Method for calculating length of jumper wire of tension tower of power transmission line

Abstract

The application discloses a transmission line strain tower jumper length calculation method and relates to the technical field of transmission lines. The application solves the problem of too large difficulty coefficient when original data measurement is performed. The application can accurately determine the cross arm area and strain clamp area by using a high-definition shooting unmanned aerial vehicle to obtain images, by grayscale processing, Sobel algorithm gradient pixel point calibration and model component comparison and verification. This process effectively avoids the errors and limitations of manual identification, improves the accuracy and reliability of feature area identification, and provides reliable basic data for subsequent calculation. By controlling the horizontal movement of the unmanned aerial vehicle and comparing the image pixel values before and after movement, whether the cross arm area has an inclination angle can be quickly judged, and the line horizontal corner alpha can be accurately calculated. Compared with the traditional manual detection method, this method is more efficient and has a wider detection range.

Description

Technical Field

[0001] This invention relates to the field of power transmission line technology, specifically a method for calculating the length of jumpers on tension towers of power transmission lines. Background Technology

[0002] A jumper wire for a tension tower is a special conductor connecting the conductors on both sides of a tension tower. It plays a crucial role in the transmission line, ensuring smooth current flow between the conductors on both sides of the tower and guaranteeing continuous power transmission. It also changes the conductor's direction at the tension tower, allowing the line to adapt to terrain, cross obstacles, and maintain the continuity and stability of the transmission line. It is generally composed of conductors, insulator strings, and clamps. The jumper wire typically has a catenary-like shape, drooping naturally. It has a small span, large sag, and is significantly affected by the conductor's rigidity. Different jumper wire shapes are difficult to describe with a single specific curve equation.

[0003] Application CN117634209A discloses a method for calculating jumper length under the sag difference of multi-split jumpers, relating to the technical field of jumper length calculation for tension towers in transmission lines. The method includes: establishing a coordinate system and calculation unit; calculating the tangent inclination angle θ and coordinates of the intersection points C and D of the centerlines of the conductors and jumpers; determining the coordinates of the starting points of each split jumper and the coordinates of the starting points of the split jumper centerlines in the three-dimensional coordinate system; calculating the three-dimensional coordinates of the end point O′ of the jumper string; determining the coordinates of the lowest point LP of the jumper centerline based on the design sag; determining the position coordinates of the split jumper at the same abscissa as point LP; calculating the length of the split jumper; and fitting a parabola to the positions of the two endpoints and the lowest point of the centerline, which can then be used to calculate the length of the corresponding jumper. This method is logically simple and can be quantitatively expressed.

[0004] The calculation of the jumper length requires relevant personnel to determine the calculation data in advance. However, the terrain at the actual measurement sites of transmission lines is quite complex, making it difficult for relevant measurement personnel to conduct measurements. Therefore, a simpler measurement method is urgently needed to determine and measure the relevant data to complete the specific calculation of the jumper length. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method for calculating the length of jumpers on tension towers of transmission lines, solving the problem of excessive difficulty in data measurement in the original method.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for calculating the length of jumpers on tension towers of transmission lines, comprising the following steps:

[0007] Step 1: Use a high-definition drone to acquire images of designated locations on the transmission line. Convert the acquired images to grayscale to confirm the grayscale image. Then, based on the gradient features of pixels within the grayscale image, locate the feature regions. Verify these feature regions against a pre-set component model to determine the crossarm area and tension clamp area. The specific method is as follows:

[0008] The acquired image is converted to grayscale to confirm the grayscale image: Based on the RGB values ​​associated with the corresponding points in the image, the grayscale value associated with the corresponding points is confirmed. The grayscale value is 0.299R + 0.587G + 0.114B. Based on the grayscale value associated with the corresponding points, the corresponding image is adjusted to grayscale to confirm the grayscale image.

[0009] The Sobel algorithm is used to sequentially label the gradient pixels within a grayscale image, and based on these labeled sets of gradient pixels, feature regions are identified within the grayscale image. The Sobel algorithm is then used to confirm the horizontal gradient H associated with the corresponding pixel within the grayscale image. i and vertical gradient S i Where i represents different pixels, Pixels that satisfy the comprehensive gradient > Y1 are labeled as gradient pixels, and otherwise no labeling is performed. Y1 is a preset value. The intermediate region included by several consecutive gradient pixels is denoted as the feature region.

[0010] The portion of the image associated with the feature region is denoted as the feature image. The preset model component is compared and verified with the feature image: the model component is scaled proportionally, and during the scaling process, it is rotated. Several rotation processes are performed until the surface of the model component coincides with the center point associated with the feature image, confirming the overlap rate (CF) between the model component and the feature image. p Where p represents different rotation processes, if the corresponding feature image has CF p If the rotation process is ≥95%, the model component associated with this rotation process is recorded as a feature component, and the crossarm area and tension clamp area are identified based on the specific classification of the corresponding feature component.

[0011] Step 2: By controlling the drone to move horizontally, confirm the feature changes of pixels within the crossarm area to determine if the crossarm area is tilted. If so, determine the horizontal turning angle of the line. The specific method is as follows:

[0012] The pixel values ​​associated with different pixels within the crossarm area are labeled as X. q , where q represents different pixels, the image associated with the drone before horizontal movement is recorded as the initial image, the pixel values ​​associated with several pixels in the initial image are averaged to confirm the initial features, the drone was located directly above the crossarm area before horizontal movement.

[0013] The images associated with the drone after it has completed its horizontal movement are then recorded as the terminal images. The pixel values ​​associated with several pixels in the terminal images are averaged to confirm the terminal features.

[0014] The following formula is used: (Initial feature - End feature) ÷ Movement distance = Verification feature. It is then evaluated whether the verification feature and the preset threshold are the same value. If they are the same, it means that there is no tilt angle in this crossarm area, and the horizontal turning angle α of the line in the crossarm area is calibrated to 0. If not, it means that there is a tilt angle in this crossarm area. The following formula is used: |Verification feature - Preset threshold| × C1 = α, to confirm the horizontal turning angle α of the line in this crossarm area, where C1 is a preset fixed coefficient factor.

[0015] Step 3: Based on the images acquired by the high-definition drone at the designated location and the specific locations of the crossarm area and tension clamp area, generate a simplified calculation diagram, and confirm the jumper length from the simplified calculation diagram. The specific method is as follows:

[0016] Confirm the width data S of the crossarm area. When confirming the crossarm area, there is an associated crossarm model component. Based on this crossarm model component, the width data S of the crossarm area can be directly confirmed. Then, based on the straight distance between the tension clamp area on the left and right sides and the crossarm area, and the width data S of the crossarm area, confirm the straight distance λ between the tension clamp area and the crossarm area.

[0017] Based on the specific locations of the tension clamp areas on both sides, the inclination angles θ1 and θ2 between the straight line and the horizontal line between the tension clamp area and the crossarm area are confirmed. A set of horizontal base surfaces is constructed, and the vertical distances H1 and H2 between the tension clamp areas on both sides and the horizontal base surfaces are confirmed. The height difference ΔH between the jumper suspension points in the tension clamp areas on both sides is confirmed by using ΔH=|H1-H2|.

[0018] use: Confirm the horizontal span l associated with the jumper k ;

[0019] Re-adopted: Confirm jumper span l AB ;

[0020] To confirm the vertical distance f between the crossarm area and the lowest point of the jumper, use the following method: as well as Confirm the vertical distance from the lowest point of the jumper to the jumper suspension points A and B;

[0021] Re-adopt And l2 = l k -l1 confirms the horizontal distances l1 and l2 from the lowest point of the jumper to the suspension points A and B of the jumper, and finally uses... Lock jumper depth d AB ;

[0022] Finally, adopt Lock jumper length L A-B .

[0023] Preferably, the crossarm area corresponds to the crossarm model component, and the tension clamp area corresponds to the tension clamp model component.

[0024] This invention provides a method for calculating the length of jumpers on tension towers of transmission lines. Compared with existing technologies, it has the following advantages:

[0025] This invention utilizes high-definition drones to acquire images, and through grayscale processing, Sobel algorithm calibration of gradient pixels, and model component comparison and verification, it can accurately determine the crossarm area and tension clamp area. This process effectively avoids the errors and limitations of manual identification, improves the accuracy and reliability of feature area identification, and provides reliable basic data for subsequent calculations. For example, in complex transmission line environments, this method can accurately distinguish between crossarms and tension clamps, ensuring the accuracy of subsequent calculations.

[0026] By controlling the drone to move horizontally and comparing the image pixel values ​​before and after the movement, it is possible to quickly determine whether there is a tilt angle in the crossarm area and accurately calculate the horizontal rotation angle α of the line. Compared with the traditional manual inspection method, this method is more efficient and has a wider detection range. It can detect crossarm tilting problems in a timely manner, providing an important basis for line maintenance and safe operation, and effectively ensuring the stability of the transmission line.

[0027] Based on images acquired by UAVs, a calculation diagram is generated. Combined with data such as the width of the crossarm area and the location of the tension clamp area, a series of calculation formulas are used to accurately calculate various parameters of the jumper wire, and finally obtain the precise jumper wire length. This calculation method takes into account a variety of practical factors. Compared with the traditional method of determining the jumper wire length based on experience, it effectively reduces material waste and improves construction efficiency and economic benefits. Attached Figure Description

[0028] Figure 1 This is a flowchart of the jumper length calculation method of the present invention;

[0029] Figure 2 This is a simplified calculation diagram of the present invention;

[0030] Figure 3 This is a simplified calculation diagram for an engineering example of the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] First Embodiment

[0033] Please see Figure 1 This application provides a method for calculating the length of jumpers on tension towers of transmission lines, including the following steps:

[0034] Step 1: Use a high-definition drone to acquire images of designated locations on the transmission line. From the acquired images, determine the crossarm area and tension clamp area. These designated locations are generally directly above the crossarm area, and are pre-marked by operators. Once the drone reaches this location, it acquires detailed images, facilitating the capture of all surrounding images of the crossarm area. By comparing and verifying the feature regions within the corresponding images with pre-set model components, the corresponding feature regions are identified, thus determining the crossarm area and tension clamp area. The specific method for determining the crossarm area and tension clamp area is as follows:

[0035] The acquired image is converted to grayscale to confirm the grayscale image: Based on the RGB values ​​associated with the corresponding points in the image, the grayscale value associated with the corresponding points is confirmed. The grayscale value is 0.299R + 0.587G + 0.114B. Based on the grayscale value associated with the corresponding points, the corresponding image is adjusted to grayscale to confirm the grayscale image.

[0036] The Sobel algorithm is used to sequentially label the gradient pixels within a grayscale image, and based on these labeled sets of gradient pixels, feature regions are identified within the grayscale image. The Sobel algorithm is then used to confirm the horizontal gradient H associated with the corresponding pixel within the grayscale image. i and vertical gradient S i , where i represents different pixels (the methods for determining their horizontal and vertical gradients are common in existing technologies, so they will not be elaborated on here; generally, the gradient data associated with a corresponding pixel can be directly determined by the specific pixel values ​​of the corresponding pixel and its surrounding pixels, as well as the set weights). Pixels that satisfy the comprehensive gradient > Y1 are labeled as gradient pixels; otherwise, no labeling is performed. Y1 is a preset value, the specific value of which is determined by the operator based on experience. The intermediate region included by several consecutive gradient pixels is recorded as the feature region.

[0037] The portion of the image associated with the feature region is denoted as the feature image. The preset model component is compared and verified with the feature image: the model component is scaled proportionally, and during the scaling process, it is rotated. Several rotation processes are performed until the surface of the model component coincides with the center point associated with the feature image, confirming the overlap rate (CF) between the model component and the feature image. p Where p represents different rotation processes, if the corresponding feature image has CF p For rotation processes of ≥95%, the model components associated with this rotation process are recorded as feature components. Based on the specific classification of the corresponding feature components, the crossarm area and tension clamp area are identified. The crossarm area corresponds to the crossarm model component, and the tension clamp area corresponds to the tension clamp model component. Specifically, based on the acquired image, the gradient pixels existing in the image are identified. Based on the identified gradient pixels, the contour regions associated with different components within the corresponding image are locked, which are the identified feature regions. According to the corresponding feature regions and the pre-stored model components, the corresponding model components can be feature matched. The corresponding model components are rotated and rotated to identify the maximum overlap process between the corresponding model components and the feature regions. Based on the identified specific process, the model components associated with the corresponding feature regions can be identified. Based on the specific classification of the corresponding model components, the partition to which the corresponding feature region belongs is identified, thereby performing specific calibration.

[0038] Step 2: By controlling the drone to move horizontally, confirm the feature changes of pixels within the crossarm area to determine if the crossarm area has a tilt angle. Specifically, first, identify feature pixels within the crossarm area, and then confirm the angle based on the numerical changes between corresponding feature pixels. When the drone moves horizontally and the crossarm area is also horizontal, the resulting numerical changes will follow a pattern. The specific sub-steps for confirming whether the crossarm area has a tilt angle are as follows:

[0039] The pixel values ​​associated with different pixels within the crossarm area are labeled as X. q , where q represents different pixels, the image associated with the drone before horizontal movement is recorded as the initial image, the pixel values ​​associated with several pixels in the initial image are averaged to confirm the initial features, the drone was located directly above the crossarm area before horizontal movement.

[0040] The images associated with the drone after it has completed its horizontal movement are then recorded as the terminal images. The pixel values ​​associated with several pixels in the terminal images are averaged to confirm the terminal features.

[0041] The following method is used: (Initial Feature - End Feature) ÷ Movement Distance = Verification Feature. The method is then used to determine whether the verification feature and the preset threshold are the same value. If they are the same, it means that there is no tilt angle in this crossarm area, and the horizontal turning angle α of the line in the crossarm area is set to 0. If not, it means that there is a tilt angle in this crossarm area. The following method is used: |Verification Feature - Preset Threshold| × C1 = α, to confirm the horizontal turning angle α of the line in this crossarm area. C1 is a preset fixed coefficient factor, the specific value of which is determined by the operator based on experience. When the UAV moves horizontally from directly above to one side, the associated image feature pixels change in a regular manner. If there is a corresponding tilt angle, the numerical features generated during the change process, combined with the corresponding coefficient factor, can quickly lock the corresponding horizontal turning angle of the line, thereby confirming the specific length of the jumper wire.

[0042] Step 3: Based on the images acquired by the high-definition drone at the designated location and the specific locations of the crossarm area and tension clamp area, generate a simplified calculation diagram, and confirm the jumper length from the simplified calculation diagram. The specific method for confirmation is as follows:

[0043] Confirm the width data S of the crossarm area. When confirming the crossarm area, there is an associated crossarm model component. Based on this crossarm model component, the width data S of the crossarm area can be directly confirmed. Then, based on the straight-line distance between the tension clamp area on the left and right sides and the crossarm area, and the width data S of the crossarm area, the straight-line distance λ between the tension clamp area and the crossarm area can be confirmed. Specifically, the width of the crossarm area in the corresponding image is marked as D1, and the straight-line distance between the tension clamp area on one side and the crossarm area is marked as D2. Using the formula: D2÷D1=λ÷S, the straight-line distance λ can be confirmed. Since the tension clamp area is symmetrically set, the straight-line distances on both sides are the same.

[0044] Based on the specific locations of the tension clamp areas on both sides, the inclination angles θ1 and θ2 between the straight line and the horizontal line between the tension clamp area and the crossarm area are confirmed. A set of horizontal base surfaces is constructed, and the vertical distances H1 and H2 between the tension clamp areas on both sides and the horizontal base surfaces are confirmed. The height difference ΔH between the jumper suspension points in the tension clamp areas on both sides is confirmed by using ΔH=|H1-H2|.

[0045] use: Confirm the horizontal span l associated with the jumper k ;

[0046] Re-adopted: Confirm jumper span l AB ;

[0047] The calculation diagram synchronously includes the image of the corresponding jumper. The specific region of the jumper is located based on contour determination and constructed into the calculation diagram. The vertical distance f from the crossarm area to the lowest point of the jumper is confirmed. as well as Confirm the vertical distance from the lowest point of the jumper to the jumper suspension points A and B;

[0048] Re-adopt And l2 = l k -l1 confirms the horizontal distances l1 and l2 from the lowest point of the jumper to the suspension points A and B of the jumper, and finally uses... Lock jumper depth d AB ;

[0049] Finally, use Lock jumper length L A-B .

[0050] Based on the above implementation details, there are corresponding engineering application examples:

[0051] Combination Figure 3 Taking the outer phase of the N32 tension tower in a 220kV transmission line project as an example, this paper illustrates the calculation and application of jumper length; the basic data of the construction drawings are as follows:

[0052] N32(DZT-15) rotation angle β: left 24°48′, side phase crossarm DB=1.21m.

[0053] Conductor type: JL / G1A-240 / 30, cross-sectional area s=276.mm2, unit mass m=0.922kg / m, average operating stress 62.11N / mm2;

[0054] Spanning towers adjacent to each other: N31 (ZM1-29.7), span distance L1 between N31 and N32 = 194m; N33 (DZT-12), span distance L2 between N32 and N33 = 197m;

[0055] Tension composite insulator string: Length (from the U-shaped hanging ring at the crossarm conductor hanging point to the bottom of the tension clamp) λ1=λ2=3.63m, weight 65kg / set;

[0056] The length of a single jumper composite insulator string (from the UB mounting plate to the jumper suspension clamp) is 2.50m, and the weight is 46.76kg / set.

[0057] The length of the suspension composite insulator on the straight-line tower is 3.00m;

[0058] The height F of the N32 tension tower's diversion line is an approximation, based on the maximum allowable diversion sag fmax (design sag of the straight jumper line, generally the minimum allowable gap between the diversion line and the tower body) of 3.0m and the minimum allowable diversion sag fmin of 2.2m. The influence of actual factors such as altitude, complex ground lines, and severe weather is not considered here. The average value F = (fmax + fmin) / 2 is taken, which is F = 2.6m.

[0059] 1. Find the inclination angles (here called suspension angles) θ1 and θ2 of the insulator strings on the front and rear sides of the N32 tension tower.

[0060] The elevation difference between N31 and N32 is: Δh31-32=(1358+29.7-3)-(1358+15)=11.7m

[0061] Elevation difference angle σ1:

[0062]

[0063] Convention: The downward angle is positive (+), and the upward angle is negative (-).

[0064] Conductor tension T1 = 62.11 N / mm² × 276 mm² = 17142 N

[0065] The weight of one meter of conductor, W = 0.922 kg × 9.8 N / kg = 9.04 N.

[0066] The weight of the side-phase tension insulator string W2 = 65 × 2 × 9.8 = 1274 N

[0067] Overhang angle θ1:

[0068]

[0069] The elevation difference between N32 and N33 is: Δh32-33=(1357+12)-(1358+15)=-3.00m

[0070] Elevation difference angle σ2:

[0071]

[0072] The conductor tension T2 = 62.11 × 276 = 17142 N

[0073] Overhang angle θ2:

[0074]

[0075] From the above, we know that: θ1=8°27′, θ2=4°13′. The rotation angle is β=24°48′, the width of the side phase crossarm is DB=1.21m, the length of the tension insulator strings on both sides is λ1=λ2=3.63m, and F=2.6m.

[0076] 2. Determine the horizontal span l of the jumper wire on the N32 tension tower.

[0077]

[0078] 3. Calculate the vertical heights f1 and f2 from the lowest point of the jumper line to the support points A and B.

[0079]

[0080] 4. The horizontal distances l1 and l2 from the lowest point of the jumper line to the calculated support points A and B.

[0081]

[0082] l2=l-l1=8.25-3.99=4.26m.

[0083] 5. Calculate the jumper length LA-B

[0084]

[0085] After actual measurement and comparison, it was found that the error was only 0.18m.

[0086] Some of the data in the above formulas are numerical calculations with dimensions removed, and the contents not described in detail in this specification are all prior art known to those skilled in the art.

[0087] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A method for calculating the length of jumpers on tension towers of transmission lines, characterized in that, Includes the following steps: Step 1: Use a high-definition drone to acquire images of designated locations on the transmission line. Convert the acquired images to grayscale to confirm the grayscale image. Then, based on the gradient features of pixels within the grayscale image, locate the feature regions. Verify these feature regions against a pre-set component model to determine the crossarm area and tension clamp area. The specific method is as follows: The portion of the image associated with the feature region is denoted as the feature image. The preset model component is compared and verified with the feature image: the model component is scaled proportionally, and during the scaling process, it is rotated. Several rotation processes are performed until the surface of the model component coincides with the center point associated with the feature image, confirming the overlap rate (CF) between the model component and the feature image. p Where p represents different rotation processes, if the corresponding feature image has CF p If the rotation process is ≥95%, the model component associated with this rotation process is recorded as a feature component, and the crossarm area and tension clamp area are identified based on the specific classification of the corresponding feature component. Step 2: By controlling the drone to move horizontally, confirm the feature changes of pixels in the crossarm area, thereby confirming whether the crossarm area is tilted. If it is, determine the horizontal turning angle α of the line. Step 3: Based on the images acquired by the high-definition drone at the designated location and the specific locations of the crossarm area and tension clamp area, generate a simplified calculation diagram and confirm the jumper length from the simplified calculation diagram; specifically: Confirm the width data S of the crossarm area. When confirming the crossarm area, there is an associated crossarm model component. Based on this crossarm model component, the width data S of the crossarm area can be directly confirmed. Then, based on the straight distance between the tension clamp area on the left and right sides and the crossarm area, and the width data S of the crossarm area, confirm the straight distance λ between the tension clamp area and the crossarm area. Based on the specific locations of the tension clamp areas on both sides, the inclination angles θ1 and θ2 between the straight line and the horizontal line between the tension clamp area and the crossarm area are confirmed. A set of horizontal base surfaces is constructed, and the vertical distances H1 and H2 between the tension clamp areas on both sides and the horizontal base surfaces are confirmed. The height difference ΔH between the jumper suspension points in the tension clamp areas on both sides is confirmed by using ΔH=|H1-H2|. use: Confirm the horizontal span l associated with the jumper k ; Re-adopted: Confirm jumper span l AB ; To confirm the vertical distance f between the crossarm area and the lowest point of the jumper, use the following method: as well as Confirm the vertical distance from the lowest point of the jumper to the jumper suspension points A and B; Re-adopt And l2 = l k -l1 confirms the horizontal distances l1 and l2 from the lowest point of the jumper to the suspension points A and B of the jumper, and finally uses... Lock jumper depth d AB ; Finally, adopt Lock jumper length L A-B .

2. The method for calculating the length of jumper wires on tension towers of transmission lines according to claim 1, characterized in that, In step one, the specific method for converting the acquired image to grayscale to confirm the grayscale image is as follows: The acquired image is converted to grayscale to confirm the grayscale image: Based on the RGB values ​​associated with corresponding points in the image, the grayscale value associated with the corresponding points is confirmed. The grayscale value is 0.299R + 0.587G + 0.114B. Based on the grayscale value associated with the corresponding points, the corresponding image is adjusted to grayscale to confirm the grayscale image.

3. The method for calculating the length of jumper wires on tension towers of transmission lines according to claim 1, characterized in that, In step one, the specific method for locking the feature region is as follows: The Sobel algorithm is used to sequentially label the gradient pixels within a grayscale image, and based on these labeled sets of gradient pixels, feature regions are identified within the grayscale image. The Sobel algorithm is then used to confirm the horizontal gradient H associated with the corresponding pixel within the grayscale image. i and vertical gradient S i Where i represents different pixels, Pixels that satisfy the comprehensive gradient > Y1 are labeled as gradient pixels, and otherwise no labeling is performed. Y1 is a preset value. The intermediate region included by several consecutive gradient pixels is denoted as the feature region.

4. The method for calculating the length of jumper wires on tension towers of transmission lines according to claim 1, characterized in that, The crossarm area corresponds to the crossarm model component, and the tension clamp area corresponds to the tension clamp model component.

5. The method for calculating the length of jumper wires on tension towers of transmission lines according to claim 1, characterized in that, In step two, the specific method for determining the horizontal turning angle α of the line in the crossarm area is as follows: The pixel values ​​associated with different pixels within the crossarm area are labeled as X. q , where q represents different pixels, the image associated with the drone before horizontal movement is recorded as the initial image, the pixel values ​​associated with several pixels in the initial image are averaged to confirm the initial features, the drone was located directly above the crossarm area before horizontal movement. The images associated with the drone after it has completed its horizontal movement are then recorded as the terminal images. The pixel values ​​associated with several pixels in the terminal images are averaged to confirm the terminal features. The following formula is used: (Initial Feature - End Feature) ÷ Travel Distance = Verification Feature. The verification feature and the preset threshold are evaluated to see if they are the same value. If they are, it means that there is no tilt angle in this crossarm area, and the horizontal turning angle α of the line in the crossarm area is calibrated to 0. If not, it means that there is a tilt angle in this crossarm area. The following formula is used: |Verification Feature - Preset Threshold| × C1 = α, to confirm the horizontal turning angle α of the line in this crossarm area, where C1 is a preset fixed coefficient factor.

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