Transmission line stretching processing system based on image features and distance features

Abstract

The utility model provides a transmission conductor telescopic processing system based on image feature and distance feature relates to automation technical field, including: the measuring device of target ground of being located in the adjacent tower between the connected of the conductor to be tightened, including: the imaging appearance of obtaining the high resolution image of conductor to be tightened, the range finder of measuring the distance between a plurality of preset points on conductor to be tightened, the angle adjustment calculator of calculating the rotation control instruction including azimuth adjustment amount according to high resolution image, the multi -axis rotation adjustment platform of rotating range finder to target azimuth according to azimuth adjustment amount based on rotation control instruction, make imaging appearance, range finder and multi -axis rotation adjustment platform be in the support structure of not less than preset height from target ground, the communication device of calculating the conductor to be tightened amount corresponding to actual sag of conductor to be tightened based on high resolution image and actual distance, the execution mechanism of executing the corresponding amplitude of tight line operation to conductor to be tightened according to the conductor to be tightened amount obtained.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of automation, and in particular, to a power transmission conductor stretching processing system based on image features and distance features. BACKGROUND

[0002] Overhead transmission lines are the main arteries of the power industry and an important part of the power system. The conductors of the transmission line sag between adjacent towers to form an arc curve, and the sag amplitude is called sag. The sag size is related to the span, conductor length, conductor weight, and stress on the conductor. Accurate measurement of the sag of overhead transmission lines and guidance for tight line operations until the target sag are achieved are important processes to ensure construction quality. SUMMARY

[0003] The present disclosure provides a power transmission conductor stretching processing system based on image features and distance features.

[0004] In a first aspect, the present disclosure provides a power transmission conductor stretching processing system based on image features and distance features, which includes a measurement device, a communication and operation device, and an execution mechanism. The measurement device includes an imager, a range finder, an angle adjustment calculator, a multi-axis rotation adjustment platform, and a support structure. The imager is used to acquire a high-resolution image of the conductor to be tightened. The range finder is used to measure the actual distance between the conductor to be tightened and multiple preset points. The angle adjustment calculator is used to calculate a rotation control instruction containing an azimuth angle adjustment amount based on the image features contained in the high-resolution image. The multi-axis rotation adjustment platform is used to control the range finder to rotate to a target azimuth based on the rotation control instruction, so that the range finder rotated to the target azimuth measures the actual distance between the multiple preset points. The target azimuth includes a target three-dimensional coordinate and a target attitude angle in the real world. The support structure is in contact with the target ground at the bottom and is used to support the imager, the range finder, the angle adjustment calculator, and the multi-axis rotation adjustment platform to a height not less than a preset height. The communication and operation device is used to calculate a tightening amount corresponding to the actual sag of the conductor to be tightened based on the high-resolution image and the actual distance obtained from the imager and the range finder. The execution mechanism is used to perform a tight line operation on the conductor to be tightened according to the obtained tightening amount.

[0005] In some embodiments, in response to the first successful establishment of a communication connection between the communication and operation device and the execution mechanism, the communication and operation device is further configured to send a first test instruction to the range finder in the measurement device. Correspondingly, the range finder performs a test measurement on the distance from the multiple preset points on the conductor to be tightened according to the received first test instruction.

[0006] In some embodiments, the measurement device is further configured to record a test initial point position of the conductor to be tightened. The test initial point position is the connection point of any end of the conductor to be tightened and the corresponding tower.

[0007] In some embodiments, the communication computing device is further configured to configure an initialization parameter, the initialization parameter comprising a standard sag, and the communication computing device is specifically configured to compare the actual sag with the standard sag, and determine the amount of tightening based on a comparison result.

[0008] In some embodiments, the execution mechanism is further configured to, after completing the tightening operation on the conductor to be tightened, transmit operation completion data comprising the actual displacement parameter to the communication computing device, and correspondingly, the communication computing device is configured to, in response to receiving the operation completion data, issue a second test instruction to the distance meter, and correspondingly, the distance meter is controlled by the second test instruction to implement distance re-measurement on the plurality of preset points to obtain a corrected distance, so that the communication computing device derives the tension state indicator of the conductor to be tightened based on the corrected distance, and outputs a confirmation signal of the tightening operation being up to standard when the fluctuation range of the tension state indicator converges within a tolerance threshold.

[0009] In some embodiments, in response to the conductor to be tightened being a split conductor comprising a plurality of sub-conductors to be tightened, the execution mechanism is arranged on each sub-conductor to be tightened. The imager is configured to acquire high-resolution images of all the sub-conductors to be tightened, and the distance meter is configured to measure actual distances between the plurality of preset points on one of the sub-conductors to be tightened. The communication computing device is configured to determine position information of the plurality of preset points on the one sub-conductor to be tightened based on the high-resolution images and the actual distances, and calculate position information of the plurality of preset points on the remaining sub-conductors to be tightened based on the high-resolution images and the position information of the plurality of preset points on the one sub-conductor to be tightened, respectively, and calculate actual sags of each sub-conductor to be tightened based on the position information of the plurality of preset points on all the sub-conductors to be tightened, to determine the amount of tightening corresponding to each sub-conductor to be tightened, so that the execution mechanism performs a tightening operation of a corresponding amplitude on the corresponding sub-conductor to be tightened according to the amount of tightening of each sub-conductor to be tightened determined by the communication computing device.

[0010] In some embodiments, the imager and the distance meter are fixedly arranged on a bearing surface of the multi-axis rotation adjustment platform in a fixed orientation, and correspondingly, the multi-axis rotation adjustment platform is further configured to control the imager to rotate to an adaptive orientation by an azimuth adjustment amount based on a rotation control instruction.

[0011] In some embodiments, the support structure further comprises a lifting assembly configured to lift the imager, the distance meter, the angle adjustment calculator, and the multi-axis rotation adjustment platform to a height not less than a preset height.

[0012] In some embodiments, the power transmission conductor stretching processing system based on image features and distance features further comprises a temperature sensing assembly and a first heating mechanism. The temperature sensing assembly is configured to acquire an ambient temperature, and the first heating mechanism is configured to heat the execution mechanism when the ambient temperature is lower than a preset temperature.

[0013] In some embodiments, the power transmission conductor stretching processing system based on image features and distance features further comprises a conductor galloping amplitude detector and a second heating mechanism. The conductor galloping amplitude detector is configured to determine an actual galloping amplitude of the conductor to be tightened according to the high-resolution image, and the second heating mechanism is configured to heat the smart spacer made of shape memory alloy arranged on the conductor to be tightened by causing the smart spacer made of shape memory alloy to recover to a preset shape when the actual galloping amplitude is greater than a preset amplitude.

[0014] In some embodiments, the communication computing device is further configured to return a fault maintenance notification to the remote server when receiving the fault notification returned by the execution mechanism, and the power transmission conductor stretching processing system based on image features and distance features further comprises a backup alarm and a close-range diagnosis terminal. The backup alarm is configured to return the same fault maintenance notification to a backup remote server when the communication computing device does not receive response information returned by the remote server within a preset time period after sending the fault maintenance notification. The close-range diagnosis terminal is configured to establish a communication connection with the target ground and perform abnormal diagnosis and debugging on the communication computing device.

[0015] The power transmission conductor stretching processing system based on image features and distance features provided by the present disclosure can automatically collect a high-resolution image of the conductor to be tightened through the imager and range finder included in the measuring device arranged on the ground between the adjacent towers connected by the conductor to be tightened, and can automatically measure the actual distances between the range finder and a plurality of preset points on the conductor to be tightened. The communication computing device can calculate the conductor tightening amount corresponding to the actual sag of the conductor to be tightened based on the high-resolution image and the actual distances obtained from the imager and the range finder. The execution mechanism can automatically tighten the conductor to be tightened according to the obtained conductor tightening amount. The power transmission conductor stretching processing system based on image features and distance features in the present disclosure can integrate the sag measurement process and the tightening process into a closed-loop automatic operation system. Without changing the traditional stringing construction process, the power transmission conductor stretching processing system based on image features and distance features can improve the automation and mechanization level in the construction of overhead transmission lines, realize the visualization, automation, and precision of the entire laying construction system, greatly reduce the risk of manual work, and improve the stringing construction efficiency.

[0016] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0017] Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments made with reference to the drawings:

[0018] Figure 1A structural block diagram of a power transmission conductor stretching processing system based on image features and distance features is provided for the embodiments of the present disclosure.

[0019] Figure 2 A structural schematic diagram of a power transmission conductor stretching processing system based on image features and distance features is provided for the embodiments of the present disclosure.

[0020] Figure 3 A structural schematic diagram of a measuring device included in a power transmission conductor stretching processing system based on image features and distance features is provided for the embodiments of the present disclosure.

[0021] Figure 4 A flowchart of a method for tightening a conductor to be tightened by a power transmission conductor stretching processing system based on image features and distance features is provided for the embodiments of the present disclosure. DETAILED DESCRIPTION

[0022] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in understanding, and should be considered as merely exemplary. Thus, those skilled in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, in the following description, descriptions of well-known functions and constructions are omitted for clarity and conciseness. It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0023] The present disclosure provides a power transmission conductor stretching processing system based on image features and distance features, which automatically detects the actual distance between the rangefinder and multiple preset points on the conductor to be tightened in the measuring device, and collects high-resolution images of the conductor to be tightened by the imaging instrument in the measuring device. The communication computing device can determine the position information of the predetermined multiple points on the conductor to be tightened based on the high-resolution images and the actual distance, and calculate the actual sag based on the position information, and then determine the tightening amount corresponding to the actual sag of the conductor to be tightened, and automatically tighten the conductor to be tightened by the actuator. The power transmission conductor stretching processing system based on image features and distance features in the present disclosure can integrate the sag measurement and the tightening into one, and constitutes a closed-loop automatic operation system.

[0024] First, the technical terms related to the present disclosure are introduced.

[0025] Power transmission line: The power generated by the generator is boosted by the transformer, and then connected to the power transmission line through the control equipment such as circuit breaker to realize. The power transmission line is divided into overhead power transmission line and cable line.

[0026] Overhead transmission line: composed of tower, conductor, insulator, line hardware, stay, tower foundation, grounding device, etc., erected above the ground. According to the nature of the current transmission, power transmission is divided into alternating current transmission and direct current transmission.

[0027] Tower: the general term for poles and towers. The purpose of the tower is to support the conductor and the ground wire to maintain a safe distance between the conductors, the ground wire, the ground, and the cross-over.

[0028] Span: the horizontal distance between the suspension points of the conductors between two adjacent towers.

[0029] Split conductor: refers to a type of conductor erection method adopted by EHV transmission lines to suppress corona discharge and reduce line reactance. That is, each phase conductor is composed of several (usually 2-4) small-diameter sub-conductors, which are arranged at the vertices of a regular polygon with a certain distance between each sub-conductor.

[0030] Shape memory alloy, at high temperature, the alloy is in a stable austenitic phase with high symmetry and strength. When the temperature drops below a certain critical value, the austenitic phase transforms into a martensitic phase, and the crystal structure of the material changes, causing a change in shape. In the martensitic state, the material can be plastically deformed by external force, and when heated above another critical temperature, the martensitic phase reverses to the austenitic phase, and the material returns to its original shape.

[0031] The disclosure provides a power transmission conductor stretching processing system based on image features and distance features, which is applied to an overhead transmission line. The power transmission conductor stretching processing system based on image features and distance features includes a measuring device, a communication operation device, and an execution mechanism. The measuring device can include a support structure, an imager, a range finder, an angle adjustment calculator, and a multi-axis rotation adjustment platform. The communication operation device can be in communication connection with the measuring device. For example, the communication operation device and the measuring device can use wired communication. For example, the communication operation device can use wired communication with the imager, the range finder, the angle adjustment calculator, and the multi-axis rotation adjustment platform, respectively. The communication operation device can be in communication connection with the execution mechanism. For example, the communication operation device and the execution mechanism can use wireless communication.

[0032] In some embodiments, the measuring device can be located on the ground, specifically on the target ground between adjacent towers to be connected to the conductor. The specific location of the target ground will be described later in conjunction with the drawings. For example, the support structure of the measuring device is in contact with the target ground at the bottom.

[0033] In some embodiments, the support structure can be used to support the imager, the distance meter, the angle adjustment calculator, and the multi-axis rotation adjustment platform to a height no less than a preset height. The imager can acquire a high-resolution image of the conductor to be tightened, and the distance meter can measure the actual distances between the plurality of preset points on the conductor to be tightened.

[0034] In some embodiments, the support structure can further include a lifting assembly configured to lift the imager, the distance meter, the angle adjustment calculator, and the multi-axis rotation adjustment platform to a height no less than a preset height. The preset height can be set according to the scanning range of the imager, the scanning range of the distance meter, the height of the tower, the distance between adjacent towers, and the like.

[0035] In some embodiments, the angle adjustment calculator can calculate a rotation control instruction including an azimuth angle adjustment amount based on the image features contained in the high-resolution image. The multi-axis rotation adjustment platform can control the distance meter to rotate to a target azimuth by the azimuth angle adjustment amount based on the rotation control instruction, so that the distance meter rotated to the target azimuth measures the actual distances between the plurality of preset points, and the target azimuth includes a target three-dimensional coordinate and a target attitude angle in the real world.

[0036] In some embodiments, the imager and the distance meter are fixedly arranged on the bearing surface of the multi-axis rotation adjustment platform in a fixed mutual orientation. Correspondingly, the multi-axis rotation adjustment platform is further configured to control the imager to rotate to an adaptive azimuth by the azimuth angle adjustment amount based on the rotation control instruction. The present disclosure realizes rotation control of the imager and the distance meter through the multi-axis rotation adjustment platform and the angle adjustment calculator, so that the measurement device can automatically patrol the conductor to be tightened.

[0037] For example, the distance meter can be a laser distance meter, and the distance meter and the imager can be synchronously rotated during actual testing.

[0038] It should be noted that the preset points on the conductor to be tightened can be selected according to the span and the measurement accuracy. For example, 10 or more measurement points can be selected at equal intervals within the span.

[0039] It should be noted that during the construction of the overhead transmission line, the conductor to be tightened needs to be hung between two adjacent towers, and the connection point of the conductor to be tightened with any tower can also be referred to as the hanging point of the conductor to be tightened.

[0040] In some embodiments, the communication and calculation device can be located on the ground, specifically near the measurement device. The communication and calculation device can calculate the tightening amount corresponding to the actual sag of the conductor to be tightened based on the high-resolution image acquired by the imager and the actual distances measured by the distance meter, and the actuator can perform a tightening operation on the conductor to be tightened by the corresponding amplitude according to the obtained tightening amount.

[0041] Exemplarily, the actuator can be located on the conductor to be tightened and can be located near a hanging point of the conductor to be tightened, and the actuator can tighten the conductor to be tightened according to the conductor-to-be-tightened amount corresponding to the actual sag of the conductor to be tightened calculated by the communication operation device.

[0042] In some embodiments, in response to the first successful establishment of the communication connection between the communication operation device and the actuator, the communication operation device is further configured to send a first test instruction to the range finder in the measurement device, and correspondingly, the range finder in the measurement device can perform a test measurement on the distances from the plurality of preset points on the conductor to be tightened according to the received first test instruction.

[0043] Exemplarily, before the measurement device measures the distances from the plurality of preset points on the conductor to be tightened to the range finder, the communication operation device is configured to send a connection instruction to the actuator, and the actuator is configured to send a return signal to the communication operation device in response to receiving the connection instruction. The communication operation device is configured to send the first test instruction to the measurement device in response to receiving the return signal, so that the range finder in the measurement device can perform a test measurement on the distances from the plurality of preset points on the conductor to be tightened according to the received first test instruction.

[0044] In the present disclosure, the communication operation device needs to first confirm that the communication connection with the actuator is established, and then sends a test instruction to the measurement device to make the measurement device enter a measurement mode. In the case that the communication operation device and the actuator cannot normally communicate, the communication operation device does not need to send a test instruction to the measurement device, so that the staff can quickly know that the power transmission conductor stretching and contraction processing system based on image features and distance features may have a fault, the power transmission conductor stretching and contraction processing system based on image features and distance features can be diagnosed in a short time, and the measurement time can be saved, thereby reducing the measurement cost.

[0045] The power transmission conductor stretching and contraction processing system based on image features and distance features provided in the present disclosure can automatically acquire a high-resolution image of the conductor to be tightened through the imager and the range finder included in the measurement device arranged on the ground between the adjacent towers to which the conductor to be tightened is connected, and can automatically measure the actual distances between the range finder and the plurality of preset points on the conductor to be tightened. The communication operation device can calculate the conductor-to-be-tightened amount corresponding to the actual sag of the conductor to be tightened based on the high-resolution image and the actual distances obtained from the imager and the range finder, and the actuator can automatically tighten the conductor to be tightened according to the obtained conductor-to-be-tightened amount. The power transmission conductor stretching and contraction processing system based on image features and distance features in the present disclosure can integrate the sag measurement process and the tightening process into one, and constitutes a closed-loop automatic operation system. Without changing the traditional stringing construction process, the power transmission conductor stretching and contraction processing system based on image features and distance features can improve the automation and mechanization level in the construction of overhead power transmission lines, realize the visualization, automation and precision of the whole laying construction system, greatly reduce the manual risk, and improve the stringing construction efficiency.

[0046] The image feature and distance feature based power transmission conductor stretching processing system in the present disclosure will be described in detail below in combination with the drawings.

[0047] The present disclosure provides an image feature and distance feature based power transmission conductor stretching processing system 10 applied to overhead power transmission lines, as shown in Figure 1 and Figure 2 , the image feature and distance feature based power transmission conductor stretching processing system 10 comprises a measuring device 111, a communication and calculation device 112 and an execution mechanism 113. The communication and calculation device 112 can be communicatively connected with the measuring device 111, and the communication and calculation device 112 can be communicatively connected with the execution mechanism 113. For example, the communication and calculation device 112 can be communicatively connected with the measuring device 111 by wired communication, and the communication and calculation device 112 can be communicatively connected with the execution mechanism 113 by remote wireless communication, which is suitable for various construction environments of overhead power transmission lines.

[0048] In some embodiments, the measuring device 111 can be located at a target ground between two adjacent towers 115 connected with the conductor to be tightened 114, and the selected area where the target ground is located needs to meet the requirement that any hanging point of the conductor to be tightened 114 can be observed by the measuring device 111 by any observation angle. In other words, if any hanging point of the conductor to be tightened 114 cannot be observed by any observation angle, the measuring device 111 cannot be placed at this position.

[0049] In some embodiments, as shown in Figure 1 , Figure 2 and Figure 3As shown, the measuring device 111 can include a ranging imaging system 1111, a multi-axis rotation adjustment platform 1112, a support structure 1113, and an angle adjustment calculator 1114. The ranging imaging system 1111 is installed on the multi-axis rotation adjustment platform 1112, the ranging imaging system 1111 can include an imager 1115 and a range finder 1116, for example, the range finder 1116 can be a laser range finder, the support structure 1113 can support the imager 1115, the range finder 1116, the angle adjustment calculator 1114, and the multi-axis rotation adjustment platform 1112 to be no less than a preset height, the multi-axis rotation adjustment platform 1112 is installed on the support structure 1113, for example, the support structure 1113 can be a triangular support frame, the angle adjustment calculator 1114 can calculate a rotation control instruction containing an azimuth angle adjustment amount according to an image feature contained in a high-resolution image, and the multi-axis rotation adjustment platform 1112 can control the range finder 1116 to rotate to a target azimuth by the azimuth angle adjustment amount based on the rotation control instruction, so that the range finder 1116 rotated to the target azimuth measures the actual distance between the plurality of preset points, and the target azimuth includes a target three-dimensional coordinate and a target attitude angle in the real world, so that the measuring device 111 can automatically patrol the conductor 114 to be tightened.

[0050] In some embodiments, the measuring device 111 is configured to record a test initial point position of the conductor 114 to be tightened, wherein the test initial point position is a connection point of any end of the conductor 114 to be tightened and the corresponding tower 115. In other words, the test initial point position is the position of one hanging point of the conductor 114 to be tightened. By recording the test initial point position of the conductor 114 to be tightened by the measuring device 111, the measuring device 111 can be accurately positioned in the test mode, and the communication computing device 112 can accurately calculate the tightening amount corresponding to the actual sag of the conductor 114 to be tightened.

[0051] For example, the worker first observes one of the hanging points of the conductor 114 to be tightened by the measuring device 111, and then the measuring device 111 measures the position information of the one hanging point in response to receiving a test signal, and records the measurement result. For example, after the worker observes the hanging point, the worker forms a test signal by interacting with the measuring device 111, for example, the test signal can be formed by the worker clicking the measurement software installed on the measuring device 111.

[0052] After the position information of the initial test point of the conductor to be tightened 114 is measured and recorded, the measuring device 111 can measure the distances between the plurality of preset points on the conductor to be tightened 114 and the distance meter. For example, in the measurement mode, the measuring device 111 can automatically identify the conductor to be tightened 114, the distance meter can measure the distances between the plurality of preset points on the conductor to be tightened 114 and the distance meter, and during the measurement process, the imaging instrument can be used to observe the measurement progress in real time, so that the measurement process can be visualized, automated and real-time, thereby improving the efficiency of the stringing construction.

[0053] In some embodiments, the communication and calculation device 112 is located on the ground, for example, beside the measuring device 111. The communication and calculation device 112 can include a laptop computer and a mobile power supply. The laptop computer can be installed with sag intelligent control software and intelligent tightening master software, for example. The sag intelligent control software and the intelligent tightening master software can be used by the worker to interact with the communication and calculation device 112. For example, the sag intelligent control software and the intelligent tightening master software can be combined into one software. The sag intelligent control software can include sag calculation function, graphical display function, tightening amount calculation function, measurement report generation function, etc. For example, the measuring device 111 and the laptop computer can be connected through a data line, and the measuring device 111 and the mobile power supply can be connected through a power line. The mobile power supply can supply power to the measuring device 111 and the laptop computer.

[0054] In some embodiments, the communication and calculation device 112 is also used to configure initialization parameters, which include the standard sag. The communication and calculation device 112 is specifically configured to compare the actual sag with the standard sag, and determine the tightening amount based on the comparison result. The laptop computer included in the communication and calculation device 112 is installed with sag intelligent control software and intelligent tightening master software. The parameters are set in the sag intelligent control software, and the initialization parameter information such as the observed span, the standard sag, the environmental temperature, the suspension point height, and the conductor to be tightened serial number is input. The sag intelligent control software can set the number of test points according to the observed span, determine the position of each test point, and then control the laser distance meter to rotate at different angles according to the different positions corresponding to different test points. The initial parameters set by the intelligent tightening master software can include default tightening speed, tightening precision, and threshold value for tightening force warning. These initial parameters do not need to be set every time, and the intelligent tightening master software has default initial parameters when it is opened.

[0055] In some embodiments, the execution mechanism 113 is further configured to transmit operation completion data containing the actual displacement parameter to the communication operation device 112 after completing the tightening operation on the conductor 114 to be tightened, and the communication operation device 112 is correspondingly configured to send a second test instruction to the distance meter 1116 in response to receiving the operation completion data, and the distance meter 1116 is correspondingly controlled to implement distance re-measurement on the plurality of preset points to obtain a corrected distance, so that the communication operation device 112 derives the tension state indicator of the conductor 114 to be tightened based on the corrected distance, and outputs a confirmation signal of the tightening operation being up to standard when the fluctuation range of the tension state indicator converges within a tolerance threshold.

[0056] In some embodiments, the execution mechanism 113 can be located on the conductor 114 to be tightened, for example, the execution mechanism 113 can be located near the hanging point of the conductor 114 to be tightened, and the execution mechanism 113 can include a length measuring sensor, a force measuring sensor, a tightening mechanism, a control module and a power module, wherein the tightening mechanism, the length measuring sensor and the force measuring sensor are connected to the control module through data lines, and the power module supplies power to the tightening mechanism, the length measuring sensor, the force measuring sensor and the control module. During the tightening process of the conductor 114 to be tightened, the displacement parameter (e.g. tightening length) of the conductor 114 to be tightened is measured in real time by the length measuring sensor, the tension of the conductor 114 to be tightened is measured in real time by the force measuring sensor, and the tightening length of the conductor 114 to be tightened and the tension of the conductor 114 to be tightened are fed back to the communication operation device 112 on the ground in real time through wireless communication.

[0057] In some embodiments, the force measuring sensor measures the tension of the conductor 114 to be tightened in real time, and alarms when the tension exceeds a set threshold, which can effectively prevent the conductor 114 to be tightened from being pulled off. For example, the set threshold can be set according to the requirements of the stringing construction.

[0058] In some embodiments, the execution mechanism 113 is further configured to automatically lock the conductor 114 to be tightened after the tightening is completed, for example, the execution mechanism has an automatic locking function, which can effectively prevent the conductor 114 to be tightened from being reversed.

[0059] In some embodiments, the execution mechanism 113 is further configured to feed back operation completion data containing the actual displacement parameter to the communication operation device 112 after the tightening is completed.

[0060] In some embodiments, the communication computing device 112 is further configured to, in response to receiving the operation completion data, send a second test instruction to the distance meter 1116 included in the measurement device 111, and after the distance meter 1116 receives the second test instruction, implement distance re-measurement on the plurality of preset points to obtain corrected distances, and send the corrected distances to the communication computing device 112. The communication computing device 112 can deduce the tension state indicator of the conductor 114 to be tightened based on the corrected distances, and output a confirmation signal that the tightening operation is up to standard when the fluctuation range of the tension state indicator converges within a tolerance threshold.

[0061] In some embodiments, when the conductor 114 to be tightened is a split conductor, the conductor 114 to be tightened includes a plurality of split conductors to be tightened, for example, as shown in FIG. 1B, the conductor 114 to be tightened includes two split conductors to be tightened, and each of the two split conductors to be tightened is provided with an actuator 113. Figure 2

[0062] In some embodiments, the imager 1115 is used to acquire high-resolution images of all the split conductors to be tightened, the distance meter 1116 is used to measure actual distances between a plurality of preset points on one of the split conductors to be tightened and the distance meter 1116, the communication computing device 112 is used to determine position information of the plurality of preset points on the one of the split conductors to be tightened based on the high-resolution images and the actual distances, and calculate position information of the plurality of preset points on the remaining split conductors to be tightened based on the high-resolution images and the position information of the plurality of preset points on the one of the split conductors to be tightened, respectively, and calculate actual sag of each of the split conductors to be tightened based on the position information of the plurality of preset points on all the split conductors to be tightened, to determine a tightening amount corresponding to each of the split conductors to be tightened, so that the actuators 113 perform tightening operations on the corresponding split conductors to be tightened according to the tightening amount corresponding to each of the split conductors to be tightened determined by the communication computing device 112.

[0063] In some embodiments, the imager 1115 included in the measurement device 111 can acquire high-resolution images of all the split conductors to be tightened in real time, and the communication computing device 112 can identify the number of conductors based on the high-resolution images. The distance meter 1116 included in the measurement device 111 only needs to measure distances between a plurality of preset points on one of the split conductors to be tightened and the distance meter 1116, in other words, the distance meter 1116 only needs to measure one of the split conductors to be tightened. The communication computing device 112 can calculate position information of the plurality of preset points on the remaining split conductors to be tightened based on the distances of the plurality of preset points on the one of the split conductors to be tightened and the high-resolution images, and further calculate corresponding sags of the remaining split conductors to be tightened.

[0064] ​The measuring device 111 in the present disclosure can measure a single conductor to be tightened, and then the communication operation device 112 can obtain the sag of the conductor to be tightened. The measuring device 111 can also simultaneously measure each conductor to be tightened included in the conductor to be tightened, and then the communication operation device 112 can obtain the sag of each conductor to be tightened. Since each conductor to be tightened is provided with an actuator 113, the communication operation device 112 can simultaneously send a tightening control signal carrying a tightening amount to all actuators 113, and all actuators 113 can work simultaneously. Therefore, the power transmission line stretching and contraction processing system based on image features and distance features in the present disclosure can realize the effect of simultaneous measurement and tightening of multiple conductors, greatly improving the work efficiency.

[0065] In some embodiments, the communication operation device 112 is further configured to return a fault maintenance notification to a remote server when receiving the fault notification returned by the actuator 113, and the power transmission line stretching and contraction processing system based on image features and distance features further comprises a backup alarm and a short-distance diagnosis terminal. The backup alarm can return the same fault maintenance notification to a backup remote server when the communication operation device 112 has not received a response information returned by the remote server within a preset time period after sending the fault maintenance notification, so as to successfully transmit the fault maintenance notification through the communication capability between the backup alarm and the backup remote server when the communication operation device 112 cannot successfully send the fault maintenance notification to the remote server due to a single point fault. Since the probability of simultaneous failure of the two transmission modes is much lower than the probability of failure of one mode, the fault maintenance notification can be successfully transmitted. The short-distance diagnosis terminal can establish a communication connection with the communication operation device 112 on the target ground and perform abnormal diagnosis and debugging on the communication operation device 112. That is, in some cases where some faults can be simply repaired by debugging on site, the staff can hold the short-distance diagnosis terminal to establish an effective communication connection with the communication operation device 112 on the target ground, and perform abnormal diagnosis and debugging on the communication operation device 112 based on the established communication connection.

[0066] In some embodiments, the power transmission line stretching and contraction processing system based on image features and distance features further comprises a temperature sensing component and a first heating mechanism. The temperature sensing component can be used to collect the ambient temperature. The temperature sensing component can be integrated in the measuring device 111 or the actuator 113, for example. The first heating mechanism can heat the actuator 113 when the ambient temperature is lower than a preset temperature. It should be understood that in winter or when the ambient temperature is low, especially because of snow or freezing rain, the actuator 113 can not effectively tighten or loosen the conductor to be tightened. Therefore, the first heating mechanism should be arranged at the corresponding position of the actuator 113 acting on the conductor to be tightened, so as to eliminate the conductor to be tightened in a frozen state by heating, thereby enabling the actuator 113 to work normally.

[0067] In some embodiments, the power transmission conductor stretching and contraction processing system based on image features and distance features further comprises a conductor galloping amplitude detector and a second heating mechanism. The conductor galloping amplitude detector can determine the actual galloping amplitude of the conductor to be tightened according to the high-resolution image, and then the second heating mechanism can be used to heat the smart spacer made of shape memory alloy arranged on the conductor to be tightened when the actual galloping amplitude is greater than the preset amplitude to tighten the conductor by causing the smart spacer made of shape memory alloy to recover to the preset shape when heated. It should be understood that in this embodiment, the smart spacer made of shape memory alloy is a rod-shaped object made of shape memory alloy, which is used to be bundled and spaced with the conductor to be tightened in a parallel state, so as to control the second heating mechanism to heat the smart spacer made of shape memory alloy when the conductor to be tightened is determined to be tightened according to the detected actual galloping amplitude (or the amount of conductor to be tightened determined by the communication operation device), so as to recover to the preset shape by heating, and the tightening of the conductor to be tightened can be achieved by stretching the shape during the recovery of the smart spacer made of shape memory alloy to the preset shape, thereby assisting the execution mechanism to complete the tightening operation of the conductor to be tightened.

[0068] The power transmission conductor stretching and contraction processing system based on image features and distance features provided by the present disclosure will be described in detail below in combination with a specific embodiment.

[0069] The power transmission conductor stretching and contraction processing system based on image features and distance features provided by the present disclosure can work in two modes, the first working mode is a measurement calibration mode, and the second working mode is a measurement mode. For example, as shown in Figure 4 In the measurement calibration mode, step 101 is performed, and in the measurement mode, steps 102 to 108 are performed.

[0070] In some embodiments, the configuration of the communication operation device initialization parameters in step 101 can include configuration of sag measurement parameters and tightening parameters. The configuration of the sag measurement parameters can include inputting the initialization parameters such as the suspension point height, the observation span, the standard sag, the environmental temperature, the environmental wind speed, etc. in the sag intelligent measurement and control software installed in the communication operation device 112. The configuration of the tightening parameters can include inputting the initialization parameters such as the tightening speed, the tightening precision, etc. in the intelligent tightening main control software installed in the communication operation device 112.

[0071] In some embodiments, the step of determining the establishment of the communication connection between the communication computing device 112 and the execution mechanism 113 in step 101 can include: the communication computing device 112 sends a connection instruction to the execution mechanism 113 and waits for a return signal from the execution mechanism 113, and the communication computing device 112 determines the establishment of the communication connection between the communication computing device 112 and the execution mechanism 113 in response to receiving the return signal sent by the execution mechanism 113. After the communication computing device 112 determines the first successful establishment of the communication connection between the communication computing device 112 and the execution mechanism 113, the communication computing device 112 sends a first test instruction to the measuring device 111.

[0072] In some embodiments, the step of recording the test initial point position of the conductor 114 to be tightened by the measuring device 111 in step 101 can include: the worker first observes one of the hanging points of the conductor 114 to be tightened by the measuring device 111, and then forms a test signal by interacting with the measuring device 111, and the measuring device 111 measures the position information of the hanging point in response to receiving the test signal and records the measurement result.

[0073] It should be noted that the present disclosure does not limit the order of the steps of determining the establishment of the communication connection between the communication computing device 112 and the execution mechanism 113 and recording the test initial point position of the conductor 114 to be tightened, and for example, both steps can be performed simultaneously, but in the actual measurement process, even if the measuring device 111 receives the test instruction sent by the communication computing device 112 first, the measuring device 111 also needs to enter the measurement mode after recording the test initial point position of the conductor 114 to be tightened.

[0074] In some embodiments, in the measurement mode, the measuring device 111 identifies the conductor 114 to be tightened according to the recorded test initial point position and measures the plurality of preset points on the conductor 114 to be tightened point by point in step 102, and in the measurement process, the measurement progress can also be observed in real time by the imaging instrument included in the measuring device 111.

[0075] In some implementations, in step 103, the communication computing device 112 determines the position information of all preset points on the conductor 114 to be tightened based on the acquired high-resolution image and the actual distance. The sag intelligent measurement and control software installed on the communication computing device 112 can fit and calculate the actual sag of the conductor 114 to be tightened based on the position information of all preset points, and calculate the amount of wire to be tightened corresponding to the actual sag of the conductor 114 by comparing the actual sag with the standard sag. The sag intelligent measurement and control software first sends a control signal carrying the amount of wire to be tightened to the actuator 113. After receiving the control signal, the actuator 113 sends a feedback signal carrying the amount of wire to be tightened to the communication computing device 112 for confirmation. After the operator confirms that the amount of wire to be tightened is correct, the communication computing device 112 sends a tightening control signal including the amount of wire to be tightened to the actuator 113, and the actuator 113 starts to tighten the wire automatically.

[0076] In some embodiments, in step 104, the actuator 113 provides real-time feedback on the length of the tightened wire to the communication computing device 112 during the tightening process, and the actuator 113 monitors the current tightening tension of the wire to be tightened 114 in real time. The actuator 113 can provide an alarm function for excessive tension.

[0077] In some implementations, in step 104, after the actuator 113 completes the tensioning, it can automatically lock the conductor 114 to be tensioned and send operation completion data containing actual displacement parameters to the ground communication computing device 112. In step 105, when the communication computing device 112 receives the operation completion data, it determines that the tensioning is finished and executes step 106. When the communication computing device 112 does not receive the operation completion data, it determines that the tensioning is not finished and continues to execute step 104.

[0078] In some implementations, in step 106, re-measuring the sag of the conductor to be tightened 114 may include: the communication computing device 112 sending a second test command to the rangefinder in response to receiving operation completion data; correspondingly, the rangefinder is controlled by the second test command to perform distance re-measuring on multiple preset points to obtain the corrected distance.

[0079] In some implementations, step 107 includes: the communication computing device 112 derives the tension state index of the conductor 114 to be tightened based on the corrected distance, and when the fluctuation range of the tension state index converges to within the tolerance threshold, it determines that the sag meets the requirements, executes step 108, and ends the tightening work. Otherwise, it determines that the sag does not meet the requirements, and executes step 102.

[0080] According to the technical scheme of the embodiment of the present disclosure, the power transmission conductor stretching processing system based on image features and distance features provided by the present disclosure can automatically collect high-resolution images of the conductor to be tightened through the imager and range finder included in the measuring device arranged on the ground between the adjacent towers connected by the conductor to be tightened, and can automatically measure the actual distances between the range finder and multiple preset points on the conductor to be tightened. The communication operation device can calculate the conductor tightening amount corresponding to the actual sag of the conductor to be tightened based on the high-resolution images and the actual distances obtained from the imager and the range finder, and the actuator can automatically tighten the conductor to be tightened according to the obtained conductor tightening amount. The power transmission conductor stretching processing system based on image features and distance features in the present disclosure can integrate the sag measurement process and the tightening process into one, and constitutes a closed-loop automatic operation system. On the basis of not changing the traditional stringing construction process, the automatic and mechanized level in the overhead transmission line construction is improved, the whole process system visualization, automation and accuracy in the laying construction are realized, the manual risk is greatly reduced, and the stringing construction efficiency is improved.

[0081] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, the steps described in the present disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical scheme of the present disclosure can be achieved, which is not limited herein.

[0082] The above specific embodiments do not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A power transmission line stretch processing system based on image features and distance features, wherein, The utility model relates to a kind of tight line measuring device, including: Measuring device is arranged on the target ground between adjacent towers to which the conductor to be tightened is connected, including: Imager for acquiring high-resolution images of the conductor to be tightened; Range finder for measuring the actual distance between a plurality of predetermined points on the conductor to be tightened; Angle adjustment calculator for calculating a rotation control instruction containing an azimuth angle adjustment amount based on image features contained in the high-resolution images; Multi-axis rotation adjustment platform for controlling the range finder to rotate to a target azimuth by the azimuth angle adjustment amount based on the rotation control instruction, so that the range finder rotated to the target azimuth measures the actual distance between the plurality of predetermined points, and the target azimuth includes a target three-dimensional coordinate and a target attitude angle in the real world; Support structure for supporting the imager, range finder, angle adjustment calculator and multi-axis rotation adjustment platform to a height not less than a predetermined height at the bottom contacting the target ground; Communication computing device for calculating the tightening amount corresponding to the actual sag of the conductor to be tightened based on the high-resolution images and actual distances obtained from the imager and range finder; Actuator for performing a tightening operation on the conductor to be tightened by the tightening amount obtained. 2.The power transmission line stretch processing system based on image features and distance features according to claim 1, wherein, In response to the first successful establishment of communication connection between the communication computing device and the actuator, the communication computing device is further configured to send a first test instruction to the range finder in the measuring device, and correspondingly, the range finder performs a test measurement of the distance to the plurality of predetermined points on the conductor to be tightened according to the received first test instruction. 3.The power transmission line stretch processing system based on image features and distance features according to claim 1, wherein, The measuring device is further configured to record the test initial point position of the conductor to be tightened, which is the connection point of any end of the conductor to be tightened and the corresponding tower.

4. The image feature and distance feature based power transmission line stretch processing system of claim 3, wherein, The communication computing device is further configured to configure initialization parameters, including a standard sag, The communication computing device is specifically configured to compare the actual sag with the standard sag, and determine the tightening amount based on the comparison result.

5. The image feature and distance feature based power transmission line stretch processing system of claim 2, wherein, The actuator is further configured to transmit operation completion data containing actual displacement parameters to the communication computing device after completing the tightening operation on the conductor to be tightened, and correspondingly, the communication computing device sends a second test instruction to the range finder in response to receiving the operation completion data, and correspondingly, the range finder implements distance re-measurement on the plurality of predetermined points under the control of the second test instruction to obtain corrected distances, so that the communication computing device derives a tension state indicator of the conductor to be tightened based on the corrected distances, and outputs a confirmation signal that the tightening operation is up to standard when the fluctuation range of the tension state indicator converges within a tolerance threshold. 6.The power transmission line stretch processing system based on image features and distance features according to claim 1, wherein, In response to the conductor to be tightened being a bundled conductor including a plurality of sub-conductors to be tightened, the actuator is arranged on each of the sub-conductors to be tightened, The imager is configured to acquire high-resolution images of all the to-be-tensioned wires, the range finder is configured to measure actual distances between a plurality of preset points on one of the to-be-tensioned wires, and the communication and operation device is configured to determine position information of the plurality of preset points on the one of the to-be-tensioned wires based on the high-resolution images and the actual distances, and calculate position information of a plurality of preset points on the remaining to-be-tensioned wires based on the high-resolution images and the position information of the plurality of preset points on the one of the to-be-tensioned wires, respectively, and calculate actual sag of each to-be-tensioned wire based on the position information of the plurality of preset points on all the to-be-tensioned wires to determine a to-be-tensioned amount corresponding to each to-be-tensioned wire, so that the execution mechanism performs a tensioning operation on the corresponding to-be-tensioned wire with a corresponding amplitude according to the to-be-tensioned amount of each to-be-tensioned wire determined by the communication and operation device.

7. The image feature and distance feature based power line stretch processing system according to any one of claims 1-6, wherein, The imager and the range finder are fixedly arranged on the load-carrying surface of the multi-axis rotation adjustment platform in a fixed orientation, and correspondingly, the multi-axis rotation adjustment platform is further configured to control the imager to rotate to an adaptive orientation by the orientation angle adjustment amount based on the rotation control instruction.

8. The image feature and distance feature based power line stretch processing system according to any one of claims 1-6, wherein, The support structure further comprises a lifting assembly configured to lift the imager, the range finder, the angle adjustment calculator, and the multi-axis rotation adjustment platform to a height not lower than the preset height.

9. The image feature and distance feature based power line stretch processing system according to any one of claims 1-6, wherein, Further comprising: a temperature sensing assembly configured to acquire an ambient temperature; a first heating mechanism configured to heat the execution mechanism when the ambient temperature is lower than a preset temperature.

10. The image feature and distance feature based power line stretch processing system according to any one of claims 1-6, wherein, Further comprising: a wire dancing amplitude detector configured to determine an actual dancing amplitude of the to-be-tensioned wire based on the high-resolution images; a second heating mechanism configured to heat a smart spacer made of shape memory alloy arranged on the to-be-tensioned wire when the actual dancing amplitude is greater than a preset amplitude to perform tensioning by causing the smart spacer made of shape memory alloy to recover to a preset shape by heating.

11. The image feature and distance feature based power line stretch processing system according to any one of claims 1-6, wherein, The communication and operation device is further configured to return a fault maintenance notification to a remote server when receiving a fault notification returned by the execution mechanism, and further comprising: a backup alarm configured to return the same fault maintenance notification to a backup remote server when the communication and operation device has not received a response information returned by the remote server within a preset time period after sending the fault maintenance notification; a close-range diagnosis terminal configured to establish a communication connection with the communication and operation device and perform abnormal diagnosis and debugging on the communication and operation device.

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