Pole tower positioning device and pole tower positioning method and system based on histogram data

Abstract

The invention provides a tower positioning device and a tower positioning method and system based on histogram data, and belongs to the technical field of tower monitoring. The tower positioning device comprises a moving assembly and two positioning assemblies, and the position can be automatically adjusted to accurately position the tower. According to the positioning method and system, the point cloud data of a power transmission line area and the information of the tower are acquired, the environmental data and the inclination angle data are drawn into a histogram, and the anomaly analysis is carried out based on the histogram data distribution, the tower position and the altitude, so that the abnormal tower is positioned and early warned. According to the method, automation of tower positioning is achieved, manual intervention is reduced, the positioning speed and accuracy are greatly improved, efficient and reliable technical support is provided for routing inspection, maintenance and asset management of power transmission lines, and the method has remarkable economic benefits and application value.

Description

Technical Field

[0001] The present invention belongs to the technical field of pole and tower monitoring, and particularly relates to a pole and tower positioning device, a pole and tower positioning method and system based on histogram data. Background Art

[0002] With the acceleration of the urbanization process and the growth of power demand, the structure of the distribution network has become increasingly complex. The traditional distribution network management method is difficult to meet the requirements of efficient and accurate management. The development of modern information technology, especially the maturity of GIS, GPS, and Internet of Things technologies, provides technical support for the precise positioning and management of distribution network poles and towers. When a fault occurs in the distribution network, quickly and accurately locating the position of the pole and tower is crucial for fault handling and emergency response. Most of the existing pole and tower positioning systems are only used to obtain position information, and only positioning devices are installed on the pole and tower. However, the existing poles and towers are huge, and the distance from one side to the other side of the pole and tower is not small, which causes certain errors. Moreover, during the installation and use process of the pole and tower, it may tilt, forming certain potential safety hazards, and improvement is needed. Summary of the Invention

[0003] In view of this, the present invention aims to provide a pole and tower positioning device, a pole and tower positioning method and system based on histogram data to solve the problems raised in the above background art.

[0004] To achieve the above object, the technical solutions provided by the present invention are as follows:

[0005] In the first aspect, the present invention provides a pole and tower positioning device, including:

[0006] A moving component and two sets of positioning components; the two sets of positioning components are both arranged on the moving component, and the positioning directions of the two sets of positioning components are perpendicular to each other in the horizontal plane;

[0007] The moving component is fixed on the pole and tower and is used to move the positioning component to the center position of the pole and tower;

[0008] The positioning component includes a vertical positioning component and an arc-shaped positioning component;

[0009] An infrared emission device is arranged on the vertical positioning component, and the vertical positioning component is rotatably connected to the moving component so as to maintain a vertical state relative to the moving component;

[0010] The positioning direction is the vertical direction in the horizontal plane of the ray direction emitted by the infrared emission device;

[0011] The arc-shaped positioning component is arranged relative to the vertical positioning component and is fixedly connected to the moving component;

[0012] The arc-shaped positioning component includes an arc-shaped plate and a driving device;

[0013] The arc-shaped plate is rotatably connected to the arc-shaped positioning component, and an infrared receiving device is arranged at a position corresponding to the infrared transmitting device on the arc-shaped plate;

[0014] The driving device is used to drive the arc-shaped plate to rotate when the infrared receiving device does not receive the ray emitted by the infrared transmitting device, so that the position of the infrared receiving device corresponds to the position of the infrared transmitting device again.

[0015] Furthermore, the moving component includes a crossbeam track, a moving block is slidably arranged inside the crossbeam track, a threaded hole is arranged inside the moving block, an adjusting motor is installed at one end of the crossbeam track, the output end of the adjusting motor is connected with a lead screw, the lead screw penetrates through the moving block and is in threaded connection with the threaded hole, the bottom of the moving block is connected with a chassis, a side plate is arranged on each side of the chassis, a group of installation sliding rods are arranged between the two side plates, an installation box is slidably arranged on the installation sliding rods, an adjusting push rod is arranged on the two side plates, and the end of the adjusting push rod is connected to the top side wall of the installation box, and the positioning component is arranged inside the installation box.

[0016] Furthermore, a plurality of groups of infrared ranging devices are arranged on the lower side wall of the installation box.

[0017] Furthermore, the vertical positioning component further includes: a positioning device body and a counterweight block;

[0018] The positioning device body is rotatably installed inside the installation box through a mounting shaft;

[0019] The counterweight block is arranged at the bottom of the positioning device body;

[0020] The infrared transmitting device is arranged on a side wall at the lower end of the positioning device body.

[0021] Furthermore, the arc-shaped positioning component further includes: a mounting bracket;

[0022] The mounting bracket is installed inside the installation box;

[0023] The arc-shaped plate is slidably arranged on the mounting bracket;

[0024] The infrared receiving device is arranged on a side wall of the arc-shaped plate;

[0025] An arc-shaped rack is arranged on the bottom surface of the arc-shaped plate;

[0026] The arc-shaped plate is meshed and connected with the driving device through the arc-shaped rack.

[0027] Furthermore, the crossbeam track coincides with a diameter of the pole tower.

[0028] In a second aspect, the present invention provides a pole tower positioning method based on histogram data, including the following steps:

[0029] Obtain the point cloud data of the transmission line area and parse the environmental data around the tower from it;

[0030] Obtain the position information, altitude and tilt angle data of the tower itself; the tilt angle data is determined by using the tower positioning device as in the first aspect;

[0031] Draw a histogram of the environmental data and the tilt angle data;

[0032] Perform abnormal data analysis based on the data distribution in the histogram and the position information and altitude of the tower itself;

[0033] Locate the tower corresponding to the abnormal data and issue an abnormal warning.

[0034] Furthermore, drawing a histogram of the environmental data and the tilt angle data includes:

[0035] For the environmental data and the tilt angle data, respectively determine the data range;

[0036] Select the number of intervals and divide the data range into intervals;

[0037] Assign each data point to the corresponding interval, count the number of data points in each interval to obtain the frequency, and calculate the frequency based on the frequency.

[0038] In a third aspect, the present invention provides a tower positioning system based on histogram data, including:

[0039] A data acquisition unit for obtaining the point cloud data of the transmission line area and parsing the environmental data around the tower from it; and also for obtaining the position information, altitude and tilt angle data of the tower itself; the tilt angle data is determined by using the tower positioning device as in the first aspect;

[0040] A mapping unit for drawing a histogram of the environmental data and the tilt angle data;

[0041] An abnormal data analysis unit for performing abnormal data analysis based on the data distribution in the histogram and the position information and altitude of the tower itself;

[0042] A positioning unit for locating the tower corresponding to the abnormal data and issuing an abnormal warning.

[0043] Furthermore, drawing a histogram of the environmental data and the tilt angle data includes:

[0044] For the environmental data and the tilt angle data, respectively determine the data range;

[0045] Select the number of intervals and divide the data range into intervals;

[0046] Each data point is assigned to the corresponding interval, the number of data points in each interval is counted to obtain the frequency, and the frequency is calculated based on the frequency.

[0047] In summary, the present invention provides a tower positioning device, including a moving component and two sets of positioning components; the two sets of positioning components are both arranged on the moving component, and the positioning directions of the two sets of positioning components are perpendicular to each other in the horizontal plane; the moving component is fixed on the tower for moving the positioning component to the central position of the tower; the positioning component includes a vertical positioning component and an arc positioning component; an infrared emitting device is arranged on the vertical positioning component, and the vertical positioning component is rotatably connected to the moving component so as to maintain a vertical state relative to the moving component; the positioning direction is the vertical direction of the ray emitted by the infrared emitting device in the horizontal plane; the arc positioning component is arranged relative to the vertical positioning component and fixedly connected to the moving component; the arc positioning component includes an arc plate and a driving device; the arc plate is rotatably connected to the arc positioning component, and an infrared receiving device is arranged at a position corresponding to the infrared emitting device on the arc plate; the driving device is used to drive the arc plate to rotate when the infrared receiving device does not receive the ray emitted by the infrared emitting device so that the position of the infrared receiving device corresponds to the position of the infrared emitting device again. The present invention can monitor the tilt angle of the tower in real time and ensure the safe and stable operation of the transmission line.

[0048] The present invention also provides a tower positioning method and system based on histogram data. By acquiring the point cloud data of the transmission line area, the environmental data around the tower is parsed from it; the position information, altitude and tilt angle data of the tower itself are acquired; the tilt angle data is determined by using the tower positioning device as described in the first aspect; the environmental data and the tilt angle data are plotted as a histogram; based on the distribution of the data in the histogram and the position information and altitude of the tower itself, abnormal data analysis is carried out; the tower corresponding to the abnormal data is located and an abnormal warning is given. The present invention can draw a histogram by acquiring and analyzing various types of data, perform abnormal data analysis, positioning and warning on the tower, realize effective monitoring of the tower state, and ensure the safe and stable operation of the transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0050] Figure 1 It is the installation structure diagram of the positioning device provided by the embodiment of the present invention;

[0051] Figure 2Another perspective view of the positioning device provided by the embodiment of the present invention;

[0052] Figure 3 Provided by the embodiment of the present invention Figure 2 Enlarged view of part A in

[0053] Figure 4 Installation structure diagram of the positioning device body provided by the embodiment of the present invention;

[0054] Figure 5 Another perspective view of the positioning device body provided by the embodiment of the present invention;

[0055] Figure 6 Flow chart of a tower pole positioning method based on histogram data provided by the embodiment of the present invention;

[0056] Figure 7 Block diagram of a tower pole positioning device based on histogram data provided by the embodiment of the present invention.

[0057] In the drawings: 1 - crossbeam track, 2 - moving block, 3 - adjusting motor, 4 - lead screw, 5 - chassis, 6 - side plate, 7 - mounting box, 8 - mounting slide bar, 9 - adjusting push rod, 10 - infrared ranging device, 11 - positioning device body, 12 - mounting shaft, 13 - counterweight block, 14 - infrared transmitting device, 15 - mounting bracket, 16 - arc plate, 17 - infrared receiving device, 18 - arc rack, 19 - driving motor, 20 - driving gear. Detailed implementation manners

[0058] To make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] The embodiment of the present invention provides a tower pole positioning device, including:

[0060] A moving component and two sets of positioning components; the two sets of positioning components are both arranged on the moving component, and the positioning directions of the two sets of positioning components are perpendicular to each other in the horizontal plane;

[0061] The moving component is fixed on the tower pole and is used to move the positioning component to the central position of the tower pole;

[0062] The positioning component includes a vertical positioning component and an arc positioning component;

[0063] An infrared emission device is provided on the vertical positioning component, and the vertical positioning component is rotatably connected to the moving component, so as to maintain a vertical state relative to the moving component;

[0064] The positioning direction is the vertical direction of the ray direction emitted by the infrared emission device on the horizontal plane;

[0065] The arc-shaped positioning component is arranged relative to the vertical positioning component and fixedly connected to the moving component;

[0066] The arc-shaped positioning component includes an arc-shaped plate and a driving device;

[0067] The arc-shaped plate is rotatably connected to the arc-shaped positioning component, and an infrared receiving device is arranged at a position corresponding to the infrared emission device on the arc-shaped plate;

[0068] The driving device is used to drive the arc-shaped plate to rotate when the infrared receiving device does not receive the ray emitted by the infrared emission device, so that the position of the infrared receiving device corresponds to the position of the infrared emission device again.

[0069] In this embodiment, the pole tower positioning device is composed of a moving component and two sets of positioning components. The two sets of positioning components are installed on the moving component, and their positioning directions are perpendicular to each other on the horizontal plane. This vertical setting method enables the positioning device to position the pole tower from two mutually perpendicular directions, thereby improving the accuracy and comprehensiveness of positioning and being able to more accurately determine the position information of the pole tower.

[0070] The moving component can be fixed on the pole tower, and its main function is to move the positioning component to the center position of the pole tower. The center position of the pole tower is usually a key reference point. Moving the positioning component to this position helps to more accurately obtain the position data of the pole tower and provides a relatively stable and accurate starting position for subsequent positioning operations. By moving the positioning component to the center position of the pole tower, the positioning error caused by position deviation can also be reduced.

[0071] The vertical positioning component is connected to the moving component by a rotatable connection and can maintain a vertical state relative to the moving component. This design ensures the stability of the ray direction emitted by the infrared emission device, enabling the positioning direction to accurately follow the set rules, that is, the positioning direction is the vertical direction of the ray direction emitted by the infrared emission device on the horizontal plane, providing a clear and stable direction reference for the positioning operation.

[0072] The arc positioning component is arranged relative to the vertical positioning component and fixedly connected to the moving component, and together with the vertical positioning component, they form a positioning system. It consists of an arc plate and a driving device. The arc plate is rotatably connected to the arc positioning component, and an infrared receiving device is arranged on the arc plate at a position corresponding to the infrared transmitting device. The infrared receiving device is used to receive the rays emitted by the infrared transmitting device, so as to obtain position information. The main function of the driving device comes into play when the infrared receiving device does not receive the rays emitted by the infrared transmitting device. When this situation occurs, it indicates that the relative position between the infrared transmitting device and the infrared receiving device has changed, resulting in abnormal ray transmission. At this time, the driving device will drive the arc plate to rotate, and by adjusting the position of the arc plate, the position of the infrared receiving device is made to correspond to the position of the infrared transmitting device again, thereby restoring the normal transmission of the rays and ensuring that the positioning system can continue to work accurately.

[0073] The positioning principle of the positioning device in this embodiment is based on the signal transmission between the infrared transmitting device and the infrared receiving device. When the rays emitted by the infrared transmitting device can be received by the infrared receiving device, it indicates that their positions correspond to each other. At this time, the position relationship can be determined according to the transmission situation of the rays. When the infrared receiving device cannot receive the rays, the driving device will automatically adjust the position of the arc plate to make the two correspond to each other again and restore the signal transmission, so as to accurately determine the position of the pole tower. The two positioning components are arranged in mutually perpendicular positioning directions on the horizontal plane, enabling the positioning device to obtain the position information of the pole tower from different angles, further improving the positioning accuracy and reliability.

[0074] Please refer to Figures 1-5 , Figures 1-5 which is a pole tower positioning device designed in combination with the above embodiments. The following will introduce other embodiments of the present invention in combination with Figures 1-5 this.

[0075] In one embodiment, the positioning device includes a crossbeam track 1. A moving block 2 is slidably arranged inside the crossbeam track 1. A threaded hole is arranged inside the moving block 2. An adjusting motor 3 is installed at one end of the crossbeam track 1. The output end of the adjusting motor 3 is connected to a lead screw 4. The lead screw 4 passes through the moving block 2 and is in threaded connection with the threaded hole. The bottom of the moving block 2 is connected to a chassis 5. On both sides of the chassis 5, there is a side plate 6 each. Between the two side plates 6, a set of mounting slide rods 8 is arranged. An installation box 7 is slidably arranged on the mounting slide rods 8. An adjusting push rod 9 is arranged on the two side plates 6. The end of the adjusting push rod 9 is connected to the top side wall of the installation box 7. The positioning device body 11 (i.e., the positioning component) is installed inside the installation box 7.

[0076] In this embodiment, by adjusting the driving of the motor 3 to drive the moving block 2 and adjusting the push rod 9 to push the installation box 7, the position of the positioning device body 11 can be flexibly adjusted in two directions to meet different positioning requirements.

[0077] In a further embodiment, a plurality of infrared ranging devices 10 are provided on the lower side wall of the installation box 7.

[0078] During actual use, the positioning device needs to be installed at the center of the pole tower. The infrared ranging device 10 measures the distance. After each installation or maintenance, it needs to be adjusted through the adjustment unit so that the distances measured by the infrared ranging device 10 to each side are the same, thereby ensuring that the installation position is at the center point, making the position information more accurate. When adjusting, the control starts the adjustment motor 3 to drive the screw rod 4 to rotate, so that the moving block 2 moves inside the crossbeam track 1, and then the control adjusts the push rod 9 to push the installation box 7 to slide on the installation slide rod 8, so that the installation box 7 is located at the center point of the pole tower.

[0079] In one embodiment, the vertical positioning component further includes: a positioning device body 11 and a counterweight 13.

[0080] The positioning device body 11 is rotatably installed inside the installation box 7 through the installation shaft 12. The rotation directions of the two groups of positioning device bodies 11 are the east-west and north-south directions respectively. A counterweight 13 is connected to the bottom of the positioning device body 11. An infrared emitting device 14 is provided on one side wall at the lower end of the positioning device body 11. An installation frame 15 is installed inside the installation box 7. An arc-shaped plate 16 is slidably arranged on the installation frame 15. An infrared receiving device 17 is provided on one side wall of the arc-shaped plate 16. The infrared emitting device 14 emits infrared rays every once in a while. When the pole tower is vertical, the infrared rays emitted by the infrared emitting device 14 are exactly received by the infrared receiving device 17. If the infrared rays emitted by the infrared emitting device 14 are not received by the infrared receiving device 17, it means that the pole tower is tilted. An arc-shaped rack 18 is provided on the bottom surface of the arc-shaped plate 16. A driving motor 19 is installed inside the installation box 7. The output end of the driving motor 19 is connected to a driving gear 20. The driving gear 20 is meshed with the arc-shaped rack 18.

[0081] In actual use, when the positioning component is moved to the center point position of the pole tower, if the pole tower tilts, the positioning device body 11 remains perpendicular to the sea level under the influence of gravity. An inclination angle will be formed between the positioning device body 11 and the pole tower, and the infrared rays emitted by the infrared emission device 14 cannot be received by the infrared receiving device 17. At this time, it is determined that tilting has occurred. At this time, the drive motor 19 is controlled to start and drive the drive gear 20 to rotate. The drive gear 20 drives the arc-shaped plate 16 to slide slowly on the mounting frame 15 through the arc-shaped rack 18 until the infrared receiving device 17 can receive the infrared rays emitted by the infrared emission device 14 again. The number of turns of the drive gear 20 driven by the start of the drive motor 19 can be used to calculate the rotation angle of the infrared receiving device 17, and thus the inclination angle of the pole tower can be obtained.

[0082] In one embodiment, the crossbeam track 1 coincides with a diameter of the pole tower. Such a setting can make the moving block and other components (such as the chassis, installation box, etc.) connected thereto move in the same direction as the diameter direction of the pole tower during the positioning operation, and the position of the positioning device can be adjusted along the diameter direction of the pole tower.

[0083] Please refer to Figure 6 , the present invention provides a pole tower positioning method based on histogram data, including the following steps:

[0084] S1: Obtain the point cloud data of the transmission line area and parse out the environmental data around the pole tower from it.

[0085] It should be noted that the point cloud data is a data set containing a large amount of spatial point information and can accurately describe the three-dimensional shape of an object. By obtaining the point cloud data of the transmission line area and parsing out the environmental data around the pole tower from it, this environmental data may include information such as terrain, surrounding buildings, vegetation coverage, etc. This environmental data is very important for subsequent analysis of the operating state of the pole tower and positioning abnormal situations, because changes in the surrounding environment may affect the pole tower. For example, if trees grow too close to the pole tower, it may affect its stability.

[0086] S2: Obtain the position information, altitude, and inclination angle data of the pole tower itself; the inclination angle data is determined using the pole tower positioning device as described in the foregoing embodiment.

[0087] It should be noted that the position information, altitude, and inclination angle data of the pole tower itself are obtained. Among them, the inclination angle data is determined using the pole tower positioning device in the foregoing embodiment. The position information and altitude are helpful for determining the specific position of the pole tower in the geographical space and providing basic data for subsequent analysis.

[0088] S3: Plot the environmental data and the inclination angle data as a histogram.

[0089] It should be noted that the environmental data and tilt angle data are plotted as histograms. A histogram is a statistical chart that intuitively shows the data distribution. By grouping the data and counting the frequency or relative frequency of each group of data, the distribution characteristics of the data can be clearly presented. Here, plotting the environmental data and tilt angle data as histograms can more intuitively observe the distribution of these data, providing a visual basis for subsequent abnormal data analysis. For example, it can be observed through the histogram whether the tilt angle data is concentrated within a certain range, and the distribution ratio of various factors in the environmental data, etc.

[0090] S4: Perform abnormal data analysis based on the data distribution in the histogram and the position information and altitude of the tower itself.

[0091] It should be noted that the abnormal data analysis determines the abnormality based on the distribution characteristics of the data in the histogram, and also combines the position information and altitude of the tower. For example, if the tilt angle data of a certain tower shows a significantly different distribution from other towers in the histogram, and at the same time, considering its position information, it is found that the tower is in an area with unstable geological conditions or at a high altitude where it is vulnerable to wind influence, then it is necessary to further analyze whether there are abnormal conditions for this tower. This comprehensive analysis method can more comprehensively and accurately identify possible abnormal situations.

[0092] S5: Locate the tower corresponding to the abnormal data and issue an abnormal warning.

[0093] It should be noted that locate the tower corresponding to the abnormal data and issue an abnormal warning. Once it is determined through the previous analysis that there are abnormal data, the specific tower can be located based on these data. After locating the abnormal tower, issue an abnormal warning in a timely manner so that relevant personnel can take measures to deal with it in a timely manner, avoiding serious consequences such as transmission line failures caused by tower abnormalities.

[0094] In one embodiment, plotting the environmental data and tilt angle data as histograms includes:

[0095] S31: For the environmental data and tilt angle data, respectively determine the data range.

[0096] It should be noted that for the environmental data and tilt angle data, respectively determine their data ranges, that is, the maximum value X max and the minimum value X min . The environmental data may include various different types of data, such as the height change data of the terrain, the distance data of surrounding buildings, etc. Each type of data has its own value range; the tilt angle data also has its minimum and maximum values. Determining the data range can clarify the fluctuation interval of the data, providing a basis for subsequent reasonable interval division.

[0097] S32: Select the number of intervals and divide the data range into intervals.

[0098] It should be noted that first, select an appropriate number of intervals y according to the characteristics of the data, and then calculate the width h of each interval. The calculation formula is:

[0099] 。

[0100] S33: Allocate each data point to the corresponding interval, count the number of data points in each interval to obtain the frequency, and calculate the frequency based on the frequency.

[0101] It should be noted that the mapping formula for the frequency m i is: m i = the number of data points in the i-th interval,

[0102] The mapping formula for the frequency n i is:

[0103] 。

[0104] Thirdly, the present invention provides a tower positioning system based on histogram data, including:

[0105] A data acquisition unit for acquiring point cloud data in the transmission line area and parsing out the environmental data around the tower; it is also used to acquire the position information, altitude and tilt angle data of the tower itself; the tilt angle data is determined by the tower positioning device as in the first aspect;

[0106] A mapping unit for mapping the environmental data and tilt angle data into a histogram;

[0107] An abnormal data analysis unit for analyzing abnormal data based on the data distribution in the histogram and the position information and altitude of the tower itself;

[0108] A positioning unit for positioning the tower corresponding to the abnormal data and giving an abnormal warning.

[0109] Further, mapping the environmental data and tilt angle data into a histogram includes:

[0110] For the environmental data and tilt angle data, respectively determine the data range;

[0111] Select the number of intervals and divide the data range into intervals;

[0112] Allocate each data point to the corresponding interval, count the number of data points in each interval to obtain the frequency, and calculate the frequency based on the frequency.

[0113] Based on the same inventive concept, an embodiment of the present application further provides an apparatus for implementing a tower pole positioning method based on histogram data involved above. The solution provided by this apparatus for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in the embodiment of the tower pole positioning apparatus based on histogram data provided below can refer to the limitations on the tower pole positioning method based on histogram data in the above text, and will not be repeated here.

[0114] Please refer to Figure 7 , an embodiment of the present invention provides a tower pole positioning system based on histogram data, including:

[0115] A data acquisition unit, configured to acquire point cloud data of a transmission line area, and parse out environmental data around the tower pole from it; and is further configured to acquire the position information, altitude, and tilt angle data of the tower pole itself; the tilt angle data is determined by the tower pole positioning apparatus as in the first aspect.

[0116] A mapping unit, configured to draw histograms of the environmental data and the tilt angle data.

[0117] An abnormal data analysis unit, configured to perform abnormal data analysis based on the distribution of data in the histogram, as well as the position information and altitude of the tower pole itself.

[0118] A positioning unit, configured to locate the tower pole corresponding to the abnormal data and issue an abnormal warning.

[0119] Further, drawing histograms of the environmental data and the tilt angle data includes:

[0120] For the environmental data and the tilt angle data, respectively determine the data range.

[0121] Select the number of intervals and divide the data range into intervals.

[0122] Allocate each data point to the corresponding interval, count the number of data points in each interval to obtain the frequency, and calculate the frequency based on the frequency.

[0123] It should be noted that the data acquisition unit actually includes a first acquisition module and a second acquisition module. The first acquisition module uses a laser scanning device or a LiDAR system carried by a drone to collect point cloud data in the transmission line area. These point cloud data cover the three-dimensional data information of the environment around the tower, providing a basis for analyzing the environmental data around the tower. The second acquisition module is responsible for obtaining the position information, altitude and tilt angle data of the tower itself. Among them, the second acquisition module is further divided into a transceiver unit, an adjustment unit, a tilt detection unit and a positioning unit. The transceiver unit undertakes the tasks of receiving command signals and sending the acquired information to ensure smooth data transmission. The adjustment unit can accurately place the positioning device at the center of the tower through precise mechanical control and positioning algorithms, ensuring that the subsequent acquired data is more accurate. The tilt detection unit uses high-precision sensor technology to detect the tilt angle of the tower in real time, while the positioning unit uses advanced satellite positioning technology and geographic information system to accurately obtain the position data and installation altitude of the tower.

[0124] The entire system also includes a central processor module, a storage module and a control module. The central processor module is bidirectionally connected to the storage module, the control module, the information processing module (including the data acquisition unit, the mapping unit, the abnormal data analysis unit, the positioning unit, etc.) and the acquisition module. The storage module contains a tower data standard information threshold database and a tower-related fault response plan database, providing a basis and guidance for abnormal data analysis and subsequent processing. The control module is equipped with a control panel. Users can log in to their accounts through the control panel to control the system operations, such as starting the data acquisition process, viewing various data reports, etc., to achieve effective management of the entire system.

[0125] In addition to the above-mentioned mapping unit and abnormal data analysis unit, the information processing module further includes a data transmission unit and an execution unit. The data transmission unit is responsible for receiving the data information sent by the transceiver unit and passing it to the next link in the data processing process. When the mapping unit draws a histogram, it not only needs to complete steps such as determining the data range, dividing intervals, allocating data points, calculating frequencies and frequencies, but also the data source is processed by the data processing unit. The data processing unit includes a classification subunit, an extraction subunit, and a determination subunit. The classification subunit classifies the data according to categories, regions, etc. The extraction subunit extracts the data required for drawing the histogram from the classified data. The determination subunit summarizes and sends the extracted data to the mapping unit. In the abnormal data analysis unit, the inspection subunit extracts standard data from the storage module according to the acquired data. The comparison subunit compares the acquired data with the standard data. The analysis subunit determines whether the data is abnormal. If it is abnormal, the execution unit will handle the abnormal situation according to the content in the pole tower-related fault response plan database, such as sending an alarm to notify the operation and maintenance personnel, recording abnormal data, etc. After the positioning unit locates the pole tower corresponding to the abnormal data, in addition to performing abnormal early warning, it will also feedback the abnormal pole tower information to the execution unit for subsequent processing measures.

[0126] In the embodiments disclosed in the present application, it should be understood that the disclosed device / terminal device and method can be implemented in other ways. For example, the device / terminal device embodiments described above are merely illustrative. For example, the division of the modules or 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, the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces. The indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0127] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tower positioning device, characterized in that: include: A moving component and two sets of positioning components; the two sets of positioning components are arranged on the moving component, and the positioning directions of the two sets of positioning components are perpendicular to each other in the horizontal plane; The moving assembly is fixed on the pole tower and is used to move the positioning assembly to the center position of the pole tower; The positioning assembly includes a vertical positioning assembly and an arc positioning assembly; The vertical positioning component is provided with an infrared emitting device, and the vertical positioning component is rotatably connected to the moving component so as to maintain a vertical state relative to the moving component; The positioning direction is the vertical direction of the ray direction emitted by the infrared emitting device on the horizontal plane; The arc-shaped positioning assembly is arranged relative to the vertical positioning assembly and is fixedly connected to the moving assembly; The arc positioning assembly includes an arc plate and a driving device; The arc plate is rotatably connected to the arc positioning assembly, and an infrared receiving device is arranged on the arc plate at a position corresponding to the infrared emitting device; The driving device is used to drive the arc plate to rotate so that the position of the infrared receiving device corresponds to the position of the infrared emitting device again when the infrared receiving device does not receive the rays emitted by the infrared emitting device.

2. A pole tower positioning device according to claim 1, characterized in that: The moving assembly includes a beam track, a moving block is slidably arranged inside the beam track, a threaded hole is arranged in the moving block, an adjusting motor is installed at one end of the beam track, a screw rod is connected to the output end of the adjusting motor, the screw rod passes through the moving block and is connected with the threaded hole, a base frame is connected to the bottom of the moving block, a side plate is arranged on each side of the base frame, a group of mounting slide bars are arranged between the two side plates, an mounting box is slidably arranged on the mounting slide bar, an adjusting push rod is arranged on the two side plates, the end of the adjusting push rod is connected to the top side wall of the mounting box, and the positioning assembly is arranged inside the mounting box.

3. A pole tower positioning device according to claim 2, characterized in that: An array of infrared distance measuring devices is arranged on the lower side wall of the installation box.

4. A pole tower positioning device according to claim 2, characterized in that: The vertical positioning assembly further comprises: a positioning device body and a counterweight; The positioning device body is rotatably installed inside the installation box through the installation shaft; The counterweight block is arranged at the bottom of the positioning device body; The infrared emitting device is arranged on a side wall of the lower end of the positioning device body.

5. A pole tower positioning device according to claim 4, characterized in that: The arc positioning assembly also includes: a mounting frame; The mounting frame is installed inside the mounting box; The arc-shaped plate is slidably arranged on the mounting frame; The infrared receiving device is arranged on a side wall of the arc-shaped plate; An arc-shaped rack is provided on the bottom surface of the arc-shaped plate; The arc plate is meshingly connected with the driving device through the arc rack.

6. A pole tower positioning device according to claim 2, characterized in that: The crossbeam track coincides with a diameter of the pole tower.

7. A tower positioning method based on histogram data, characterized in that: The steps include: Obtain point cloud data of the transmission line area and parse the environmental data around the tower from it; Obtaining the position information, altitude and tilt angle data of the tower itself; the tilt angle data is determined by using the tower positioning device according to any one of claims 1 to 6; Plotting a histogram of the environmental data and the tilt angle data; Perform abnormal data analysis based on the distribution of data in the histogram, the location information of the tower itself, and the altitude; Locate the tower corresponding to the abnormal data and issue an abnormal warning.

8. The tower positioning method based on histogram data according to claim 7 is characterized in that: Drawing a histogram of the environmental data and the tilt angle data includes: Determining data ranges for the environmental data and the tilt angle data respectively; Selecting the number of intervals and dividing the data range into intervals; Each data point is assigned to a corresponding interval, the number of data points in each interval is counted to obtain a frequency, and the frequency is calculated based on the frequency.

9. A tower positioning system based on histogram data, characterized in that: include: A data acquisition unit, used to acquire point cloud data of the transmission line area, and parse environmental data around the tower from it; and also used to acquire location information, altitude and tilt angle data of the tower itself; the tilt angle data is determined by using the tower positioning device according to any one of claims 1 to 6; A mapping unit, used for drawing a histogram of the environmental data and the tilt angle data; An abnormal data analysis unit, used for performing abnormal data analysis based on the distribution of data in the histogram, the location information of the tower itself and the altitude; The positioning unit is used to locate the tower corresponding to the abnormal data and issue an abnormal warning.

10. The tower positioning system based on histogram data according to claim 9, characterized in that: Drawing a histogram of the environmental data and the tilt angle data includes: Determining data ranges for the environmental data and the tilt angle data respectively; Selecting the number of intervals and dividing the data range into intervals; Each data point is assigned to a corresponding interval, the number of data points in each interval is counted to obtain a frequency, and the frequency is calculated based on the frequency.

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