A method, device and equipment for measuring phase distance of power grid transmission line

Abstract

The application provides a power grid transmission line phase distance measurement method, device and equipment. The power grid transmission line phase distance measurement method comprises the following steps: acquiring laser point cloud data of a power grid transmission line; pre-processing the laser point cloud data to obtain preliminary data; matching the preliminary data with a 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 a split conductor axis; and obtaining the transmission line phase distance according to the split conductor axis. The application can improve the efficiency, accuracy, flexibility and adaptability of transmission line phase distance measurement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of information processing, in particular to a power grid transmission line phase distance measurement method, device and equipment. BACKGROUND

[0002] With the increasing complexity of power grid structure, the mileage of transmission line is increasing, and the operation environment of power grid is also becoming more and more complex. In the survey design, operation and maintenance inspection and dancing governance of transmission line, the phase distance measurement of conductor is an important basic work, which must ensure that the minimum distance between the conductors meets the electrical safety gap requirement. At the same time, the conductor dancing of transmission line has been an important factor affecting the safety of power grid for a long time. Excessive conductor dancing is easy to cause phase flashover and cause line trip and power failure, tower cross arm, jumper, insulator, hardware damage and other hazards, which brings great harm to the safe operation of power grid. At present, the common governance means is to install anti-dancing device on the transmission conductor, and the phase distance spacer is one of the technical measures. Since the phase distance spacer has a small range of expansion after processing, its length must be consistent with the distance between the conductors, otherwise it cannot be installed.

[0003] The existing measurement methods of transmission line phase distance include total station laser ranging method, image processing technology method, three-dimensional laser scanning method and point cloud traversal algorithm. These methods have different technical principles and different performances. The total station laser ranging method obtains transmission conductor data through suspension measurement, forward intersection and prism-free method, and realizes phase distance measurement by a specific method. This method has high field intensity and low work efficiency. The image processing technology method realizes the monitoring and positioning of split conductor space distance by collecting images through a camera and using image processing method. Since the sensitivity and accuracy of the camera and other sensing devices are affected by external conditions, the monitoring result is easily affected by extreme weather conditions, and the accuracy is difficult to guarantee. The three-dimensional laser scanning method realizes related distance measurement based on point cloud by collecting point cloud of transmission line. The point cloud traversal algorithm obtains the minimum distance between two groups of point cloud data by calculation, directly measures the phase distance of conductor based on point cloud data, and is easily affected by problems such as view angle and point selection, resulting in deviation of measurement result. The point cloud traversal algorithm obtains the minimum distance between two groups of point cloud data, which is usually the distance from the surface of the conductor to the surface, not the strict phase distance. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a power grid transmission line phase distance measurement method, device and equipment. The efficiency, accuracy, flexibility and adaptability of transmission line phase distance measurement can be improved.

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

[0006] A power grid transmission line phase distance measurement method, comprising:

[0007] obtaining laser point cloud data of a power transmission line;

[0008] preprocessing the laser point cloud data to obtain preliminary data;

[0009] matching the preliminary data with a power transmission line coordinate system to obtain target data;

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

[0011] performing circular arc fitting processing on the at least three axis points to obtain a split conductor axis;

[0012] obtaining a power transmission line phase spacing according to the split conductor axis.

[0013] Optionally, preprocessing the laser point cloud data to obtain preliminary data comprises:

[0014] performing data cleaning on the laser point cloud data to obtain first intermediate data;

[0015] performing format conversion on the first intermediate data to obtain second intermediate data;

[0016] performing thinning processing on the second intermediate data to obtain preliminary data.

[0017] Optionally, matching the preliminary data with a power transmission line coordinate system to obtain target data comprises:

[0018] establishing a coordinate system with a power transmission line tower center as an origin, a power transmission line tower cross arm direction as a horizontal coordinate, a power transmission line extension direction as a vertical coordinate, and a power transmission line tower extension direction as a vertical coordinate, and performing corresponding matching of the preliminary data and the coordinate system to obtain target data.

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

[0020] if the power transmission line is a two-split conductor, obtaining at least three axis points according to a midpoint of the target data;

[0021] if the power transmission line is a three-split conductor and more than a three-split conductor, obtaining at least three axis points according to a spatial circle fitting result of the target data.

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

[0023] establishing a spatial circle parameterization model according to the target data;

[0024] constructing a first overdetermined equation set according to the space circle parameterization model;

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

[0026] Optionally, the at least three axis points are subjected to a circular arc fitting process to obtain a split conductor axis, including:

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

[0028] constructing a second overdetermined equation set according to the circular arc parameterization model;

[0029] obtaining a split conductor axis according to the second overdetermined equation set.

[0030] Optionally, a phase-to-phase distance of the power transmission line is obtained according to the split conductor axis, including:

[0031] selecting a point on the split conductor axis as a spherical center to construct a sphere, and continuously expanding the sphere until the sphere is tangent to a split conductor axis of an adjacent phase sequence, and obtaining a phase-to-phase distance of the power transmission line according to a radius of the tangent sphere.

[0032] Embodiments of the present application also provide a power grid power transmission line phase-to-phase distance measuring device, including:

[0033] an acquisition module configured to acquire laser point cloud data of a power grid power transmission line;

[0034] a processing module configured to pre-process the laser point cloud data to obtain pre-processing data, match the pre-processing data with a power 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 a split conductor axis, and obtain a phase-to-phase distance of the power transmission line according to the split conductor axis.

[0035] Embodiments of the present application also provide a computing device, including one or more processors, and a storage device configured to store 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 power grid power transmission line phase-to-phase distance measuring method described in the present application.

[0036] Embodiments of the present application also provide a computer readable storage medium, the computer readable storage medium stores a program, when the program is executed by a processor, the power grid power transmission line phase-to-phase distance measuring method described in the present application is implemented.

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

[0038] The phase spacing measurement method for power grid transmission lines of the present invention involves: acquiring 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 based on the split conductor axis. This method can improve the efficiency, accuracy, flexibility, and adaptability of transmission line phase spacing measurement. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating the method for measuring the phase spacing of power grid transmission lines according to the present invention.

[0040] Figure 2 This is a schematic diagram illustrating the implementation steps of the power grid transmission line phase spacing measurement method of the present invention;

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

[0042] Figure 3b This is a schematic diagram of three-point spatial circle fitting for the phase spacing measurement method of power grid transmission lines of the present invention;

[0043] Figure 3c This is a schematic diagram of four-point spatial circle fitting for the phase spacing measurement method of power grid transmission lines of the present invention;

[0044] Figure 3d This is a schematic diagram of six-point spatial circle fitting for the phase spacing measurement method of power grid transmission lines of the present invention;

[0045] Figure 3e This is a schematic diagram of eight-point spatial circle fitting for the phase spacing measurement method of power grid transmission lines of the present invention;

[0046] Figure 4 This is a schematic diagram of the circular arc fitting of the phase spacing measurement method for power grid transmission lines of the present invention;

[0047] Figure 5 This is a schematic diagram of the expansion sphere tangency of the phase spacing measurement method for power grid transmission lines of the present invention;

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

[0049] Exemplary embodiments of the present application will be described in greater detail below, with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it is to be understood that the present application can be embodied in various forms without being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0050] As Figure 1 shown, an embodiment of the present application proposes a method for measuring the phase distance of a power transmission line, comprising:

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

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

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

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

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

[0056] Step S6, obtaining the phase distance of the power transmission line according to the axis of the split conductor.

[0057] In this embodiment, as Figure 1As shown, in the power grid transmission line phase spacing measurement method, first, select a suitable three-dimensional laser scanning device to collect point cloud data of the transmission line conductor, obtain the laser point cloud data of the power line, the laser point cloud data is a point data set of the appearance surface of the target object obtained by the laser radar device, in order to avoid the influence of bad weather on the shape of the conductor, it is appropriate to collect data in no wind and no rain; Then, the obtained laser point cloud data is pretreated, such as data cleaning, format conversion, and thinning processing, to obtain pre-data for processing and use; Thirdly, a coordinate system is established, and the pre-data is matched with the transmission line coordinate system to obtain target data; Fourthly, according to the number of split conductors of the transmission line, a suitable method is selected to fit the target data, at least three axis points are obtained, the split conductor refers to a kind of conductor erection mode adopted by high-voltage transmission line to suppress corona discharge and reduce line reactance, that is, each phase conductor is composed of several small-diameter split conductors, the split conductors are arranged at the vertices of the regular polygon with a certain distance and in a symmetrical polygonal shape; Fourthly, using the circular arc fitting method, the at least three axis points are circularly fitted to obtain the split conductor axis; Finally, according to the adjacent split conductor axis, the method of expanding ball tangent is used to obtain the phase spacing of the transmission line, and the phase spacing refers to the distance between the adjacent two phase conductors or split conductor axes.

[0058] The scheme of the present application defines the coordinate system of the laser point cloud data of the transmission line, slices and spatially fits the transmission conductor according to a specific standard to determine the split conductor axis point; On this basis, the three-point circular arc fitting method is used to determine the local axis of the split conductor of the transmission line, and then the method of expanding ball is used to solve the phase spacing of the split conductor, so as to realize the accurate measurement of the phase spacing of the split conductor of the transmission line.

[0059] In an optional embodiment of the present application, in step S2, the laser point cloud data is pretreated to obtain pre-data, including:

[0060] Step S21, the laser point cloud data is cleaned to obtain first intermediate data;

[0061] Step S22, the first intermediate data is converted to obtain second intermediate data;

[0062] Step S23, the second intermediate data is thinned to obtain pre-data.

[0063] In the embodiment, the laser point cloud data is preprocessed, first, according to the type of the laser point cloud data, a reasonable threshold range of each parameter data is set, data exceeding the reasonable threshold range is discarded as an abnormal value, to prevent the influence of data fluctuation on subsequent data processing, then repeated values and missing values in the laser point cloud data are found, and invalid data such as repeated values and missing values are removed, moving object noise such as flying birds and vehicles generated during flight is manually removed, line body and channel environment data are retained, combined with the reflection intensity parameter (tree reflectivity <0.3, metal conductor >0.8) and the spatial distribution characteristics, the vegetation point cloud is removed, to obtain first intermediate data; then, the first intermediate data is format converted, for example, a certain height parameter value (15.86 meters) is composed of two original data (15 and 86), which respectively represent the integer part and the decimal part of the height value, the system performs format conversion on the data according to the preset rule, and reports the value 15.86, to obtain second intermediate data; finally, the second intermediate data is thinned, high-density point clouds (such as conductor area point density >5 points / cm 2 ) are uniformly sampled, feature points are retained while the data amount is reduced to 30% of the original data, the processing efficiency is improved, and the pre-data is obtained.

[0064] In an optional embodiment of the present application, in step S3, the pre-data is matched with the power transmission line coordinate system to obtain target data, including:

[0065] In step S31, a coordinate system is established with the center of the power transmission line tower as the origin, the cross arm direction of the power transmission line tower as the horizontal coordinate, the extension direction of the power transmission line as the vertical coordinate, and the extension direction of the power transmission line tower as the vertical coordinate, the pre-data is matched with the coordinate system, and the target data is obtained.

[0066] In the embodiment, the coordinate system of the power transmission line is defined, the center of the power transmission line tower is taken as the origin, the cross arm direction of the power transmission line tower is taken as the horizontal coordinate, the extension direction of the power transmission line is taken as the vertical coordinate, and the extension direction of the power transmission line tower is taken as the vertical coordinate to establish a coordinate system, the pre-data is matched with the coordinate system, and the target data is obtained.

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

[0068] In step S31, if the power transmission line is a two-split conductor, at least three axis points are obtained according to the midpoint of the target data.

[0069] In step S32, if the power transmission line is a three-split conductor and 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 power transmission conductor is sliced according to a certain standard (such as span), and the slicing plane is perpendicular to the longitudinal axis. The shape of the sliced split conductor is related to the number of split conductors; as shown in FIG. 2, if the power transmission line is a two-split conductor, the center of the line segment can be fitted with the axis center of the two-split conductor, the center point of the line segment is used as the axis point, at least three slicing planes are selected, and one axis point can be obtained for each slicing plane, that is, at least three axis points can be obtained. Figure 3a Figure 3b Figure 3c Figure 3d Figure 3e As shown in FIG. 3, if the power transmission line is a three-split conductor and more than a three-split conductor, 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 optional embodiment of the present application, in step S32, if the power transmission line is a three-split conductor and more than a three-split conductor, at least three axis points are obtained according to the space circle fitting result of the target data, including:

[0072] In step S321, a space circle parameterization model is established according to the target data.

[0073] In step S322, a first overdetermined equation set is constructed according to the space circle parameterization model.

[0074] In step S323, at least three axis points are obtained according to the first overdetermined equation set.

[0075] In this embodiment, first, a space circle parameterization model is established according to the target data, and the general equation of the circle is (x-a) 2 +(y-b) 2 =r 2 , where x is the horizontal coordinate of a point, y is the vertical coordinate 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 a linear parameter of the horizontal coordinate, B1 is a linear parameter of the vertical coordinate, and C1 is a combined parameter of the coordinate and the radius. The coordinates (x i , y i ) of the target data are substituted into the linear equation x i 2 +y i 2 +A1x i +B1y i +C1=0 to construct a first overdetermined equation set, which is arranged in a matrix form A1p1=B1, p1=[A1, B1, C1] T , that is​​​​

[0076]

[0077] Then, the first overdetermined equation is solved by the following formula:

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

[0079] The center and radius are obtained according to the parameter p1:

[0080] At least slicing is performed on the split conductor, and the above steps are repeated to obtain at least three axis points.

[0081] In an optional embodiment of the present application, in step S4, the at least three axis points are subjected to circular arc fitting processing to obtain a split conductor axis, comprising:

[0082] In step S41, a circular arc parameterized model is established according to the at least three axis points;

[0083] In step S42, a second overdetermined equation set is constructed according to the circular arc parameterized model;

[0084] In step S43, a split conductor axis is obtained according to the second overdetermined equation set.

[0085] In this embodiment, first, a space circle parameterized model is established according to the at least three axis points, and the general equation of the circle is (e-g) 2 +(f-h) 2 =d 2 , wherein e is the horizontal coordinate of the point, f is the vertical coordinate of the point, (g, h) is the center, and d is the radius; the general equation of the circle is expanded and rewritten into a linear form: e 2 +f 2 +A2e+B2f+C2=0, wherein A2 is a linear parameter of the horizontal coordinate, B2 is a linear parameter of the vertical coordinate, and C2 is a combined parameter of the coordinates and the radius; the coordinates (e i , f i ) of the target data are substituted into the linear equation e i 2 +f i 2 +A2e i +B2f i +C2=0 to construct a second overdetermined equation set, which is arranged into a matrix form A2p2=B2, p2=[A2, B2, C2] T , that is

[0086]

[0087] Then, the second overdetermined equation is solved by the following formula:

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

[0089] The center and the radius are obtained according to the parameter p2. The split conductor axis is obtained.

[0090] In an optional embodiment of the present application, in step S6, the phase-to-phase distance of the power transmission line is obtained according to the split conductor axis, comprising:

[0091] In step S61, a point on the split conductor axis is selected as the center of the sphere, and a sphere is constructed, and the sphere is continuously expanded until the sphere is tangent to the split conductor axis of the adjacent phase sequence, and the phase-to-phase distance of the power transmission line is obtained according to the radius of the tangent sphere.

[0092] In the embodiment, the split conductor axes of the adjacent power transmission lines are obtained by the above method of the present application, and then a suitable point on the axis is selected as the center of the sphere according to the requirements, and a sphere with a certain radius is constructed, and preferably, the radius of the sphere is set to 0.5m, and the sphere is continuously expanded, and when the sphere is tangent to the local axis of the adjacent phase sequence, the radius of the sphere at this time is the phase-to-phase distance of the two-phase split conductor of the power transmission line.

[0093] The specific implementation process of the above method of the present application is described below:

[0094] In step 111, the laser point cloud data of the power grid transmission line is obtained.

[0095] In step 112, the laser point cloud data is data cleaned to obtain first intermediate data.

[0096] In step 113, the first intermediate data is format converted to obtain second intermediate data.

[0097] In step 114, the second intermediate data is thinned to obtain preliminary data.

[0098] In step 115, a coordinate system is established with the center of the power transmission line tower as the origin, the cross arm direction of the power transmission line tower as the horizontal coordinate, the extension direction of the power transmission line as the vertical coordinate, and the extension direction of the power transmission line tower as the vertical coordinate, and the preliminary data is correspondingly matched with the coordinate system to obtain target data.

[0099] In step 116, if the power transmission line is a two-split conductor, at least three axis points are obtained according to the midpoint of the target data.

[0100] Step 117, if the power transmission line is a three-split conductor and greater than a three-split conductor, a spatial circle parameterization model is established according to the target data;

[0101] Step 118, a first overdetermined equation set is constructed according to the spatial circle parameterization model;

[0102] Step 119, at least three axis points are obtained according to the first overdetermined equation set;

[0103] Step 120, a circular arc parameterization model is established according to the at least three axis points;

[0104] Step 121, a second overdetermined equation set is constructed according to the circular arc parameterization model;

[0105] Step 122, a split conductor axis is obtained according to the second overdetermined equation set;

[0106] Step 123, a sphere is constructed with the split conductor axis as a reference and a point on the split conductor axis as a sphere center, the sphere is continuously inflated until the sphere is tangent to the split conductor axis of an adjacent phase sequence, and a power transmission line phase spacing is obtained according to the radius of the tangent sphere.

[0107] The method of the present application aims to solve the problem of split conductor phase spacing measurement involved in power transmission line survey design, operation and inspection, and galloping governance. Phase spacing is an important parameter of overhead power transmission lines. When the arrangement of conductor phase sequence changes, it is necessary to check whether the minimum distance between conductor phases meets the requirement of electrical clearance. At the same time, phase spacing also needs to be measured when installing phase spacing rods for power transmission line galloping governance. Since the split conductor phase spacing needs to measure the distance between split conductor axes, the split conductor axis is not a measurement entity and cannot be directly measured. The method of the present application can solve this technical problem.

[0108] The method of the present application has high measurement efficiency. The total station laser ranging method has high field intensity and low efficiency. The present application avoids a large amount of field work through a series of digital processing, thereby improving efficiency. The measurement accuracy is high. This measurement method ingeniously converts the complex spatial distance measurement problem into a geometric relationship problem of sphere and axis, and realizes accurate measurement of the split conductor phase spacing of the power transmission line through accurate geometric calculation.

[0109] As shown in Figure 6 The embodiment of the present application also provides a power grid power transmission line phase spacing measurement device 60, which comprises:

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

[0111] The processing module 62 is used for pre-processing the laser point cloud data to obtain pre-data; matching the pre-data with a power 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 a split conductor axis; and obtaining a power line phase distance according to the split conductor axis.

[0112] Optionally, the pre-processing of the laser point cloud data to obtain pre-data comprises:

[0113] The laser point cloud data is subjected to data cleaning to obtain first intermediate data.

[0114] The first intermediate data is subjected to format conversion to obtain second intermediate data.

[0115] The second intermediate data is subjected to thinning processing to obtain pre-data.

[0116] Optionally, the matching of the pre-data with the power line coordinate system to obtain target data comprises:

[0117] A coordinate system is established with a power line tower center as an origin, a power line tower cross arm direction as a horizontal coordinate, a power line extension direction as a vertical coordinate, and a power line tower extension direction as a vertical coordinate, and the pre-data is matched with the coordinate system to obtain target data.

[0118] Optionally, the fitting processing of the target data to obtain at least three axis points comprises:

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

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

[0121] Optionally, if the power line is a three-split conductor or more than a three-split conductor, at least three axis points are obtained according to a spatial circle fitting result of the target data, comprising:

[0122] A spatial circle parameterization model is established according to the target data.

[0123] A first overdetermined equation set is constructed according to the spatial circle parameterization model.

[0124] At least three axis points are obtained according to the first overdetermined equation set.

[0125] Optionally, the circular arc fitting processing of the at least three axis points to obtain a split conductor axis comprises:

[0126] According to the at least three axis points, a circular arc parameterization model is established;

[0127] According to the circular arc parameterization model, a second over-determined equation set is constructed;

[0128] According to the second over-determined equation set, a split conductor axis is obtained.

[0129] Optionally, according to the split conductor axis, a transmission line phase spacing is obtained, comprising:

[0130] Taking the split conductor axis as a reference, a point on the split conductor axis is selected as a spherical center, a sphere is constructed, the sphere is continuously inflated until the sphere is tangent to a split conductor axis of an adjacent phase sequence, and according to a radius of the tangent sphere, a transmission line phase spacing is obtained.

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

[0132] Embodiments of the present application also provide a computing device, comprising: 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 power grid transmission line phase spacing measurement method described in the present application. All implementation manners in the above method embodiments are applicable to the computing device embodiments and can achieve the same technical effects.

[0133] Embodiments of the present application also provide a computer readable storage medium, the computer readable storage medium stores a program, when the program is executed by a processor, the power grid transmission line phase spacing measurement method described in the present application is implemented. All implementation manners in the above method embodiments are applicable to the computer readable storage medium embodiments and can achieve the same technical effects.

[0134] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0136] In the embodiments of the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the embodiments of the apparatus described above are merely schematic; for example, the division of the units is only a logical function division; there can be another division manner in actual implementation; for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electric, mechanical or other forms.

[0137] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units; that is, they can be located in one place, or can be distributed on a plurality of network units. In actual implementation, some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0138] In addition, each functional unit in the various embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, 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 solutions of the present application essentially or partly, or part of the technical solutions, can be embodied in the form of a software product. The 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 perform all or part of the steps of the methods in the various embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, and various other media that can store program codes.

[0140] Moreover, it is pointed out that in the device and method of the present application, obviously, the components or steps can be decomposed and / or recombined. These decompositions and / or recombination should be considered as equivalent solutions of the present application. Also, the steps of performing the above series of processes can naturally be executed in time sequence according to the order of description, but do not need to be necessarily executed in time sequence. Some steps can be executed in parallel or independently of each other. It can be understood by those skilled in the art that all or any steps or components of the method and device of the present application can be realized in hardware, firmware, software or a combination thereof in any computing device (including processors, storage media, etc.) or network of computing devices, by those skilled in the art using their basic programming skills after reading the description of the present application.

[0141] Therefore, the object of the present application can also be realized by running a program or a set of programs on any computing device. The computing device can be a commonly known general-purpose device. Therefore, the object of the present application can also be realized only by providing a program product containing program code for realizing the method or device. That is, such a program product also constitutes the present application, and a storage medium storing such a program product also constitutes the present application. Obviously, the storage medium can be any commonly known storage medium or any storage medium developed in the future. It is also pointed out that in the device and method of the present application, obviously, the components or steps can be decomposed and / or recombined. These decompositions and / or recombination should be considered as equivalent solutions of the present application. Also, the steps of performing the above series of processes can naturally be executed in time sequence according to the order of description, but do not need to be necessarily executed in time sequence. Some steps can be executed in parallel or independently of each other.

[0142] The above is the preferred embodiment of the present application. It should be pointed out that for those skilled in the art, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method of measuring the phase distance of a power grid transmission line, characterized in that The method comprises the following steps: obtaining laser point cloud data of a power transmission line of a power grid; preprocessing the laser point cloud data to obtain preliminary data; matching the preliminary 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 circular arc fitting processing on the at least three axis points to obtain a split conductor axis; obtaining a phase-to-phase distance of the power transmission line according to the split conductor axis; wherein the fitting processing on the target data to obtain at least three axis points comprises: if the power transmission line is a two-split conductor, obtaining at least three axis points according to a midpoint of the target data; if the power transmission line is a three-split conductor or a conductor with more than three splits, obtaining at least three axis points according to a spatial circle fitting result of the target data; specifically comprising: establishing a spatial circle parameterization model according to the target data; constructing a first overdetermined equation set according to the spatial circle parameterization model; obtaining at least three axis points according to the first overdetermined equation set; wherein the coordinates (x i , y i ) of the target data are substituted into the linear equation , a first over-determined equation set is constructed, and is arranged in a matrix form A1p1=B1, , that is = then, solving the first overdetermined equation by the following formula: According to the parameter p1, the center and the radius are obtained: , , r ; performing at least three slices on the split conductor, and obtaining an axis point for each slice; repeating the above steps to find the centers of at least three fitting spatial circles to obtain at least three axis points; wherein the circular arc fitting processing on the at least three axis points to obtain the split conductor axis comprises: establishing a circular arc parameterization model according to the at least three axis points; constructing a second overdetermined equation set according to the circular arc parameterization model; obtaining the split conductor axis according to the second overdetermined equation set; where the coordinates of the axis point (e i , f i ) are substituted into the linear equation , a second over-determined equation set is constructed, which is arranged in the matrix form A2p2=B2, , that is = solving the second overdetermined equation by the following formula: From the parameter p2 the center and radius of the circle are obtained: , , d , the axis of the split conductor is obtained; wherein the obtaining of the phase-to-phase distance of the power transmission line according to the split conductor axis comprises: selecting a point on the split conductor axis as the center of a sphere based on the split conductor axis, constructing a sphere, and continuously expanding the sphere until the sphere is tangent to the split conductor axis of an adjacent phase sequence, and obtaining the phase-to-phase distance of the power transmission line according to the radius of the tangent sphere.

2. The method of claim 1, wherein, The preprocessing of the laser point cloud data to obtain preliminary data comprises: performing data cleaning on the laser point cloud data to obtain first intermediate data; performing format conversion on the first intermediate data to obtain second intermediate data; performing thinning processing on the second intermediate data to obtain preliminary data.

3. The method of claim 1, wherein, The matching of the preliminary data with the power transmission line coordinate system to obtain target data comprises: establishing a coordinate system with the center of a power transmission line tower as the origin, the tower cross arm direction as the horizontal coordinate, the extension direction of the power transmission line as the vertical coordinate, and the extension direction of the power transmission line tower as the vertical coordinate, and correspondingly matching the preliminary data with the coordinate system to obtain target data.

4. A device for measuring the phase distance of a power grid transmission line, characterized in that The method comprises the following steps: an obtaining module for obtaining laser point cloud data of a power transmission line of a power grid; a processing module for preprocessing the laser point cloud data to obtain preliminary data; matching the preliminary data with a power transmission line coordinate system to obtain target data; Fitting processing is performed on the target data to obtain at least three axis points; arc fitting processing is performed on the at least three axis points to obtain a split conductor axis; and a phase-to-phase distance of the power transmission line is obtained according to the split conductor axis. The fitting processing on the target data to obtain at least three axis points comprises: If the power transmission line is a two-split conductor, at least three axis points are obtained according to a midpoint of the target data; If the power transmission line is a three-split conductor or more than a three-split conductor, at least three axis points are obtained according to a spatial circle fitting result of the target data; and the method specifically comprises: A spatial circle parameterization model is established according to the target data; A first overdetermined equation set is constructed according to the spatial circle parameterization model; At least three axis points are obtained according to the first overdetermined equation set; wherein the coordinates (x i , y i ) of the target data are substituted into the linear equation , a first overdetermined equation set is constructed, and is arranged in a matrix form A1p1=B1, , that is = Then, the first overdetermined equation is solved by the following formula: According to the parameter p1, the center and the radius are obtained: , , r ; At least three slices are performed on the split conductor, and each slice can obtain an axis point; the above steps are repeated to find at least three circle centers of fitting spatial circles to obtain at least three axis points; The arc fitting processing on the at least three axis points to obtain a split conductor axis comprises: A circular arc parameterization model is established according to the at least three axis points; A second overdetermined equation set is constructed according to the circular arc parameterization model; A split conductor axis is obtained according to the second overdetermined equation set; where the coordinates (e i , f i ) of the axis point are substituted into the linear equation , a second over-determined equation set is constructed, which is arranged in the matrix form A2p2=B2, , that is = The second overdetermined equation is solved by the following formula: From the parameter p2, the center and radius of the circle are obtained: , , d , the axis of the split conductor is obtained; The phase-to-phase distance of the power transmission line is obtained according to the split conductor axis, which comprises: A sphere is constructed by taking a point on the split conductor axis as a sphere center with reference to the split conductor axis; the sphere is continuously inflated until the sphere is tangent to a split conductor axis of an adjacent phase sequence; and a phase-to-phase distance of the power transmission line is obtained according to a radius of the tangent sphere.

5. A computing device, comprising: The method comprises: One or more processors; A storage device is configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a program, and the program is executed by a processor to implement the method according to any one of claims 1 to 3.

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