conductor in the standard multi-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 multi-split conductor;

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

[0014] Obtaining the conductor section coordinates of each conductor in the standard multi-split conductor except for the coincident measurement points;

[0015] A distance set between each conductor in the standard multi-branch conductor and the ranging radar is obtained according to the conductor profile coordinates of each conductor in the standard multi-branch conductor except for the coincident measurement points.

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

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

[0018] Δt=t e -t s , (1)

[0019] Where Δt is the total time difference of synchronous measurement, t e is the time it takes for the ranging radar to complete scanning the starting point, t s It is the time when the ranging radar completes scanning the last measuring point.

[0020] Optionally, obtaining the coincidence measurement points of the standard multi-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 multi-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 multi-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 a distance set between each conductor in the standard multi-split conductor and the ranging radar according to the conductor profile coordinates of each conductor in the standard multi-split conductor except for the coincident measurement points includes:

[0024] According to formulas (2) to (3), the distance value between the ranging radar and each conductor in the standard multi-split conductor at each measuring point is obtained.

[0025]

[0026] in, is the first angle value, θ is the second angle value, a is the first parameter value, b is the second parameter value, R is the ring radius, b is the spacing between each conductor in the multi-split conductor, X ijA is the cross-sectional coordinate of the conductor ij (X ij , Y ij ) to the origin, Y ij A is the cross-sectional coordinate of the conductor ij (X ij , Y ij ) to the origin, θ is the rotation angle of the ring radius R;

[0027] A distance set between each conductor in the standard multi-branch conductor and the ranging radar is constructed according to the distance value of each conductor in the standard multi-branch conductor.

[0028] Optionally, obtaining the ranging interval of the standard multi-split conductor according to the distance set between the ranging radar and each conductor in the standard multi-split conductor during the loop measurement includes:

[0029] The distance values ​​between the ranging radar and each conductor in the standard multi-split conductor in each distance set are sorted from small to large;

[0030] According to formula (4), the adjacent distance difference is obtained:

[0031] Δd i =|d i+1 -d i |, (4)

[0032] Among them, d i represents the i-th distance value in the distance set, d i+1 represents the i+1th distance value in the distance set, Δd i is the adjacent distance difference.

[0033] The distance measurement interval of the standard multi-split conductor is obtained according to the adjacent distance difference.

[0034] Optionally, obtaining the ranging interval of the standard multi-split conductor according to the optimal distance difference includes:

[0035] Obtaining the difference between two consecutive adjacent distance differences, and accumulating the sum of the differences;

[0036] Obtaining the distance set corresponding to the difference and the minimum and the measuring point corresponding to the distance set, and using them as the distance measurement optimal point;

[0037] A distance set in which the optimal distance measurement points are arranged in ascending order is used as a standard distance set.

[0038] Optionally, obtaining the ranging interval of the standard multi-split conductor according to the optimal distance difference further includes:

[0039] Get the angle of the optimal distance measurement point;

[0040] According to formula (5), the optimal ranging interval is obtained:

[0041]

[0042] in, is the optimal ranging interval, θ is the angle of the optimal ranging point, and Δθ is the preset angle.

[0043] Optionally, identifying the wire number in the multiple-branch wire according to the distance set between the ranging radar and each wire in the multiple-branch wire currently comprises:

[0044] Determining whether the number of wire splits of the current multi-split wire is four;

[0045] When it is determined that the number of wire splits of the current multi-split wire is four, identifying wire numbers in the four-split wire;

[0046] When it is determined that the number of wire splits of the current multi-split wire is not four, determining whether the number of wire splits of the current multi-split wire is six;

[0047] When it is determined that the number of wire splits of the current multi-split wire is six, identifying wire numbers in the six-split wire;

[0048] When it is determined that the number of wire splits of the current multi-split wire is not six, determining whether the number of wire splits of the current multi-split wire is eight;

[0049] When it is determined that the number of wire splits of the current multi-split wire is eight, the wire numbers of the eight-split wires are identified.

[0050] Optionally, identifying the conductor number in a quad split conductor includes:

[0051] Obtaining the ranging interval in which the ranging radar is currently located and the corresponding standard distance set;

[0052] Sort the distance values ​​in the distance set of the current four split conductors from small to large;

[0053] The conductor corresponding to each distance value in the sorted distance set is mapped to the standard distance set.

[0054] Optionally, identifying the wire number in the six-split wire includes:

[0055] Obtaining the ranging interval in which the ranging radar is currently located and the corresponding standard distance set;

[0056] Sort the distance values ​​in the distance set of the current six split conductors from small to large;

[0057] The conductor corresponding to each distance value in the sorted distance set is mapped to the standard distance set.

[0058] Optionally, identifying the wire number in the six-split wire includes:

[0059] Obtaining the ranging interval in which the ranging radar is currently located and the corresponding standard distance set;

[0060] Sort the distance values ​​in the distance set of the current six split conductors from small to large;

[0061] The conductor corresponding to each distance value in the sorted distance set is mapped to the standard distance set.

[0062] On the other hand, the present invention provides an automatic identification system for synchronous optimization of multiple split conductors, the automatic identification system comprising:

[0063] A drone, wherein the drone is provided with a ranging radar;

[0064] A controller is communicatively connected to the ranging radar and is used to execute any of the automatic identification methods described above.

[0065] On the other hand, the present invention provides a machine-readable storage medium having instructions stored thereon, wherein the instructions are used to enable a machine to execute any of the automatic identification methods described above.

[0066] Through the above technical scheme, first, the ranging radar is driven to perform a ring measurement on the standard multi-split conductor according to a preset radius; secondly, a distance set between the ranging radar and each conductor in the standard multi-split conductor during the ring measurement is obtained; then, the multi-split conductor is synchronously measured according to the mathematical model diagram to obtain the total time difference of the synchronous measurement; then, the ranging interval of the standard multi-split conductor is obtained according to the distance set between the ranging radar and each conductor in the standard multi-split conductor during the ring measurement; finally, the conductor number in the multi-split conductor is identified according to the distance set between the ranging radar and each conductor in the current multi-split conductor. The present invention avoids the inefficiency of manual operation by automatically identifying multi-split conductors and performing synchronous optimization, greatly improves the recognition efficiency of multi-split conductors, can accurately identify the position and number of the conductors, improves the accuracy of recognition, and ensures the stability of the conductor operation.

[0067] 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

[0068] 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:

[0069] Figure 1 is a flow chart of a method for automatic identification of synchronous optimization of multiple split conductors according to an embodiment of the present invention;

[0070] Figure 2 It is a flowchart of obtaining a distance set in a method for automatic identification of synchronous optimization of multiple split conductors according to an embodiment of the present invention;

[0071] Figure 3 It is a flowchart of obtaining coincident measurement points in a method for automatic identification of synchronous optimization of multiple split conductors according to an embodiment of the present invention;

[0072] Figure 4 It is a flowchart of obtaining a distance set in a method for automatic identification of synchronous optimization of multiple split conductors according to an embodiment of the present invention;

[0073] Figure 5 It is a flowchart of obtaining ranging intervals in a method for automatic identification of synchronous optimization of multiple split conductors according to an embodiment of the present invention;

[0074] Figure 6 It is a flowchart of obtaining conductor numbers in a method for synchronously optimizing and automatically identifying multiple split conductors according to an embodiment of the present invention;

[0075] Figure 7 It is a flowchart of four-split conductor mapping in a method for automatic identification of synchronous optimization of multiple-split conductors according to an embodiment of the present invention;

[0076] Figure 8 It is a flowchart of six-split conductor mapping in a method for automatic identification of synchronous optimization of multiple-split conductors according to an embodiment of the present invention;

[0077] Fig. 9 It is a flowchart of eight-splitting conductor mapping in a method for automatic identification of synchronous optimization of multiple-splitting conductors according to an embodiment of the present invention;

[0078] Fig.10 It is a mathematical modeling diagram of four-splitting, six-splitting and eight-splitting in a method for automatic identification of synchronous optimization of multi-splitting conductors according to an embodiment of the present invention;

[0079] Fig.11 is a diagram of periodic variation of four-splitting conductor distance measurement in a method for synchronous optimization and automatic identification of multiple-splitting conductors according to an embodiment of the present invention;

[0080] Fig.12 is a graph of periodic variation of six-split conductor distance measurement in a method for synchronous optimization and automatic identification of multiple-split conductors according to an embodiment of the present invention;

[0081] Fig.13 is a graph of periodic variation of eight-splitting conductor distance measurement in a method for synchronous optimization and automatic identification of multiple-splitting conductors according to an embodiment of the present invention;

[0082] Fig.14 It is an optimal measurement area of ​​four-splitting conductors in a method for automatic identification of synchronous optimization of multiple-splitting conductors according to an embodiment of the present invention;

[0083] Fig.15 It is a schematic diagram of wire number identification of four-splitting, six-splitting and eight-splitting in a method for automatic identification of synchronous optimization of multi-splitting wires according to an embodiment of the present invention;

[0084] Fig.16 The present invention is a flowchart of obtaining an optimal ranging interval in a method for automatic identification of synchronous optimization of multiple split conductors according to an embodiment of the present invention. DETAILED DESCRIPTION

[0085] 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.

[0086] 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.

[0087] like Figure 1 As shown, Figure 1 is a flowchart of a method for automatically identifying synchronous optimization of multiple split conductors according to one embodiment of the present invention, in which Figure 1 In the automatic identification method, the automatic identification method comprises the following steps:

[0088] In step S01, a range-finding radar is driven to perform a ring measurement on a standard multi-split conductor according to a preset radius. In the process of performing a ring measurement on the standard multi-split conductor, the range-finding radar uses a cross-sectional scanning method to measure the distance of each conductor. Specifically, the range-finding radar may include a laser radar.

[0089] In step S02, a distance set between the ranging radar and each conductor in the standard multi-split conductor during loop measurement is obtained.

[0090] In step S03, the ranging interval of the standard multi-split conductor is obtained according to the distance set between the ranging radar and each conductor in the standard multi-split conductor during the loop measurement.

[0091] In step S04, the ranging radar is driven to move into the ranging interval of the current multi-split conductor, and a distance set between the ranging radar and each conductor in the current multi-split conductor is obtained.

[0092] In step S05, the wire number in the multi-split wire is identified according to the distance set between the ranging radar and each wire in the current multi-split wire.

[0093] In this embodiment, first, the ranging radar is driven to perform a ring measurement on the standard multi-split conductor according to a preset radius; second, a distance set between the ranging radar and each conductor in the standard multi-split conductor during the ring measurement is obtained; then, the ranging interval of the standard multi-split conductor is obtained according to the distance set between the ranging radar and each conductor in the standard multi-split conductor during the ring measurement; finally, the conductor number in the multi-split conductor is identified according to the distance set between the ranging radar and each conductor in the current multi-split conductor. The present invention avoids the inefficiency of manual operation by automatically identifying multi-split conductors and performing synchronous optimization, greatly improves the recognition efficiency of multi-split conductors, can accurately identify the position and number of the conductors, improves the accuracy of recognition, and ensures the stability and efficiency of the conductor operation.

[0094] In this implementation, the method for obtaining the distance set between the ranging radar and each wire in the standard multi-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, for example Figure 2 As shown, the specific steps of obtaining the distance set between the ranging radar and each wire in the standard multi-split wire during the ring measurement are as follows:

[0095] In step S021, the total time difference of synchronous measurement between the measuring point of the ranging radar and the standard multi-split conductor is obtained, wherein 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 multi-split conductor when the ranging radar is at a certain point in the loop measurement.

[0096] In step S022, the coincidence measurement point of the standard multi-split conductor is obtained according to the total time difference of synchronous measurement. If the ranging radar is located or approximately located on the extension line of any two conductors in the multi-split conductor, it may only measure the distance to some conductors or the ranging radar takes a particularly long time to scan the farther conductors. 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 coincidence measurement points or coincidence measurement intervals to ensure the need for synchronous measurement of multiple conductors in the multi-split conductor. Specifically, the coincidence measurement point may also include a coincidence measurement interval.

[0097] In step S023, the conductor section coordinates of each conductor in the standard multi-split conductor are obtained except for the coincident measurement points.

[0098] In step S024, a distance set between each conductor in the standard multi-split conductor and the ranging radar is obtained according to the conductor profile coordinates of each conductor in the standard multi-split conductor except for the coincident measurement points.

[0099] In this embodiment, if Fig.10 As shown in the figure, the mathematical modeling diagrams of four-split, six-split and eight-split are respectively. The center of the multi-split conductor is taken as the origin. A rectangular coordinate system is established in the vertical conductor section containing the measuring point Pc. The horizontal axis X is the horizontal line passing through the origin, and the vertical axis Y is the vertical line passing through the origin. The conductor section points are marked with capital letters in the clockwise direction, that is, A1 to A4 are the conductor section points in the four-split, A1 to A6 are the conductor section points in the six-split, and A1 to A8 are the conductor section points in the eight-split. The measuring point Pc performs a circular motion in the counterclockwise direction for ring measurement, where R (4) , R (6) and R (8) Indicates the radius of the measuring circle of different types corresponding to the measuring point Pc.

[0100] In this implementation, the method for obtaining the total time difference of synchronous measurement between the ranging radar and the standard multi-split conductor can be various methods known to those skilled in the art. In one embodiment of the present invention, when the measuring instrument performs a loop measurement on the multi-split conductor at the measuring point Pc, it is necessary to scan the conductor measuring points clockwise, and the total time difference required to complete a measurement cycle is small enough to ensure the feasibility of synchronous measurement. According to formula (1), obtaining the total time difference of synchronous measurement between the ranging radar and the standard multi-split conductor includes:

[0101] Δt=t e -t s , (1)

[0102] 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.

[0103] In this implementation, the method of obtaining the coincidence measurement points of the standard multi-split conductors according to the synchronous measurement of the total time difference can be various methods known to those skilled in the art. In one embodiment of the present invention, for example, Figure 3 As shown, the specific steps are as follows:

[0104] In step S0221, it is determined whether the total time difference between the synchronous measurement of the measuring point of the ranging radar and the standard multi-split conductor is less than the synchronous measurement accuracy.

[0105] In step S0222, when it is determined that the total time difference between the synchronous measurement of the measuring point of the ranging radar and the standard multi-split conductor is greater than or equal to the synchronous measurement accuracy, the measuring point is determined to be a coincident measuring point.

[0106] In this implementation, the method for obtaining the distance set between each conductor in the standard multi-split conductor and the ranging radar according to the conductor profile coordinates of each conductor in the standard multi-split conductor except the coincident measurement point can be a variety of methods known to those skilled in the art. In one embodiment of the present invention, for example Figure 4 As shown, the specific steps are as follows:

[0107] In step S0241, the distance value between the ranging radar and each conductor in the standard multi-split conductor at each measuring point is obtained according to formulas (2) to (3).

[0108]

[0109]

[0110] in, is the first angle value, θ is the second angle value, a is the first parameter value, b is the second parameter value, R is the ring radius, b represents the spacing between each conductor in the multi-split conductor, X ij A is the cross-sectional coordinate of the conductor ij (X ij , Y ij ) to the horizontal and vertical coordinates of the origin, Y ij A is the cross-sectional coordinate of the conductor ij (X ij , Y ij ) to the origin, θ is the rotation angle of the ring radius R, d j is the distance value, and j is the wire number.

[0111] In step S0242, a distance set between each conductor in the standard multi-split conductor and the ranging radar is constructed according to the distance value of each conductor in the standard multi-split conductor.

[0112] In a specific embodiment of the present invention, Figures 11 to 13 As shown in the figure, the periodic variation diagrams of the distance measurement of the four-split, six-split, and eight-split wires are shown respectively. Specifically, the ring measurement radius R of the four-split is 8m, d D is 0.4m, T = 2π; the radius of the six-fission ring R is 8m, d D is 0.4m, T = 2π; the radius of the ring of eight splitting is R 8m, d D = 0.3m, T = 2π. Fig.11 and Fig.13 It can be clearly seen that the distance of each wire in the split wire changes with the ring measurement angle, and the optimal measurement point position can be determined.

[0113] In this implementation, there are many ways known to those skilled in the art for obtaining the ranging interval of the standard multi-split conductor according to the distance set between the ranging radar and each conductor in the standard multi-split conductor during the loop measurement. Considering that when the measuring point Pc performs a loop measurement of the conductor profile point scanning conductor, the conductors may block each other and the distance values ​​of the measuring points may be equal, resulting in the inability to distinguish the measured values ​​of the measuring points on the conductor. In one embodiment of the present invention, Figure 5 As shown, the specific steps are as follows:

[0114] In step S031, the distance values ​​between the ranging radar and each conductor in the standard multi-split conductor in each distance set are sorted from small to large.

[0115] In step S032, the adjacent distance difference is obtained according to formula (4):

[0116] Δd i =|d i+1 -d i |, (4)

[0117] Among them, d i Represents the i-th distance value in the distance set, d i+1 Represents the i+1th distance value in the distance set, Δd i is the adjacent distance difference.

[0118] In step S033, the distance measurement interval of the standard multi-split conductor is obtained according to the adjacent distance difference.

[0119] In this implementation, there may be various methods known to those skilled in the art for obtaining the ranging interval of the standard multi-split conductor according to the optimal distance difference. In one embodiment of the present invention, the specific steps may be as follows: Fig.16 as follows:

[0120] In step S041, the difference between two consecutive adjacent distance differences is obtained, and the difference is accumulated and summed. The adjacent distance difference reflects the difference between two distance values, and the difference between two consecutive adjacent distance differences reflects the degree of change of the distance value.

[0121] In step S042, the distance set corresponding to the minimum difference and the measuring point corresponding to the distance set are obtained and used as the optimal distance measurement point. If the difference is the minimum, it reflects that the difference between two consecutive adjacent distances is similar and relatively uniform, that is, the difference between each distance value is relatively obvious and can be accurately identified. Therefore, the measuring point corresponding to the minimum difference is used as the optimal distance measurement point.

[0122] In step S043, a distance set in which the optimal distance measurement points are arranged in ascending order is used as a standard distance set.

[0123] In step S044, the angle of the optimal distance measurement point is obtained.

[0124] In step S045, the optimal ranging interval is obtained according to formula (5):

[0125]

[0126] in, is the optimal ranging interval, θ is the angle of the optimal ranging point, and Δθ is the preset angle.

[0127] In step S041 to step S045, the difference between two consecutive adjacent distance differences is first calculated, and then the difference sum is accumulated. If the difference sum is the smallest, it reflects that the difference between two consecutive adjacent distances is similar and relatively uniform, that is, the difference between each distance value is relatively obvious and can be accurately identified. Therefore, the measuring point with the smallest difference sum is taken as the optimal distance measurement point, and the corresponding standard distance set and optimal distance measurement interval are obtained.

[0128] In this implementation, the method for identifying the wire number in the multi-split wire according to the distance set between the ranging radar and each wire in the current multi-split wire can be a variety of methods known to those skilled in the art. In one embodiment of the present invention, for example, Figure 6 and 15 As shown, the specific steps are as follows:

[0129] In step S051, it is determined whether the number of wire splits of the current multi-split wire is four.

[0130] In step S052, when it is determined that the number of wire splits of the current multi-split wire is four, the wire numbers of the four-split wires are identified. Figure 7 As shown, the specific steps for identifying the wire number in the four-split wire are as follows:

[0131] In step S0521, the ranging interval of the current ranging radar and the corresponding standard distance set are obtained.

[0132] In step S0522, the distance values ​​in the distance set of the current four split conductors are sorted from small to large.

[0133] In step S0523, the wire corresponding to each distance value in the sorted distance set is mapped to the standard distance set. Fig.14 As shown, this is the optimal measurement area for the four-split conductor.

[0134] In step S0521 to step S0523, the four-split conductor has eight ranging intervals, and the relationship between the distance values ​​of each conductor in each ranging interval may be different. Therefore, for each ranging interval, the standard distance values ​​of the standard four-split conductor in the corresponding ranging interval can be sorted and a standard distance set can be formed to facilitate subsequent mapping and matching. Similarly, the following six-split and eight-split conductors can be determined.

[0135] In step S053, when it is determined that the number of wire splittings of the current multi-split wire is not four, it is determined whether the number of wire splittings of the current multi-split wire is six.

[0136] In step S054, when it is determined that the number of wire splits of the current multi-split wire is six, the wire numbers of the six-split wires are identified. Figure 8 As shown, the specific steps for identifying the wire number in the six-split wire are as follows:

[0137] In step S0541, the ranging interval of the current ranging radar and the corresponding standard distance set are obtained.

[0138] In step S0542, the distance values ​​in the distance set of the current six split conductors are sorted from small to large.

[0139] In step S0543, the conductor corresponding to each distance value in the sorted distance set is mapped to the standard distance set.

[0140] In step S055, when it is determined that the number of wire splits of the current multi-split wire is not six, it is determined whether the number of wire splits of the current multi-split wire is eight.

[0141] In step S056, when it is determined that the number of wire splits of the current multi-split wire is eight, the wire numbers of the eight split wires are identified. Fig. 9 As shown, the specific steps for identifying the wire numbers in the eight-split wire are as follows:

[0142] In step S0561, the ranging interval of the current ranging radar and the corresponding standard distance set are obtained.

[0143] In step S0562, the distance values ​​in the distance set of the current eight split conductors are sorted from small to large.

[0144] In step S0563, the conductor corresponding to each distance value in the sorted distance set is mapped to the standard distance set.

[0145] like Fig.15As shown, in step S051 to step S056, for the identification of the wire number of the multi-split wire, the number of splits of the multi-split wire can be determined first. According to the number of splits of different split wires, the distance set of the ranging interval where the ranging radar is located and the corresponding standard distance set are obtained. Since the standard distance set contains the number of each wire, the distance set is matched with the standard distance set to obtain the wire number of each wire in the multi-split wire.

[0146] In this embodiment of the present invention, the identification method of the wire number in the multi-split wire can also be determined according to the size relationship between the distance values ​​in the distance set of the ranging interval where the ranging radar is located and / or the size relationship between the scanning angles. Specifically, taking the six-split wire as an example, for the six distance values ​​d in each measuring point interval of the six-split wire j and six scanning angles α j The relationship table can be shown in Table 1.

[0147] Table 1 Relationship between distance values ​​and scanning angles of six splits in different measuring point intervals

[0148]

[0149] According to Table 1, it can be clearly seen that the size relationship between the distance values ​​in each interval of the six-split wire and the size relationship between the scanning angles, and then the number of each wire in the six-split wire can be determined according to the relationship.

[0150] On the other hand, the present invention also includes an automatic identification system for synchronous optimization of multiple split conductors, which may include a drone and a controller. Specifically, the drone may include a range-finding radar / laser radar.

[0151] The drone is provided with a ranging radar, and the controller is communicatively connected with the ranging radar to execute any of the above automatic identification methods.

[0152] The measurement technology of UAV equipped with laser radar equipment combines the flexibility of UAV with the high-precision measurement capability of laser radar, providing efficient and accurate solutions for various application scenarios. In combination with the application of this technology in the measurement of transmission lines, a circular measurement method is proposed to establish a mathematical model, and the ranging function of the laser radar to the conductor is given. Through further calculation and analysis of the data, the optimal measurement area is drawn, and the ranging and scanning angles are compared for verification, and the mapping numbering is performed to achieve the simultaneous optimization of automatic identification measurement of multiple split conductors and complete the task of automatic numbering of conductors. Compared with the traditional ground measurement method, the wire-by-wire measurement technology. The advantage of this method is to realize synchronous measurement technology, especially in measuring the distance and sag of multiple split conductors, especially in complex environments such as large spans, foggy days, and mountainous areas. It plays a vital role, can greatly improve the measurement efficiency, and has broad application prospects.

[0153] In yet another aspect, the present invention further includes a machine-readable storage medium having stored thereon instructions for causing a machine to execute any of the above-mentioned automatic identification methods.

[0154] Through the above technical scheme, first, the ranging radar is driven to perform a ring measurement on the standard multi-split conductor according to a preset radius; secondly, a distance set between the ranging radar and each conductor in the standard multi-split conductor during the ring measurement is obtained; then, the multi-split conductor is synchronously measured according to the mathematical model diagram to obtain the total time difference of the synchronous measurement; then, the ranging interval of the standard multi-split conductor is obtained according to the distance set between the ranging radar and each conductor in the standard multi-split conductor during the ring measurement; finally, the conductor number in the multi-split conductor is identified according to the distance set between the ranging radar and each conductor in the current multi-split conductor. The present invention avoids the inefficiency of manual operation by automatically identifying multi-split conductors and performing synchronous optimization, greatly improves the recognition efficiency of multi-split conductors, can accurately identify the position and number of the conductors, improves the accuracy of recognition, and ensures the stability of the conductor operation.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0160] 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.

[0161] 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 tape 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.

[0162] 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.

[0163] 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. An automatic identification method for synchronous optimization of multiple split conductors, characterized in that: The automatic identification method comprises: Drive the ranging radar to perform loop measurement on the standard multi-split conductor according to the preset radius; Acquire a distance set between the ranging radar and each conductor in the standard multi-split conductor during loop measurement; Acquire the ranging interval of the standard multi-split conductor according to the distance set between the ranging radar and each conductor in the standard multi-split conductor during the loop measurement; Driving the ranging radar to move to the ranging interval of the current multi-split conductors, and obtaining a distance set between the ranging radar and each conductor in the current multi-split conductors; The wire number in the multi-branch wire is identified according to the distance set between the ranging radar and each wire in the multi-branch wire.

2. The automatic identification method according to claim 1, characterized in that: Acquiring a distance set between the ranging radar and each conductor in the standard multi-split conductor during the loop measurement includes: Obtaining the total time difference of synchronous measurement between the measuring point of the ranging radar and the standard multi-split conductor; Acquire the coincidence measurement points of the standard multi-split conductor according to the total time difference of the synchronous measurement; Obtaining the conductor section coordinates of each conductor in the standard multi-split conductor except for the coincident measurement points; A distance set between each conductor in the standard multi-branch conductor and the ranging radar is obtained according to the conductor profile coordinates of each conductor in the standard multi-branch conductor except for the coincident measurement points.

3. The automatic identification method according to claim 2, characterized in that: Acquiring the total time difference of synchronous measurement between the ranging radar and the standard multi-split conductor includes: According to formula (1), the total time difference of synchronous measurement between the ranging radar and the standard multi-split conductor is obtained: Δt=t e -t s , (1) Where Δt is the total time difference of synchronous measurement, t e is the time it takes for the ranging radar to complete scanning the starting point, t s It is the time when the ranging radar completes scanning the last measuring point.

4. The automatic identification method according to claim 3, characterized in that: Acquiring the coincidence measurement points of the standard multi-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 multi-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 multi-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 2, characterized in that: Acquiring a distance set between each conductor in the standard multi-split conductor and the ranging radar according to the conductor profile coordinates of each conductor in the standard multi-split conductor except for the coincident measurement points includes: According to formulas (2) to (3), the distance value between the ranging radar and each conductor in the standard multi-split conductor at each measuring point is obtained. in, is the first angle value, θ is the second angle value, a is the first parameter value, b is the second parameter value, R is the ring radius, b is the spacing between each conductor in the multi-split conductor, X ij A is the cross-sectional coordinate of the conductor ij (X ij ,Y ij ) to the origin, Y ij A is the cross-sectional coordinate of the conductor ij (X ij ,Y ij ) to the origin, θ is the rotation angle of the ring radius R; A distance set between each conductor in the standard multi-branch conductor and the ranging radar is constructed according to the distance value of each conductor in the standard multi-branch conductor.

6. The automatic identification method according to claim 5, characterized in that: Acquiring the ranging interval of the standard multi-split conductor according to the distance set between the ranging radar and each conductor in the standard multi-split conductor during the loop measurement includes: The distance values ​​between the ranging radar and each conductor in the standard multi-split conductor in each distance set are sorted from small to large; According to formula (4), the adjacent distance difference is obtained: Δd i =|d i+1 -d i |, (4) Among them, d i represents the i-th distance value in the distance set, d i+1 represents the i+1th distance value in the distance set, Δd i is the adjacent distance difference; The distance measurement interval of the standard multi-split conductor is obtained according to the adjacent distance difference.

7. The automatic identification method according to claim 6, characterized in that: Acquiring the distance measurement interval of the standard multi-split conductor according to the adjacent distance difference includes: Obtaining the difference between two consecutive adjacent distance differences, and accumulating the sum of the differences; Obtaining the distance set corresponding to the difference and the minimum and the measuring point corresponding to the distance set, and using them as the distance measurement optimal point; A distance set in which the optimal distance measurement points are arranged in ascending order is used as a standard distance set.

8. The automatic identification method according to claim 7, characterized in that: Acquiring the distance measurement interval of the standard multi-split conductor according to the adjacent distance difference also includes: Get the angle of the optimal distance measurement point; According to formula (5), the optimal ranging interval is obtained: in, is the optimal ranging interval, θ is the angle of the optimal ranging point, and Δθ is the preset angle.

9. The automatic identification method according to claim 7, characterized in that: Identifying the wire number in the multi-branch wire according to the distance set between the ranging radar and each wire in the current multi-branch wire comprises: Determining whether the number of wire splits of the current multi-split wire is four; When it is determined that the number of wire splits of the current multi-split wire is four, identifying wire numbers in the four-split wire; When it is determined that the number of wire splits of the current multi-split wire is not four, determining whether the number of wire splits of the current multi-split wire is six; When it is determined that the number of wire splits of the current multi-split wire is six, identifying wire numbers in the six-split wire; When it is determined that the number of wire splits of the current multi-split wire is not six, determining whether the number of wire splits of the current multi-split wire is eight; When it is determined that the number of wire splits of the current multi-split wire is eight, the wire numbers of the eight-split wires are identified.

10. The automatic identification method according to claim 9, characterized in that: Identifying the conductor numbers in a quad split conductor includes: Obtaining the ranging interval in which the ranging radar is currently located and the corresponding standard distance set; Sort the distance values ​​in the distance set of the current four split conductors from small to large; The conductor corresponding to each distance value in the sorted distance set is mapped to the standard distance set.

11. The automatic identification method according to claim 9, characterized in that: Identifying the wire numbers in a six-split wire includes: Obtaining the ranging interval in which the ranging radar is currently located and the corresponding standard distance set; Sort the distance values ​​in the distance set of the current six split conductors from small to large; The conductor corresponding to each distance value in the sorted distance set is mapped to the standard distance set.

12. The automatic identification method according to claim 9, characterized in that: Identifying the wire numbers in an eight-split wire includes: Obtaining the ranging interval in which the ranging radar is currently located and the corresponding standard distance set; Sort the distance values ​​in the distance set of the current eight split wires from small to large; The conductor corresponding to each distance value in the sorted distance set is mapped to the standard distance set.

13. An automatic identification system for synchronous optimization of multiple split conductors, characterized in that: The automatic identification system comprises: A drone, wherein the drone is provided with a ranging radar; A controller 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 12.

14. A machine-readable storage medium having instructions stored thereon, characterized in that: The instruction is used to enable a machine to execute the automatic identification method as described in any one of claims 1 to 12.

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