Method, device and equipment for measuring phase spacing of power transmission line of power grid

Abstract

The invention provides a power grid power transmission line phase spacing measurement method, device and equipment. The power grid power transmission line phase spacing measurement method comprises the steps of obtaining laser point cloud data of a power grid power transmission line; preprocessing the laser point cloud data to obtain pre-data; matching the pre-data with a power transmission line coordinate system to obtain target data; performing fitting processing on the target data to obtain at least three axis points; performing arc fitting processing on the at least three axis points to obtain a split conductor axis; and obtaining the phase spacing of the power transmission line according to the axis of the split conductor. According to the invention, the efficiency, accuracy, flexibility and adaptability of power transmission line phase spacing measurement can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of information processing, and in particular to a method, device and equipment for measuring the phase spacing of power grid transmission lines. Background Art

[0002] With the increasing complexity of the power grid structure and the continuous increase in the mileage of transmission lines, the operating environment of the power grid is becoming more and more complex. In the survey and design, operation and maintenance inspection, and galloping control of transmission lines, the measurement of the conductor phase spacing is an important basic task, and it is necessary to ensure that the minimum distance between conductors meets the requirements of electrical safety clearances. At the same time, for a long time, the galloping of transmission line conductors has also been an important factor affecting the safety of the power grid. Excessive conductor galloping is likely to cause phase-to-phase flashover, resulting in line tripping and power outage, damage to tower cross arms, jumpers, insulators, and fittings, etc., bringing great harm to the safe operation of the power grid. At present, the commonly used control method is to install anti-galloping devices on transmission conductors, and the phase spacer is one of the technical measures. Since the telescopic range of the phase spacer is small once it is processed, its length must be ensured to match the conductor phase spacing, otherwise it cannot be installed.

[0003] Existing methods for measuring the phase spacing of transmission lines include total station laser ranging method, image processing technology method, three-dimensional laser scanning method, and point cloud traversal algorithm, etc. These technical principles are different and their performances are also different. The total station laser ranging method obtains transmission conductor data through methods such as height measurement and forward intersection without prism method, and uses a specific method to achieve phase spacing measurement. This method has a large fieldwork intensity and low operation efficiency. The image processing technology method is to collect images through a camera and use image processing methods to monitor and locate the spatial distance of bundled conductors. Since the sensitivity and accuracy of sensing devices such as cameras are affected by external conditions, the monitoring results are easily affected by extreme weather conditions and it is difficult to guarantee the accuracy. The three-dimensional laser scanning method is to collect the point cloud of the transmission line, and then perform relevant distance measurements based on the point cloud. Among them, the point cloud traversal algorithm obtains the minimum distance between two sets of point cloud data through calculation and directly measures the conductor phase spacing based on the point cloud data. It is easily affected by problems such as viewing angle and point selection, resulting in deviation of the measurement results; the minimum distance obtained by the point cloud traversal algorithm is the distance between the surfaces of two sets of point clouds, usually the distance from the surface of the conductor to the surface, which is not the phase spacing in the strict sense. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method, device and equipment for measuring the phase spacing of power grid transmission lines, which can improve the efficiency, accuracy, flexibility and adaptability of measuring the phase spacing of transmission lines.

[0005] To solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A method for measuring the phase spacing of power grid transmission lines includes:

[0007] Obtain the laser point cloud data of the power grid transmission line;

[0008] Preprocess the laser point cloud data to obtain preprocessed data;

[0009] Match the preprocessed data with the transmission line coordinate system to obtain target data;

[0010] Perform fitting processing on the target data to obtain at least three axis points;

[0011] Perform circular arc fitting processing on the at least three axis points to obtain the bundled conductor axis;

[0012] Obtain the phase spacing of the transmission line according to the bundled conductor axis.

[0013] Optionally, preprocessing the laser point cloud data to obtain preprocessed data includes:

[0014] Clean the laser point cloud data to obtain first intermediate data;

[0015] Convert the format of the first intermediate data to obtain second intermediate data;

[0016] Thin the second intermediate data to obtain preprocessed data.

[0017] Optionally, matching the preprocessed data with the transmission line coordinate system to obtain target data includes:

[0018] Taking the center of the transmission line tower as the origin, the cross-arm direction of the transmission line tower as the abscissa, the extension direction of the transmission line as the ordinate, and the extension direction of the transmission line tower as the vertical coordinate to establish a coordinate system, and corresponding and matching the preprocessed data with the coordinate system to obtain target data.

[0019] Optionally, performing fitting processing on the target data to obtain at least three axis points includes:

[0020] If the transmission line is a two-bundled conductor, at least three axis points are obtained according to the midpoint of the target data;

[0021] If the transmission line is a three-bundled conductor or more than three-bundled conductor, at least three axis points are obtained according to the spatial circle fitting result of the target data.

[0022] Optionally, if the transmission line is a three-bundled conductor or more than three-bundled conductor, obtaining at least three axis points according to the spatial circle fitting result of the target data includes:

[0023] Establish a spatial circle parametric model according to the target data;

[0024] Construct a first overdetermined equation set according to the spatial circle parametric model;

[0025] Obtain at least three axis points according to the first overdetermined equation set.

[0026] Optionally, perform circular arc fitting processing on the at least three axis points to obtain the bundled conductor axis, including:

[0027] Establish a circular arc parametric model according to the at least three axis points;

[0028] Construct a second overdetermined equation set according to the circular arc parametric model;

[0029] Obtain the bundled conductor axis according to the second overdetermined equation set.

[0030] Optionally, obtain the phase spacing of the power transmission line according to the bundled conductor axis, including:

[0031] Taking the bundled conductor axis as a reference, select points on the bundled conductor axis as the centers of spheres, construct spheres, and continuously expand the spheres until the spheres are tangent to the bundled conductor axes of adjacent phase sequences. Obtain the phase spacing of the power transmission line according to the radii of the tangent spheres.

[0032] An embodiment of the present invention further provides a device for measuring the phase spacing of a power grid transmission line, including:

[0033] An acquisition module for acquiring the laser point cloud data of the power grid transmission line;

[0034] A processing module for preprocessing the laser point cloud data to obtain preprocessed data; matching the preprocessed data with the power transmission line coordinate system to obtain target data; performing fitting processing on the target data to obtain at least three axis points; performing circular arc fitting processing on the at least three axis points to obtain the bundled conductor axis; and obtaining the phase spacing of the power transmission line according to the bundled conductor axis.

[0035] An embodiment of the present invention further provides a computing device, including: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, enabling the one or more processors to implement the method for measuring the phase spacing of the power grid transmission line according to the present invention.

[0036] An embodiment of the present invention further provides a computer-readable storage medium, in which a program is stored, and when the program is executed by a processor, the method for measuring the phase spacing of the power grid transmission line according to the present invention is implemented.

[0037] The above technical solutions of the present invention have at least the following technical effects:

[0038] The above-mentioned method for measuring the phase spacing of a power grid transmission line according to the present invention includes obtaining the laser point cloud data of the power grid transmission line; preprocessing the laser point cloud data to obtain preliminary data; matching the preliminary data with the transmission line coordinate system to obtain target data; performing fitting processing on the target data to obtain at least three axis points; performing circular arc fitting processing on the at least three axis points to obtain the split conductor axis; and obtaining the phase spacing of the transmission line according to the split conductor axis. It can improve the efficiency, accuracy, flexibility and adaptability of measuring the phase spacing of the transmission line. Description of the Drawings

[0039] Figure 1 is a schematic flow chart of the method for measuring the phase spacing of a power grid transmission line according to the present invention;

[0040] Figure 2 is a schematic diagram of the implementation steps of the method for measuring the phase spacing of a power grid transmission line according to the present invention;

[0041] Figure 3a is a schematic diagram of fitting a two-point line segment of the method for measuring the phase spacing of a power grid transmission line according to the present invention;

[0042] Figure 3b is a schematic diagram of fitting a three-point space circle of the method for measuring the phase spacing of a power grid transmission line according to the present invention;

[0043] Figure 3c is a schematic diagram of fitting a four-point space circle of the method for measuring the phase spacing of a power grid transmission line according to the present invention;

[0044] Figure 3d is a schematic diagram of fitting a six-point space circle of the method for measuring the phase spacing of a power grid transmission line according to the present invention;

[0045] Figure 3e is a schematic diagram of fitting an eight-point space circle of the method for measuring the phase spacing of a power grid transmission line according to the present invention;

[0046] Figure 4 is a schematic diagram of circular arc fitting of the method for measuring the phase spacing of a power grid transmission line according to the present invention;

[0047] Figure 5 is a schematic diagram of the tangency of an inflated sphere of the method for measuring the phase spacing of a power grid transmission line according to the present invention;

[0048] Figure 6 is a schematic diagram of the device for measuring the phase spacing of a power grid transmission line according to the present invention. Detailed Embodiments

[0049] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be fully conveyed to those skilled in the art.

[0050] As Figure 1 shown, an embodiment of the present invention provides a method for measuring the phase spacing of a power grid transmission line, including:

[0051] Step S1, obtaining the laser point cloud data of the power grid transmission line;

[0052] Step S2, preprocessing the laser point cloud data to obtain preprocessed data;

[0053] Step S3, matching the preprocessed data with the transmission line coordinate system to obtain target data;

[0054] Step S4, performing fitting processing on the target data to obtain at least three axis points;

[0055] Step S5, performing circular arc fitting processing on the at least three axis points to obtain the bundled conductor axis;

[0056] Step S6, obtaining the phase spacing of the transmission line according to the bundled conductor axis.

[0057] In this embodiment, as Figure 1As shown in the figure, in the method for measuring the phase spacing of a power grid transmission line, first, a suitable three-dimensional laser scanning device is selected to collect point cloud data of the transmission line conductors, and the laser point cloud data of the transmission line is obtained. The laser point cloud data is a set of point data on the appearance surface of the target obtained by a lidar device. To avoid the influence of bad weather on the conductor shape, it is advisable to collect data when there is no wind and no rain. Then, preprocessing such as data cleaning, format conversion, and downsampling is performed on the obtained laser point cloud data to obtain preprocessed data that is convenient for processing and use. Again, a coordinate system is established, and the preprocessed data is corresponding and matched with the transmission line coordinate system to obtain target data. Again, according to the number of bundled conductors of the transmission line, a suitable method is selected to perform fitting processing on the target data to obtain at least three axis points. Bundled conductors refer to a conductor erection method adopted by high-voltage transmission lines to suppress corona discharge and reduce line reactance, that is, each phase conductor is composed of several sub-conductors with smaller diameters, and the sub-conductors are spaced at a certain distance and arranged in a symmetrical polygon, and are arranged at the vertices of a regular polygon. Again, using the circular arc fitting method, circular arc fitting processing is performed on the at least three axis points to obtain the axis of the bundled conductors. Finally, according to the adjacent axes of the bundled conductors, the method of tangent expansion balls is used to obtain the phase spacing of the transmission line. The phase spacing refers to the distance between adjacent phase conductors or the axes of the bundled conductors.

[0058] The solution of the present invention defines the coordinate system for the laser point cloud data of the transmission line, slices the transmission conductors and performs spatial circle fitting according to specific standards to determine the axis points of the bundled conductors; on this basis, the method of three-point circular arc fitting is used to determine the local axis of the bundled conductors of the transmission line, and then the phase spacing of the bundled conductors is solved by means of an expansion ball, so as to realize the accurate measurement of the phase spacing of the bundled conductors of the transmission line.

[0059] In an optional embodiment of the present invention, in step S2, preprocessing is performed on the laser point cloud data to obtain preprocessed data, including:

[0060] Step S21, perform data cleaning on the laser point cloud data to obtain first intermediate data;

[0061] Step S22, perform format conversion on the first intermediate data to obtain second intermediate data;

[0062] Step S23, perform downsampling on the second intermediate data to obtain preprocessed data.

[0063] In this embodiment, the laser point cloud data is preprocessed. First, according to the type of the laser point cloud data, a reasonable threshold range for each parameter data is set, and the data exceeding the reasonable threshold range is discarded as outliers to prevent the influence of data fluctuations on subsequent data processing. Then, duplicate values and missing values in the laser point cloud data are found, and invalid data such as duplicate values and missing values are removed. Moving object noise points such as birds and vehicles generated during flight are manually removed, and the line body and channel environment data are retained. Combining the reflection intensity parameters (tree reflectivity < 0.3, metal wire > 0.8) and spatial distribution characteristics, vegetation point clouds are removed to obtain first intermediate data; then, the format of the first intermediate data is converted. For example, a certain height parameter value (15.86 meters) is composed of two original data (15 and 86), representing the integer part and the decimal part of the height value respectively. The system converts the data according to the preset rules and reports the value 15.86 to obtain second intermediate data; finally, the second intermediate data is thinned. Uniform sampling is performed on high-density point clouds (such as the point density in the wire area > 5 points / cm 2 ), and while retaining feature points, the data volume is reduced to 30% of the original data to improve the processing efficiency and obtain preliminary data.

[0064] In an alternative embodiment of the present invention, in step S3, the preliminary data is matched with the transmission line coordinate system to obtain target data, including:

[0065] Step S31: Taking the center of the transmission line tower as the origin, taking the cross-arm direction of the transmission line tower as the abscissa, taking the extension direction of the transmission line as the ordinate, and taking the extension direction of the transmission line tower as the vertical coordinate to establish a coordinate system, and corresponding and matching the preliminary data with the coordinate system to obtain target data.

[0066] In this embodiment, the coordinate system of the transmission line is defined. Taking the center of the transmission line tower as the origin, taking the cross-arm direction on the transmission line tower as the abscissa, taking the extension direction of the transmission line as the ordinate, and taking the extension direction of the transmission line tower as the vertical coordinate to establish a coordinate system, and corresponding and matching the preliminary data with the coordinate system and placing it at the corresponding position in the coordinate system to obtain target data.

[0067] In an alternative embodiment of the present invention, in step S3, the target data is fitted to obtain at least three axis points, including:

[0068] Step S31: If the transmission line is a two-split conductor, at least three axis points are obtained according to the midpoint of the target data;

[0069] Step S32: If the transmission line is a three-split conductor or more than a three-split conductor, at least three axis points are obtained according to the spatial circle fitting result of the target data.

[0070] In this embodiment, the transmission line is sliced according to a specific standard (such as the span), and the cutting plane is a plane perpendicular to the longitudinal axis. The shape of the bundled conductor after slicing is related to the number of splits of the bundled conductor; for example Figure 3a as shown, if the transmission line is a two-split conductor, the center of the axis of the two-split conductor can be fitted by the center of the line segment, and the center point of the line segment is used as the axis point. Select at least three cutting planes, and one axis point can be obtained for each cutting plane, so that at least three axis points can be obtained; for example Figure 3b , Figure 3c , Figure 3d , Figure 3e as shown, if the transmission line is a three-split conductor or a conductor with more than three splits, at least three center points of the fitted space circles are found according to the space circle fitting result of the target data, and at least three axis points are obtained.

[0071] In an alternative embodiment of the present invention, in step S32, if the transmission line is a three-split conductor or a conductor with more than three splits, obtaining at least three axis points according to the space circle fitting result of the target data includes:

[0072] Step S321, establishing a parametric model of a space circle according to the target data;

[0073] Step S322, constructing a first overdetermined equation system according to the parametric model of the space circle;

[0074] Step S323, obtaining at least three axis points according to the first overdetermined equation system.

[0075] In this embodiment, first, a parametric model of a space circle is established according to the target data. The general equation of the circle is (x - a) 2 +(y - b) 2 = r 2 , where x is the abscissa of the point, y is the ordinate of the point, (a, b) is the center of the circle, and r is the radius; the general equation of the circle is expanded and rewritten in a linear form: x 2 + y 2 + A1x + B1y + C1 = 0, where A1 is the linear parameter of the abscissa, B1 is the linear parameter of the ordinate, and C1 is the combined parameter of the coordinates and the radius; substituting the coordinates (x i , y i ) of the target data into the linear equation x i 2 + y i 2 + A1x i + B1y i + C1 = 0, a first overdetermined equation system is constructed and arranged in matrix form A1p1 = B1, p1 = [A1, B1, C1] T , that is

[0076]

[0077] Then, solve the first overdetermined equation through the following formula:

[0078] p1 = (A1 T A1) -1 A1TB1

[0079] Obtain the center and radius according to the parameter p1:

[0080] Perform at least slicing on the bundled conductor, and repeat the above steps to obtain at least three axis points.

[0081] In an alternative embodiment of the present invention, in step S4, performing circular arc fitting processing on the at least three axis points to obtain the bundled conductor axis includes:

[0082] Step S41, establish a circular arc parametric model according to the at least three axis points;

[0083] Step S42, construct a second overdetermined equation set according to the circular arc parametric model;

[0084] Step S43, obtain the bundled conductor axis according to the second overdetermined equation set.

[0085] In this embodiment, first, establish a spatial circle parametric model according to the at least three axis points. The general equation of the circle is (e - g) 2 +(f - h) 2 = d 2 , where e is the abscissa of the point, f is the ordinate of the point, (g, h) is the center of the circle, and d is the radius; expand and rewrite the general equation of the circle into a linear form: e 2 + f 2 + A2e + B2f + C2 = 0, where A2 is the linear parameter of the abscissa, B2 is the linear parameter of the ordinate, and C2 is the combined parameter of the coordinates and the radius; substitute the coordinates (e i , f i ) of the target data into the linear equation e i 2 + f i 2 + A2e i + B2f i + C2 = 0 to construct a second overdetermined equation set, and organize it into a matrix form A2p2 = B2, p2 = [A2, B2, C2] T , that is

[0086]

[0087] Then, solve the second overdetermined equation through the following formula:

[0088] p2 = (A2TA2) -1 A2 T B2

[0089] Obtain the center of the circle and the radius according to the parameter p2: Obtain the axis of the bundled conductor.

[0090] In an alternative embodiment of the present invention, in step S6, obtaining the phase spacing of the transmission line according to the axis of the bundled conductor includes:

[0091] Step S61, taking the axis of the bundled conductor as a reference, selecting a point on the axis of the bundled conductor as the center of the sphere, constructing a sphere, and continuously expanding the sphere until the sphere is tangent to the axis of the bundled conductor of the adjacent phase sequence. Obtain the phase spacing of the transmission line according to the radius of the tangent sphere.

[0092] In this embodiment, through the above method of the present solution, the axes of the bundled conductors of each adjacent transmission line are obtained, and then, taking the axis of the bundled conductor as a reference, a suitable point is selected on the axis as the center of the sphere according to requirements, and a sphere with a certain radius is constructed. Preferably, the radius of the sphere is set to 0.5 m, and the sphere is continuously expanded. When the sphere is tangent to the local axis of the bundled conductor of the adjacent phase sequence, the radius of the sphere at this time is the phase spacing between the two bundled conductors of the transmission line.

[0093] The following describes the specific implementation process of the above method of the present invention:

[0094] Step 111, obtain the laser point cloud data of the power grid transmission line;

[0095] Step 112, perform data cleaning on the laser point cloud data to obtain the first intermediate data;

[0096] Step 113, perform format conversion on the first intermediate data to obtain the second intermediate data;

[0097] Step 114, perform thinning processing on the second intermediate data to obtain the preliminary data;

[0098] Step 115, establish a coordinate system with the center of the transmission line tower as the origin, the cross-arm direction of the transmission line tower as the abscissa, the extension direction of the transmission line as the ordinate, and the extension direction of the transmission line tower as the vertical coordinate. Correspondingly match the preliminary data with the coordinate system to obtain the target data;

[0099] Step 116, if the transmission line is a two-bundled conductor, obtain at least three axis points according to the midpoint of the target data;

[0100] Step 117: If the transmission line is a three - split conductor or a conductor with more than three splits, establish a parametric model of a spatial circle according to the target data;

[0101] Step 118: Construct a first over - determined equation set according to the parametric model of the spatial circle;

[0102] Step 119: Obtain at least three axis points according to the first over - determined equation set;

[0103] Step 120: Establish a parametric model of an arc according to the at least three axis points;

[0104] Step 121: Construct a second over - determined equation set according to the parametric model of the arc;

[0105] Step 122: Obtain the axis of the split conductor according to the second over - determined equation set;

[0106] Step 123: Taking the axis of the split conductor as a reference, select points on the axis of the split conductor as the centers of spheres, and construct spheres. Keep the spheres expanding until the spheres are tangent to the axes of the split conductors of adjacent phase sequences. According to the radius of the tangent spheres, obtain the phase - to - phase spacing of the transmission line.

[0107] The method of the present invention aims to solve the problem of measuring the phase - to - phase spacing of split conductors involved in the survey and design, operation and maintenance inspection, and galloping control of transmission lines. The phase - to - phase spacing is an important parameter of overhead transmission lines. When the arrangement of conductor phase sequences changes, it is necessary to check whether the minimum distance between conductors meets the requirements of electrical clearances. At the same time, the phase - to - phase spacing also needs to be measured when installing phase - interval spacers during the galloping control of transmission lines. Since the phase - to - phase spacing of the split conductors of the transmission line needs to measure the distance between the axes of the split conductors, and the axis of the split conductor is not a measurement entity and cannot be directly measured, the method of the present invention can solve this technical problem.

[0108] The method of the present invention has high measurement efficiency. The total station laser ranging method has a large fieldwork intensity and low efficiency. The present invention avoids a large amount of fieldwork and improves efficiency through a series of digital processing. It has high measurement accuracy. This measurement method cleverly transforms the complex problem of spatial distance measurement into a geometric relationship problem between spheres and axes, and realizes the accurate measurement of the phase - to - phase spacing of the split conductors of the transmission line through precise geometric calculations.

[0109] As Figure 6 shown, the embodiment of the present invention also provides a device 60 for measuring the phase - to - phase spacing of a power grid transmission line, including:

[0110] An acquisition module 61, configured to acquire the laser point cloud data of the power grid transmission line;

[0111] A processing module 62 is configured to preprocess the laser point cloud data to obtain preliminary data; match the preliminary data with the transmission line coordinate system to obtain target data; perform fitting processing on the target data to obtain at least three axis points; perform circular arc fitting processing on the at least three axis points to obtain the bundled conductor axis; and obtain the phase spacing of the transmission line according to the bundled conductor axis.

[0112] Optionally, preprocessing the laser point cloud data to obtain preliminary data includes:

[0113] Performing data cleaning on the laser point cloud data to obtain first intermediate data;

[0114] Performing format conversion on the first intermediate data to obtain second intermediate data;

[0115] Performing thinning processing on the second intermediate data to obtain preliminary data.

[0116] Optionally, matching the preliminary data with the transmission line coordinate system to obtain target data includes:

[0117] Taking the center of the transmission line tower as the origin, the cross-arm direction of the transmission line tower as the abscissa, the extending direction of the transmission line as the ordinate, and the extending direction of the transmission line tower as the vertical coordinate to establish a coordinate system, and performing corresponding matching between the preliminary data and the coordinate system to obtain target data.

[0118] Optionally, performing fitting processing on the target data to obtain at least three axis points includes:

[0119] If the transmission line is a two-bundled conductor, at least three axis points are obtained according to the midpoint of the target data;

[0120] If the transmission line is a three-bundled conductor or more than three-bundled conductors, at least three axis points are obtained according to the spatial circle fitting result of the target data.

[0121] Optionally, if the transmission line is a three-bundled conductor or more than three-bundled conductors, obtaining at least three axis points according to the spatial circle fitting result of the target data includes:

[0122] Establishing a spatial circle parametric model according to the target data;

[0123] Constructing a first overdetermined equation set according to the spatial circle parametric model;

[0124] Obtaining at least three axis points according to the first overdetermined equation set.

[0125] Optionally, performing circular arc fitting processing on the at least three axis points to obtain the bundled conductor axis includes:

[0126] Based on the at least three axis points, establish an arc parametric model;

[0127] Based on the arc parametric model, construct a second overdetermined equation system;

[0128] Based on the second overdetermined equation system, obtain the bundled conductor axis.

[0129] Optionally, based on the bundled conductor axis, obtain the phase spacing of the transmission line, including:

[0130] Taking the bundled conductor axis as a reference, select points on the bundled conductor axis as the centers of spheres, construct spheres, and continuously expand the spheres until the spheres are tangent to the bundled conductor axes of adjacent phase sequences. Based on the radii of the tangent spheres, obtain the phase spacing of the transmission line.

[0131] All implementation manners in the above method embodiments are applicable to the embodiments of this device and can also achieve the same technical effects.

[0132] An embodiment of the present invention further provides a computing device, including: one or more processors; a storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method for measuring the phase spacing of the grid transmission line according to the present invention. All implementation manners in the above method embodiments are applicable to the embodiments of this computing device and can also achieve the same technical effects.

[0133] An embodiment of the present invention further provides a computer-readable storage medium. A program is stored in the computer-readable storage medium. When the program is executed by a processor, the method for measuring the phase spacing of the grid transmission line according to the present invention is implemented. All implementation manners in the above method embodiments are applicable to the embodiments of this computer-readable storage medium and can also achieve the same technical effects.

[0134] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraint conditions of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0135] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0136] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0137] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0139] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0140] In addition, it should be noted that in the device and method of the present invention, obviously, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations shall be regarded as equivalent solutions of the present invention. Moreover, the steps of performing the above series of processes can naturally be executed chronologically in the described order, but it is not necessary to be executed chronologically. Some steps can be executed in parallel or independently of each other. For those of ordinary skill in the art, it is understandable that all or any steps or components of the method and device of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in the form of hardware, firmware, software, or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0141] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a well-known general-purpose device. Therefore, the object of the present invention can also be achieved only by providing a program product containing program code for implementing the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be noted that in the device and method of the present invention, obviously, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations shall be regarded as equivalent solutions of the present invention. Moreover, the steps of performing the above series of processes can naturally be executed chronologically in the described order, but it is not necessary to be executed chronologically. Some steps can be executed in parallel or independently of each other.

[0142] The above is the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle described in the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for measuring the phase spacing of power transmission lines in a power grid, characterized in that: include: Obtain laser point cloud data of power grid transmission lines; Preprocessing the laser point cloud data to obtain preliminary data; Matching the advance data with the transmission line coordinate system to obtain target data; Performing fitting processing on the target data to obtain at least three axis points; Performing arc fitting processing on the at least three axis points to obtain the split wire axis; The phase spacing of the transmission line is obtained according to the split conductor axis.

2. The method for measuring the phase spacing of power transmission lines of a power grid according to claim 1, characterized in that: Preprocessing the laser point cloud data to obtain preliminary data includes: Performing data cleaning on the laser point cloud data to obtain first intermediate data; Converting the format of the first intermediate data to obtain second intermediate data; The second intermediate data is thinned out to obtain advance data.

3. The method for measuring the phase spacing of power transmission lines of a power grid according to claim 1, characterized in that: Matching the advance data with the transmission line coordinate system to obtain target data includes: A coordinate system is established with the center of the transmission line tower as the origin, the cross arm direction of the transmission line tower as the horizontal coordinate, the extension direction of the transmission line as the vertical coordinate, and the extension direction of the transmission line tower as the vertical coordinate, and the advance data is matched with the coordinate system to obtain the target data.

4. The method for measuring the phase spacing of power transmission lines of a power grid according to claim 1, characterized in that: The target data is fitted to obtain at least three axis points, including: If the transmission line is a two-split conductor, at least three axis points are obtained according to the midpoint of the target data; If the transmission line is a three-split conductor or larger, at least three axis points are obtained according to the spatial circle fitting result of the target data.

5. The method for measuring the phase spacing of power transmission lines of a power grid according to claim 4, characterized in that: If the transmission line is a three-split or larger conductor, at least three axis points are obtained according to the spatial circle fitting result of the target data, including: According to the target data, a spatial circle parameterized model is established; According to the space circle parameterized model, construct a first overdetermined set of equations; According to the first overdetermined equation group, at least three axis points are obtained.

6. The method for measuring the phase spacing of power transmission lines of a power grid according to claim 1, characterized in that: Performing arc fitting processing on the at least three axis points to obtain the split wire axis includes: Establishing a circular arc parameterized model according to the at least three axis points; Constructing a second overdetermined set of equations according to the arc parameterized model; According to the second overdetermined equation group, the split wire axis is obtained.

7. The method for measuring the phase spacing of power transmission lines of a power grid according to claim 1, characterized in that: According to the split conductor axis, the phase spacing of the transmission line is obtained, including: Taking the split conductor axis as a reference, a point on the split conductor axis is selected as the center of a sphere to construct a sphere, and the sphere is continuously expanded until the sphere is tangent to the split conductor axis of an adjacent phase sequence, and the phase spacing of the transmission line is obtained according to the radius of the tangent sphere.

8. A power grid transmission line phase spacing measurement device, characterized in that: include: An acquisition module, used to acquire laser point cloud data of power grid transmission lines; A processing module, used for preprocessing the laser point cloud data to obtain pre-data; Matching the advance data with the transmission line coordinate system to obtain target data; The target data is fitted to obtain at least three axis points; the at least three axis points are fitted with an arc to obtain a split conductor axis; and the transmission line phase spacing is obtained based on the split conductor axis.

9. A computing device, characterized in that include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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