System and method for synchronously monitoring deicing jump track of ground wire of current collection line

Abstract

The invention relates to the technical field of deicing jump monitoring and analysis, in particular to a current collection line ground wire deicing jump track synchronous monitoring system and method.The system triggers Beidou RTK units of a main deicing jump monitoring sensor and an auxiliary deicing jump monitoring sensor to conduct high-precision sampling at the moment of deicing jump; spatial high-precision positioning data of the wire and the ground wire in the occurrence time period are obtained, so that the auxiliary ice-shedding jump sensor sends track information of the ground wire to the main ice-shedding jump sensor installed on the wire in real time through ad hoc network communication; and the main sensor is used for calculating the space distance between the lead and the ground wire after the main sensor receives the positioning data and the track information, judging whether the space distance exceeds the safe distance according to a threshold value, and sending the information to the ice-shedding jump early warning platform. According to the invention, synchronous monitoring of the wire and the ground wire in the ice-shedding jump time period can be effectively realized, and the minimum safety distance between the wire and the ground wire is calculated so as to assess the safety risk hidden danger.

Description

Technical Field

[0001] The present invention relates to the technical field of deicing jump monitoring and analysis, and in particular to a system and method for synchronously monitoring the deicing jump trajectory of a collector line ground wire. Background Art

[0002] Ice shedding on transmission lines can cause line oscillations and tripping. This leads to unbalanced tension and reduced distance between wires after de-icing, damaging hardware and potentially causing electrical discharges. Under natural conditions, ice-covered transmission lines are prone to tripping, posing a significant challenge to the safe and stable operation of power systems. The current problem is the lack of effective methods for synchronously monitoring conductors and ground wires during de-icing tripping periods, calculating the minimum safe distance between conductors and ground wires, and assessing potential safety risks such as tripping. Summary of the Invention

[0003] One of the purposes of the present invention is to provide a synchronous monitoring system for the deicing and jumping trajectory of the collector line ground wire, which can effectively realize the synchronous monitoring of the conductor and the ground wire during the deicing and jumping period, calculate the minimum safe distance between the conductor and the ground wire, and evaluate the safety risk hazards.

[0004] In order to achieve the above-mentioned object, a synchronous monitoring system for the de-icing jump trajectory of the collector line conductor and the ground wire is provided, comprising: a main de-icing jump monitoring sensor installed on the collector line conductor and a secondary de-icing jump monitoring sensor installed on the collector line ground wire, wherein the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor communicate with each other in an ad hoc network;

[0005] Safety distance analysis module: It is used to trigger the BeiDou RTK units of the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor to perform high-precision sampling at the moment of de-icing jump, obtain the spatial high-precision positioning data of the conductor and the ground wire during the time period of occurrence, and continuously collect and organize them into trajectory information, so that the secondary de-icing jump sensor can send the trajectory information of the ground wire to the main de-icing jump sensor installed on the conductor in real time through ad hoc network communication; it is used to perform discrete correlation analysis on the time and coordinates of the conductor and ground wire trajectory sampling points after the main sensor receives the positioning data and trajectory information, calculate the spatial distance between the conductor and the ground wire, and judge whether the safety distance is exceeded based on the threshold, and send the information to the de-icing jump warning platform.

[0006] Furthermore, it also includes:

[0007] Time synchronization module: used to enable the primary and secondary de-icing jump monitoring sensors to complete ns-level time synchronization through their respective BeiDou RTK units at the start of work. After the timing is completed, the BeiDou RTK units are turned off and the local RTC clock and timer are used to complete the microsecond-level time keeping.

[0008] Risk analysis module: After the main de-icing jump sensor and the secondary de-icing jump sensor complete the timing, the secondary de-icing jump monitoring sensor is put into a dormant state, and the main de-icing jump sensor collects the environmental temperature and humidity data in real time, and inputs the preset de-icing jump risk warning conditions, and then analyzes the risk probability of de-icing jump in the current environment in combination with the historical data of the environmental temperature and humidity data.

[0009] Furthermore, the discrete association analysis is processed by an association analysis mathematical model; the association analysis mathematical model is as follows:

[0010] Assume that at a certain moment, the spatial coordinates of the conductor are Pi = (xi, yi, zi), where i = 1, 2, ..., n; n is the number of conductor sampling points; the spatial coordinates of the ground wire are Qj = (uj, vj, wj), where j = 1, 2, ..., m; m is the number of ground wire sampling points;

[0011] Assume that the timestamp of the conductor sampling point Pi is ti, and the timestamp of the ground wire sampling point Qj is sj. For the i-th sampling point of the conductor, find the ground wire sampling point Qj that satisfies min(|ti-sj|), and associate Pi with Qj.

[0012] For each pair of associated sampling points (Pi, Qj), the relative distance di between them is calculated using the distance formula between two points in space:

[0013]

[0014] After calculating the relative distances di of all associated point pairs, find the minimum value dmin, that is:

[0015] dmin=min(d1,d2,…,dn);

[0016] dmin represents the minimum relative distance between the conductor and the ground wire within the time period. By comparing dmin with the pre-set safety distance threshold, it is determined whether there is a safety risk. If dmin is less than the safety distance threshold, the output is that there is a safety risk and the operation and maintenance personnel are notified to take corresponding measures. If dmin is greater than or equal to the safety distance threshold, the output is that the current status is safe.

[0017] Furthermore, the auxiliary deicing jump monitoring sensor is powered by solar energy + battery, and the main deicing jump sensor is powered by solar energy + inductive energy + battery.

[0018] Furthermore, the main de-icing jump monitoring sensor and the auxiliary de-icing jump monitoring sensor communicate with each other in an ad hoc network via a LoRa communication unit, and the main de-icing jump monitoring sensor sends information to the de-icing jump warning platform via a 4G communication module.

[0019] A second object of the present invention is to provide a method for synchronously monitoring the ice shedding and jumping trajectory of a collector line ground wire, comprising the following steps:

[0020] A main de-icing jump monitoring sensor is installed on the collector line conductor; a secondary de-icing jump monitoring sensor is installed on the collector line ground wire, so that the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor can communicate with each other in an ad hoc network;

[0021] Safety distance analysis steps: When de-icing jump occurs, the BeiDou RTK units of the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor are triggered to perform high-precision sampling, obtain the spatial high-precision positioning data of the conductor and the ground wire during the time period of occurrence, and continuously collect and organize them into trajectory information, so that the secondary de-icing jump sensor can send the trajectory information of the ground wire to the main de-icing jump sensor installed on the conductor in real time through ad hoc network communication; after the main sensor receives the positioning data and trajectory information, it performs discrete correlation analysis on the time and coordinates of the conductor and ground wire trajectory sampling points, calculates the spatial distance between the conductor and the ground wire, and judges whether it exceeds the safety distance based on the threshold, and sends the information to the de-icing jump warning platform.

[0022] Furthermore, it also includes:

[0023] Time synchronization steps: When starting work, the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor are respectively used to complete ns-level time synchronization through their respective BeiDou RTK units. After the timing is completed, the BeiDou RTK units are turned off, and the local RTC clock and timer are used to complete the microsecond-level time keeping.

[0024] Risk analysis steps: After the main de-icing jump sensor and the auxiliary de-icing jump sensor complete the timing, the auxiliary de-icing jump monitoring sensor is placed in a dormant state, and the main de-icing jump sensor collects environmental temperature and humidity data in real time, and inputs the de-icing jump risk warning conditions. Combined with the historical data of the environmental temperature and humidity data, the risk probability of de-icing jump occurring in the current environment is analyzed.

[0025] Furthermore, the discrete association analysis is processed by an association analysis mathematical model; the association analysis mathematical model is as follows:

[0026] Assume that at a certain moment, the spatial coordinates of the conductor are Pi = (xi, yi, zi), where i = 1, 2, ..., n; n is the number of conductor sampling points; the spatial coordinates of the ground wire are Qj = (uj, vj, wj), where j = 1, 2, ..., m; m is the number of ground wire sampling points;

[0027] Assume that the timestamp of the conductor sampling point Pi is ti, and the timestamp of the ground wire sampling point Qj is sj. For the i-th sampling point of the conductor, find the ground wire sampling point Qj that satisfies min(|ti-sj|), and associate Pi with Qj.

[0028] For each pair of associated sampling points (Pi, Qj), the relative distance di between them is calculated using the distance formula between two points in space:

[0029]

[0030] After calculating the relative distances di of all associated point pairs, find the minimum value dmin, that is:

[0031] dmin=min(d1,d2,…,dn);

[0032] dmin represents the minimum relative distance between the conductor and the ground wire within the time period. By comparing dmin with the pre-set safety distance threshold, it is determined whether there is a safety risk. If dmin is less than the safety distance threshold, the output is that there is a safety risk and the operation and maintenance personnel are notified to take corresponding measures. If dmin is greater than or equal to the safety distance threshold, the output is that the current status is safe.

[0033] Furthermore, the main de-icing jump monitoring sensor and the auxiliary de-icing jump monitoring sensor communicate with each other in an ad hoc network via a LoRa communication unit, and the main de-icing jump monitoring sensor sends information to the de-icing jump warning platform via a 4G communication module.

[0034] Furthermore, the ice shedding and jumping risk warning conditions are as follows:

[0035] When the ambient temperature is above 0°C, it is in safe mode, there is no icing, and there is no risk of ice shedding and jumping;

[0036] When the environment is at -1℃ and the humidity reaches above 85%, the effective mode is triggered;

[0037] When the ambient temperature gradually rises from below zero and approaches 0°C, it enters the risk warning mode, starts MEMS real-time sampling, and notifies the secondary de-icing jump sensor to enter the risk warning mode through local LoRa communication.

[0038] Principles and advantages:

[0039] 1. When the collector line conductor and ground wire jump due to de-icing, the de-icing jump trajectory is synchronously monitored, and based on local ad hoc network communication, the trajectory waveform data exchange is realized. Based on the correlation analysis mathematical model, the safe distance between the conductor and ground wire during the de-icing jump can be accurately calculated, so that timely measures can be taken before safety hazards occur, thereby avoiding safety hazards.

[0040] 2. This solution solves the problem of µs-level time synchronization between conductors and ground wires, synchronizes sampling and time calibration of trajectory waveforms, and makes the subsequent calculation of the minimum safe distance between conductors and ground wires more accurate.

[0041] 3. This solution provides an ultra-low power operation mechanism, ensuring ultra-low power operation in low-risk de-icing and jumping conditions, reducing power consumption. In risky conditions, MEMS real-time sampling is used to trigger RTK high-precision trajectory recording. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the equipment deployment of a main de-icing jump monitoring sensor and a secondary de-icing jump monitoring sensor of a collector line ground wire de-icing jump trajectory synchronous monitoring system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following is further described in detail through specific implementation methods:

[0044] Example

[0045] A synchronous monitoring system for the ice shedding and jumping trajectory of the collector line ground wire is basically as follows: Figure 1 As shown, the system includes a primary de-icing jump monitoring sensor installed on the collector line conductor and a secondary de-icing jump monitoring sensor installed on the collector line ground wire. The primary and secondary de-icing jump monitoring sensors communicate with each other through an ad hoc network. In this embodiment, the primary and secondary de-icing jump monitoring sensors communicate with each other via a LoRa communication unit. The primary de-icing jump monitoring sensor transmits data to the de-icing jump warning platform via a 4G communication module.

[0046] Time synchronization module: used to enable the primary and secondary de-icing jump monitoring sensors to complete ns-level time synchronization through their respective BeiDou RTK units at the start of work. After the timing is completed, the BeiDou RTK units are turned off and the local RTC clock and timer are used to complete the microsecond-level time keeping.

[0047] Risk Analysis Module: After the primary and secondary de-icing jump sensors complete timing, the secondary de-icing jump monitoring sensor is placed in a dormant state, and the primary de-icing jump sensor collects ambient temperature and humidity data in real time. The module then inputs preset de-icing jump risk warning conditions and analyzes the probability of a de-icing jump occurring in the current environment based on historical ambient temperature and humidity data. The historical ambient temperature and humidity data collected by the primary de-icing jump sensor is stored in an external FLASH unit. The de-icing jump risk warning conditions are as follows:

[0048] When the ambient temperature is above 0°C, it is in safe mode, there is no icing, and there is no risk of ice shedding and jumping;

[0049] When the environment is at -1℃ and the humidity reaches above 85%, the effective mode is triggered;

[0050] When the ambient temperature gradually rises from below zero and approaches 0°C, the device enters risk warning mode, initiates real-time MEMS sampling, and notifies the secondary de-icing jump sensor via local LoRa communication to enter risk warning mode. This provides an ultra-low power operation mechanism, ensuring ultra-low power operation in low-risk de-icing jump states, reducing power consumption.

[0051] The Safety Distance Analysis Module triggers the BeiDou RTK units of the primary and secondary shedding jump monitoring sensors to perform high-precision sampling at the moment of a shedding jump. This module acquires high-precision spatial positioning data for the conductor and ground wire during the period of occurrence, continuously collects and organizes it into trajectory information (trajectory information is constructed from multiple sets of three-dimensional high-precision positioning coordinates. For example, if a frequency of 20 Hz and a 10-second acquisition period is used, one trajectory contains 200 three-dimensional high-precision positioning coordinates). The secondary shedding jump sensor then transmits this ground wire trajectory information to the primary shedding jump sensor mounted on the conductor via ad hoc network communication in real time. After receiving this positioning data and trajectory information, the primary sensor performs discrete correlation analysis between the time and coordinates of the conductor and ground wire trajectory sampling points, calculates the spatial distance between the conductor and ground wire, and determines, based on a threshold, whether the safe distance has been exceeded. This information is then transmitted to the shedding jump warning platform. The primary and secondary shedding jump monitoring sensors integrate MEMS sensing units to collect the conductor's spatial motion in real time, capturing changes in the conductor's motion at the moment of a shedding jump. In this embodiment, when a de-icing jump occurs, the secondary de-icing jump monitoring sensor is awakened by a wireless radio frequency signal. For example, the primary de-icing jump monitoring sensor awakens the secondary de-icing jump monitoring sensor through a LoRa signal, thereby relieving the secondary de-icing jump monitoring sensor from its dormant state.

[0052] The discrete association analysis is processed by an association analysis mathematical model; the association analysis mathematical model is as follows:

[0053] Assume that at a certain moment, the spatial coordinates of the conductor are Pi = (xi, yi, zi), where i = 1, 2, ..., n; n is the number of conductor sampling points; the spatial coordinates of the ground wire are Qj = (uj, vj, wj), where j = 1, 2, ..., m; m is the number of ground wire sampling points;

[0054] Since the primary and secondary de-icing jump monitoring sensors are time-synchronized (at the microsecond level), the sampling points of the conductor and ground wires can be associated based on their timestamps. For each conductor sampling point Pi, the ground wire sampling point Qj closest in time to it is found.

[0055] Assume that the timestamp of the conductor sampling point Pi is ti, and the timestamp of the ground wire sampling point Qj is sj. For the i-th sampling point of the conductor, find the ground wire sampling point Qj that satisfies min(|ti-sj|), and associate Pi with Qj.

[0056] For each pair of associated sampling points (Pi, Qj), the relative distance di between them is calculated using the distance formula between two points in space:

[0057]

[0058] After calculating the relative distances di of all associated point pairs, find the minimum value dmin, that is:

[0059] dmin=min(d1,d2,…,dn);

[0060] dmin represents the minimum relative distance between the conductor and the ground wire within the time period. By comparing dmin with the pre-set safety distance threshold, it is determined whether there is a safety risk. If dmin is less than the safety distance threshold, the output is that there is a safety risk and the operation and maintenance personnel are notified to take corresponding measures. If dmin is greater than or equal to the safety distance threshold, the output is that the current status is safe.

[0061] The auxiliary deicing jump monitoring sensor is powered by solar energy + battery, and the main deicing jump sensor is powered by solar energy + inductive energy + battery.

[0062] A method for synchronously monitoring the ice shedding jumping trajectory of a collector line ground wire comprises the following steps:

[0063] A main de-icing jump monitoring sensor is installed on the collector line conductor; a secondary de-icing jump monitoring sensor is installed on the collector line ground wire, so that the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor can communicate with each other in an ad hoc network; the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor can communicate with each other in an ad hoc network through a LoRa communication unit; the main de-icing jump monitoring sensor sends information to the de-icing jump warning platform through a 4G communication module.

[0064] Time synchronization steps: When starting work, the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor are respectively used to complete ns-level time synchronization through their respective BeiDou RTK units. After the timing is completed, the BeiDou RTK units are turned off, and the local RTC clock and timer are used to complete the microsecond-level time keeping.

[0065] Risk analysis steps: After the main de-icing jump sensor and the auxiliary de-icing jump sensor complete the time synchronization, the auxiliary de-icing jump monitoring sensor is placed in a dormant state, and the main de-icing jump sensor is set to collect environmental temperature and humidity data in real time. The de-icing jump risk warning conditions are input and combined with the historical data of environmental temperature and humidity data to analyze the risk probability of de-icing jump in the current environment. The de-icing jump risk warning conditions are as follows:

[0066] When the ambient temperature is above 0°C, it is in safe mode, there is no icing, and there is no risk of ice shedding and jumping;

[0067] When the environment is at -1℃ and the humidity reaches above 85%, the effective mode is triggered;

[0068] When the ambient temperature gradually rises from below zero and approaches 0°C, the device enters risk warning mode, initiates real-time MEMS sampling, and notifies the secondary de-icing jump sensor via local LoRa communication to enter risk warning mode. This provides an ultra-low power operation mechanism, ensuring ultra-low power operation in low-risk de-icing jump states, reducing power consumption.

[0069] Safety distance analysis steps: When de-icing jump occurs, the BeiDou RTK units of the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor are triggered to perform high-precision sampling, and obtain the spatial high-precision positioning data of the conductor and the ground wire during the time period of occurrence, so that the secondary de-icing jump sensor sends the trajectory information of the ground wire to the main de-icing jump sensor installed on the conductor in real time through ad hoc network communication; after the main sensor receives the positioning data and trajectory information, it performs discrete correlation analysis on the time and coordinates of the conductor and ground wire trajectory sampling points, calculates the spatial distance between the conductor and the ground wire, and judges whether it exceeds the safety distance based on the threshold, and sends the information to the de-icing jump warning platform.

[0070] The discrete association analysis is processed by an association analysis mathematical model; the association analysis mathematical model is as follows:

[0071] Assume that at a certain moment, the spatial coordinates of the conductor are Pi = (xi, yi, zi), where i = 1, 2, ..., n; n is the number of conductor sampling points; the spatial coordinates of the ground wire are Qj = (uj, vj, wj), where j = 1, 2, ..., m; m is the number of ground wire sampling points;

[0072] Assume that the timestamp of the conductor sampling point Pi is ti, and the timestamp of the ground wire sampling point Qj is sj. For the i-th sampling point of the conductor, find the ground wire sampling point Qj that satisfies min(|ti-sj|), and associate Pi with Qj.

[0073] For each pair of associated sampling points (Pi, Qj), the relative distance di between them is calculated using the distance formula between two points in space:

[0074]

[0075] After calculating the relative distances di of all associated point pairs, find the minimum value dmin, that is:

[0076] dmin=min(d1,d2,…,dn);

[0077] dmin represents the minimum relative distance between the conductor and the ground wire within the time period. By comparing dmin with the pre-set safety distance threshold, it is determined whether there is a safety risk. If dmin is less than the safety distance threshold, the output is that there is a safety risk and the operation and maintenance personnel are notified to take corresponding measures. If dmin is greater than or equal to the safety distance threshold, the output is that the current status is safe.

[0078] The above is only an embodiment of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme will not be described in detail here. Those of ordinary skill in the art are aware of all common technical knowledge in the technical field to which the invention belongs before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Those of ordinary skill in the art can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for those of ordinary skill in the art to implement this application. It should be pointed out that for those skilled in the art, several variations and improvements can be made without departing from the structure of the present invention. These should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A synchronous monitoring system for the ice shedding and jumping trajectory of the collector line ground wire, characterized in that: include: A main de-icing jump monitoring sensor installed on the collector line conductor and a secondary de-icing jump monitoring sensor installed on the collector line ground wire, wherein the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor communicate with each other in an ad hoc network; Safety distance analysis module: This module is used to trigger the BeiDou RTK units of the primary and secondary de-icing jump monitoring sensors to perform high-precision sampling at the moment of de-icing jump. This module obtains high-precision spatial positioning data of the conductor and ground wire during the time period of de-icing jump, continuously collects and organizes the data into trajectory information, and enables the secondary de-icing jump sensor to send the ground wire trajectory information to the primary de-icing jump sensor installed on the conductor in real time through ad hoc network communication. After the main sensor receives the positioning data and trajectory information, it performs discrete correlation analysis on the time and coordinates of the sampling points of the conductor and ground wire trajectories, calculates the spatial distance between the conductor and the ground wire, and determines whether the safety distance is exceeded based on the threshold, and sends the information to the de-icing jump warning platform.

2. A synchronous monitoring system for ice shedding and jumping trajectory of a collector line ground wire according to claim 1, characterized in that: Also includes: Time synchronization module: used to enable the primary and secondary de-icing jump monitoring sensors to complete ns-level time synchronization through their respective BeiDou RTK units at the start of work. After the timing is completed, the BeiDou RTK units are turned off and the local RTC clock and timer are used to complete the microsecond-level time keeping. Risk analysis module: After the main de-icing jump sensor and the secondary de-icing jump sensor complete the timing, the secondary de-icing jump monitoring sensor is put into a dormant state, and the main de-icing jump sensor collects the environmental temperature and humidity data in real time, and inputs the preset de-icing jump risk warning conditions, and then analyzes the risk probability of de-icing jump in the current environment in combination with the historical data of the environmental temperature and humidity data.

3. The system for synchronously monitoring the ice shedding and jumping trajectory of the collector line ground wire according to claim 2, characterized in that: The discrete association analysis is processed by an association analysis mathematical model; the association analysis mathematical model is as follows: Assume that at a certain moment, the spatial coordinates of the conductor are Pi = (xi, yi, zi), where i = 1, 2, ..., n; n is the number of conductor sampling points; the spatial coordinates of the ground wire are Qj = (uj, vj, wj), where j = 1, 2, ..., m; m is the number of ground wire sampling points; Assume that the timestamp of the conductor sampling point Pi is ti, and the timestamp of the ground wire sampling point Qj is sj. For the i-th sampling point of the conductor, find the ground wire sampling point Qj that satisfies min(|ti-sj|), and associate Pi with Qj. For each pair of associated sampling points (Pi, Qj), the relative distance di between them is calculated using the distance formula between two points in space: After calculating the relative distances di of all associated point pairs, find the minimum value dmin, that is: dmin=min(d1,d2,…,dn); dmin represents the minimum relative distance between the conductor and the ground wire within the time period. By comparing dmin with the pre-set safety distance threshold, it is determined whether there is a safety risk. If dmin is less than the safety distance threshold, the output is that there is a safety risk and the operation and maintenance personnel are notified to take corresponding measures. If dmin is greater than or equal to the safety distance threshold, the output is that the current status is safe.

4. The system for synchronously monitoring the ice shedding and jumping trajectory of the collector line ground wire according to claim 1, characterized in that: The auxiliary deicing jump monitoring sensor is powered by solar energy + battery, and the main deicing jump sensor is powered by solar energy + inductive energy + battery.

5. The system for synchronously monitoring ice shedding and jumping trajectory of a collector line ground conductor according to claim 1, characterized in that: The main de-icing jump monitoring sensor and the auxiliary de-icing jump monitoring sensor communicate with each other in an ad hoc network through a LoRa communication unit, and the main de-icing jump monitoring sensor sends information to the de-icing jump warning platform through a 4G communication module.

6. A method for synchronously monitoring the ice shedding jumping trajectory of the collector line ground wire, characterized in that: The following steps are involved: A main de-icing jump monitoring sensor is installed on the collector line conductor; a secondary de-icing jump monitoring sensor is installed on the collector line ground wire, so that the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor can communicate with each other in an ad hoc network; Safety distance analysis steps: When a de-icing jump occurs, the BeiDou RTK units of the primary and secondary de-icing jump monitoring sensors are triggered to perform high-precision sampling. High-precision spatial positioning data of the conductor and ground wire during the time period of the de-icing jump is obtained and continuously collected and organized into trajectory information. The secondary de-icing jump sensor then transmits the ground wire trajectory information to the primary de-icing jump sensor installed on the conductor in real time via ad hoc network communication. After the main sensor receives the positioning data and trajectory information, it performs a discrete correlation analysis of the time and coordinates of the sampling points of the conductor and ground line trajectories, calculates the spatial distance between the conductor and the ground line, and determines whether the safety distance is exceeded based on the threshold, and sends the information to the de-icing jump warning platform.

7. A method for synchronously monitoring ice shedding jumping trajectories of a collector line ground wire according to claim 6, characterized in that: Also includes: Time synchronization steps: When starting work, the main de-icing jump monitoring sensor and the secondary de-icing jump monitoring sensor are respectively used to complete ns-level time synchronization through their respective BeiDou RTK units. After the timing is completed, the BeiDou RTK units are turned off, and the local RTC clock and timer are used to complete the microsecond-level time keeping. Risk analysis steps: After the main de-icing jump sensor and the auxiliary de-icing jump sensor complete the timing, the auxiliary de-icing jump monitoring sensor is placed in a dormant state, and the main de-icing jump sensor collects environmental temperature and humidity data in real time, and inputs the de-icing jump risk warning conditions. Combined with the historical data of the environmental temperature and humidity data, the risk probability of de-icing jump occurring in the current environment is analyzed.

8. The method for synchronously monitoring the ice shedding jumping trajectory of the collector line ground wire according to claim 7, characterized in that: The discrete association analysis is processed by an association analysis mathematical model; the association analysis mathematical model is as follows: Assume that at a certain moment, the spatial coordinates of the conductor are Pi = (xi, yi, zi), where i = 1, 2, ..., n; n is the number of conductor sampling points; the spatial coordinates of the ground wire are Qj = (uj, vj, wj), where j = 1, 2, ..., m; m is the number of ground wire sampling points; Assume that the timestamp of the conductor sampling point Pi is ti, and the timestamp of the ground wire sampling point Qj is sj. For the i-th sampling point of the conductor, find the ground wire sampling point Qj that satisfies min(|ti-sj|), and associate Pi with Qj. For each pair of associated sampling points (Pi, Qj), the relative distance di between them is calculated using the distance formula between two points in space: After calculating the relative distances di of all associated point pairs, find the minimum value dmin, that is: dmin=min(d1,d2,…,dn); dmin represents the minimum relative distance between the conductor and the ground wire within the time period. By comparing dmin with the pre-set safety distance threshold, it is determined whether there is a safety risk. If dmin is less than the safety distance threshold, the output is that there is a safety risk and the operation and maintenance personnel are notified to take corresponding measures. If dmin is greater than or equal to the safety distance threshold, the output is that the current status is safe.

9. The method for synchronously monitoring the ice shedding jumping trajectory of the collector line ground wire according to claim 8, characterized in that: The main de-icing jump monitoring sensor and the auxiliary de-icing jump monitoring sensor communicate with each other in an ad hoc network through a LoRa communication unit, and the main de-icing jump monitoring sensor sends information to the de-icing jump warning platform through a 4G communication module.

10. The method for synchronously monitoring the ice shedding jumping trajectory of the collector line ground wire according to claim 9, characterized in that: The ice shedding and jumping risk warning conditions are as follows: When the ambient temperature is above 0°C, it is in safe mode, there is no icing, and there is no risk of ice shedding and jumping; When the environment is at -1℃ and the humidity reaches above 85%, the effective mode is triggered; When the ambient temperature gradually rises from below zero and approaches 0°C, it enters the risk warning mode, starts MEMS real-time sampling, and notifies the secondary de-icing jump sensor to enter the risk warning mode through local LoRa communication.

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