Power transmission line protection method and device, equipment, storage medium and program product

Abstract

The invention relates to a power transmission line protection method and device, equipment, a storage medium and a program product. The method comprises the steps that first latitude and longitude coordinates and second latitude and longitude coordinates collected by a Beidou module are obtained, and the first latitude and longitude coordinates are the latitude and longitude coordinates collected by the Beidou module when the Beidou module is located under a first point position on a wire in a power transmission line; the second latitude and longitude coordinates are latitude and longitude coordinates collected by the Beidou module when the Beidou module is located right below a second point location on the lead; determining a traverse horizontal base line of the traverse based on the first latitude and longitude coordinate conversion and the second latitude and longitude coordinate conversion, and generating a first boundary line and a second boundary line which are parallel to the traverse horizontal base line and are positioned on two sides of the traverse horizontal base line; and the vertical distance between the first point location and the ground is obtained, a three-dimensional protection space is generated based on the vertical distance, the first boundary line and the second boundary line, and the three-dimensional protection space is used for protecting wires in the power transmission line when the vehicle with the mechanical arm works. By adopting the method, the safety can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of power transmission lines, and in particular to a power transmission line protection method, apparatus, device, storage medium, and program product. Background Art

[0002] As the "arteries" of national energy transmission, the construction, maintenance, and upgrade of transmission lines are crucial to safeguarding national economic development and people's livelihoods. Transmission line projects often require large-scale lifting operations, such as tower assembly, conductor accessory installation, and equipment replacement. These operations often involve complex and hazardous factors such as high altitudes, heavy loads, and proximity to live objects.

[0003] To ensure operational safety, the following traditional protective measures are currently in place: Manual monitoring: Experienced commanders direct crane operations through flag signals and intercoms. At the same time, operators must always look up and observe the wires above to determine the distance between the boom and the suspended objects and the wires. Warning signs: Warning signs or tapes are set up near power transmission lines to remind operators of dangerous areas. Limiting devices: Mechanical limiting devices are installed on operating machinery, such as crane booms, to limit the range of motion of the boom. Radar devices: Millimeter-wave radars, lidars, and other devices are used to perceive the spatial positioning of external operating machinery.

[0004] However, with the increasing size of lifting equipment and complexity of operating environments, traditional safety measures are no longer able to meet the increasingly stringent safety requirements and complex and ever-changing working environments. The risk of accidentally touching wires increases significantly, especially at night, in conditions of poor visibility, or when personnel are distracted. An accident can not only damage equipment and delay projects, but can also lead to serious consequences such as electric shock and casualties, posing a high safety risk. Summary of the Invention

[0005] Based on this, it is necessary to provide a power transmission line protection method, device, control equipment, computer-readable storage medium and computer program product that can improve safety in response to the above technical problems.

[0006] On the one hand, the present application provides a method for protecting a power transmission line, comprising: obtaining a first longitude and latitude coordinate and a second longitude and latitude coordinate collected by a Beidou module, wherein the first longitude and latitude coordinate is the longitude and latitude coordinate collected when the Beidou module is located directly below a first point on a conductor in a power transmission line, and the second longitude and latitude coordinate is the longitude and latitude coordinate collected when the Beidou module is located directly below a second point on the conductor, and the first point is the lowest point of the conductor; converting the first longitude and latitude coordinate into a coordinate in a Mercator projection coordinate system to obtain the plane two-dimensional coordinates of the first point, and converting the second longitude and latitude coordinate into a Mercator projection coordinate system. The coordinates of the second point in the projection coordinate system are obtained; the horizontal baseline of the conductor is determined according to the two-dimensional coordinates of the first point and the two-dimensional coordinates of the second point, and a first boundary line and a second boundary line that are parallel to the horizontal baseline of the conductor and located on both sides of the horizontal baseline of the conductor are generated; the vertical distance between the first point and the ground is obtained, a cylinder is generated based on the first boundary line and the second boundary line, and the cylinder is raised by the vertical distance to obtain a three-dimensional protection space, which is used to protect the conductor in the transmission line when a vehicle with a robotic arm is working.

[0007] On the other hand, the present application also provides a transmission line protection device, including: a coordinate acquisition module, used to acquire the first longitude and latitude coordinates and the second longitude and latitude coordinates collected by the Beidou module, the first longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the first point on the conductor in the transmission line, and the second longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the second point on the conductor, and the first point is the lowest point of the conductor; a coordinate conversion module, used to convert the first longitude and latitude coordinates into coordinates in a Mercator projection coordinate system to obtain the plane two-dimensional coordinates of the first point, and convert the second longitude and latitude coordinates into the Mercator projection coordinate system. a boundary line generating module, for determining the horizontal baseline of the conductor according to the plane two-dimensional coordinates of the first point and the plane two-dimensional coordinates of the second point, and generating a first boundary line and a second boundary line that are parallel to the horizontal baseline of the conductor and are located on both sides of the horizontal baseline of the conductor; a protection space generating module, for obtaining the vertical distance of the first point from the ground, generating a cylinder based on the first boundary line and the second boundary line, and raising the cylinder by the vertical distance to obtain a three-dimensional protection space, wherein the three-dimensional protection space is used to protect the conductor in the transmission line when the vehicle with a robotic arm is working.

[0008] On the other hand, the present application also provides a control device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned transmission line protection method when executing the computer program.

[0009] On the other hand, the present application also provides a computer-readable storage medium having a computer program stored thereon, which implements the steps in the above-mentioned power transmission line protection method when executed by a processor.

[0010] On the other hand, the present application also provides a computer program product, including a computer program, which implements the steps in the above-mentioned transmission line protection method when executed by a processor.

[0011] The above-mentioned power transmission line protection method, device, control equipment, computer-readable storage medium and computer program product obtain the first longitude and latitude coordinates and the second longitude and latitude coordinates collected by the Beidou module, convert the first longitude and latitude coordinates into coordinates in the Mercator projection coordinate system, obtain the plane two-dimensional coordinates of the first point, and convert the second longitude and latitude coordinates into coordinates in the Mercator projection coordinate system to obtain the plane two-dimensional coordinates of the second point, determine the horizontal baseline of the conductor based on the plane two-dimensional coordinates of the first point and the plane two-dimensional coordinates of the second point, and generate a first boundary line and a second boundary line parallel to the horizontal baseline of the conductor and located on both sides of the horizontal baseline of the conductor, and obtain the vertical distance of the first point from the ground. A cylinder is generated based on the first boundary line and the second boundary line, and the cylinder is raised a vertical distance to obtain a three-dimensional protection space. Since the first longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the first point on the conductor in the transmission line, and the second longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the second point on the conductor, the first point is the lowest point of the conductor, and the three-dimensional protection space is a cylinder surrounding the first point. Therefore, the three-dimensional protection space can be used to protect the conductors in the transmission line when the vehicle with the robotic arm is working, so as to prevent the robotic arm from causing damage to the conductors in the transmission line and improve the safety of the transmission line during the operation of the vehicle with the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 A diagram showing an application environment of a power transmission line protection method according to an embodiment;

[0014] Figure 2 1 is a flow chart of a power transmission line protection method according to an embodiment;

[0015] Figure 3 is a flow chart of a power transmission line protection method according to another embodiment;

[0016] Figure 4 is a structural block diagram of a power transmission line protection device in one embodiment;

[0017] Figure 5 is a diagram showing the internal structure of a control device in one embodiment;

[0018] Figure 6 FIG. 4 is a diagram showing the internal structure of a control device in another embodiment. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0020] The power transmission line protection method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the application environment includes a vehicle 102 with a robotic arm, a line support structure 104A and a line support structure 104B, a transmission line and a three-proof box 106. The vehicle 102 can be a large construction machine with a robotic arm, such as but not limited to a crane and a pump truck. Figure 1 Two line support structures are shown. The connection between these two line support structures is a power transmission line, which includes multiple conductors. Line support structures can be, but are not limited to, structures such as utility poles or towers used to support power transmission lines. A Beidou module is mounted on the top of the robotic arm (e.g., a boom) of vehicle 102. The Beidou module can be magnetically attached to the top of the robotic arm, or the Beidou module can be bolted to a bracket, which can be magnetically attached to the top of the robotic arm. Of course, a tripod can also be bolted and / or magnetically attached to the top of the robotic arm. An alarm, such as an audible and visual alarm, is deployed in the cockpit of vehicle 102. Control equipment is also deployed in the cockpit of vehicle 102. Communication between the Beidou module and the control equipment can be achieved via a Wi-Fi module. The Wi-Fi module can be placed in a three-proof box 106, which can be placed inside or on the ground outside the cockpit.

[0021] Specifically, the control device can generate a three-dimensional protection space for the conductors in the transmission line. The three-dimensional protection space is, for example, Figure 1The control device can determine the positional relationship between the robotic arm tip and the three-dimensional protective space (dashed cylinder 108 is virtual and does not actually exist). If the positional relationship indicates that the robotic arm tip is within the three-dimensional protective space, an alarm is issued to prevent the robotic arm tip from causing damage to the conductor. A transmission line can have multiple conductors, and a three-dimensional protective space can be generated for each conductor. If the robotic arm tip is within the three-dimensional protective space of any conductor, an alarm is issued, such as through an audible or visual alarm.

[0022] In an exemplary embodiment, Figure 2 As shown, a transmission line protection method is provided, which is described by taking the application of the method to a control device as an example, and includes the following steps:

[0023] Step 202, obtain the first longitude and latitude coordinates and the second longitude and latitude coordinates collected by the Beidou module, the first longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the first point on the conductor in the transmission line, and the second longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the second point on the conductor, and the first point is the lowest point of the conductor.

[0024] The Beidou module can collect coordinates based on Beidou RTK (Real-Time Kinematic) positioning technology. It can collect both longitude and latitude coordinates and three-dimensional coordinates. Three-dimensional coordinates include longitude and latitude as well as altitude, i.e., three-dimensional coordinates are (longitude, latitude, altitude). The horizontal distance between the first and second points is less than or equal to a preset distance threshold. The first and second points are two points on a conductor. The preset distance threshold can be set as needed, for example, 10 meters.

[0025] Specifically, the control device can display a coordinate collection interface, which provides a first control and a second control. When the operator holds the Beidou module and the control device and stands on the ground directly below the lowest point of the conductor sag (i.e., the first point), in response to the triggering operation of the first control on the coordinate collection interface, the first three-dimensional coordinates are collected, and the first longitude and latitude coordinates are the longitude and latitude coordinates contained in the first three-dimensional coordinates; then, when the operator holds the Beidou module and the control device and moves horizontally a preset distance, for example, 10 meters to the left or right of the conductor, in response to the triggering operation of the second control on the coordinate collection interface, the second three-dimensional coordinates are collected, and the second longitude and latitude coordinates are the longitude and latitude coordinates contained in the second three-dimensional coordinates. Among them, the first control is, for example, a [Start Marking] button, and the second control is, for example, a [End Marking] button.

[0026] Step 204 : convert the first longitude and latitude coordinates into coordinates in a Mercator projection coordinate system to obtain the two-dimensional coordinates of the first point, and convert the second longitude and latitude coordinates into coordinates in a Mercator projection coordinate system to obtain the two-dimensional coordinates of the second point.

[0027] Converting longitude and latitude coordinates to Mercator coordinates involves converting three-dimensional coordinates to two-dimensional coordinates. This can be accomplished using the Universal Transverse Mercator (UTM) projection. The longitude and latitude coordinates can be in GGA (Global Positioning System Fix Data) format.

[0028] Specifically, the control device can use the Mercator projection technology to convert the longitude and latitude coordinate system into the coordinates of the Mercator projection coordinate system through the conversion formula of the longitude and latitude coordinate system to the Mercator projection coordinate system, thereby realizing the compression conversion from three-dimensional space to two-dimensional space. Among them, the conversion formula from the longitude and latitude coordinate system to the Mercator projection coordinate system is as follows:

[0029]

[0030]

[0031] in, represents longitude, represents latitude, It represents the natural logarithm, the longitude and latitude are measured in degrees, and R represents the radius of the earth, which is usually taken as 6378137 meters. Represents the horizontal coordinate in the Mercator projection coordinate system, Represents the vertical coordinate in the Mercator projection coordinate system. The step-by-step formula used in the UTM conversion process is shown in the following table:

[0032]

[0033] in, Represents the longitude of the current point, Represents the central meridian longitude of the UTM zone; the first zone refers to the number of the UTM projection zone, represents the semi-major axis of the ellipsoid (equatorial radius), represents the first eccentricity of the ellipsoid, Represents the latitude of the current point (in radians), Represents latitude The square of the tangent of represents the secondary eccentricity coefficient, Represents the easting distance, is the scale factor, N represents the radius of curvature of the meridian, A represents the difference in longitude factors, and M represents the length of the meridian arc.

[0034] Step 206 , determining the horizontal baseline of the conductor according to the two-dimensional coordinates of the first point and the second point, and generating a first boundary line and a second boundary line parallel to the horizontal baseline and located on both sides of the horizontal baseline.

[0035] Specifically, the control device can automatically generate the horizontal baseline of the wire through the built-in spatial fitting algorithm. For example, the control device can use the two-dimensional coordinates of the first point and the two-dimensional coordinates of the second point as a straight line. The coordinates of the two points above are fitted to obtain a unique straight line passing through these two points. This straight line is the horizontal baseline of the wire.

[0036] In some embodiments, the control device can translate along the normal direction of the horizontal baseline of the conductor to generate a first boundary line and a second boundary line in the horizontal direction, wherein the translation distance can be set according to the safety distance corresponding to the voltage level of the conductor. The first boundary line and the second boundary line are respectively translated along the positive normal direction and the negative normal direction of the horizontal baseline of the conductor. The positive normal direction and the negative normal direction are two normal directions in opposite directions.

[0037] In some embodiments, the two-dimensional coordinates of the first point are ( ), ( ) represents point A in the plane, and the two-dimensional coordinates of the second point are ( ), ( ) represents point B in the plane, and the translation distance along the normal direction is , then point A and point B can be translated along the positive direction of the normal and the translation distance is , thus obtaining the translated point and , and then fitting to get the point and The only determined straight line is the first boundary line. Similarly, point A and point B can be translated along the negative direction of the normal line and the translation distance is , thus obtaining the translated point and , and then fitting to get the point and The only determined straight line is the second boundary line. For example, point and The coordinates are:

[0038]

[0039]

[0040] For example, point and The coordinates are:

[0041]

[0042]

[0043] Step 208, obtain the vertical distance between the first point and the ground, generate a cylinder based on the first boundary line and the second boundary line, and raise the cylinder by the vertical distance to obtain a three-dimensional protection space. The three-dimensional protection space is used to protect the wires in the transmission line when the vehicle with the robotic arm is working.

[0044] The first and second boundary lines can define a unique plane, and the plane defined by the first and second boundary lines passes through the central axis of the cylinder. The first and second boundary lines are also two straight lines intersecting the plane and the cylinder. "Raising the cylinder by a vertical distance" means increasing the vertical coordinate of each point on the cylinder by the vertical distance. The vertical direction is the direction perpendicular to the ground. The vertical distance can be measured using a rangefinder.

[0045] In the above-mentioned power transmission line protection method, the first longitude and latitude coordinates and the second longitude and latitude coordinates collected by the Beidou module are obtained, the first longitude and latitude coordinates are converted into coordinates under the Mercator projection coordinate system, and the plane two-dimensional coordinates of the first point are obtained, and the second longitude and latitude coordinates are converted into coordinates under the Mercator projection coordinate system to obtain the plane two-dimensional coordinates of the second point. According to the plane two-dimensional coordinates of the first point and the plane two-dimensional coordinates of the second point, the horizontal baseline of the conductor is determined, and a first boundary line and a second boundary line parallel to the horizontal baseline of the conductor and located on both sides of the horizontal baseline of the conductor are generated. The vertical distance of the first point from the ground is obtained, and a circle is generated based on the first boundary line and the second boundary line. The cylinder is raised a vertical distance to obtain a three-dimensional protection space. Since the first longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the first point on the conductor in the transmission line, and the second longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the second point on the conductor, the first point is the lowest point of the conductor, so the three-dimensional protection space is a cylinder surrounding the first point. The three-dimensional protection space can be used to protect the conductor in the transmission line when the vehicle with the robotic arm is working, so as to prevent the robotic arm from causing damage to the conductor in the transmission line, reduce the occurrence of accidents, and thus improve the safety of the transmission line during the operation of the vehicle with the robotic arm.

[0046] In some embodiments, a first boundary line and a second boundary line are generated that are parallel to the horizontal baseline of the conductor and located on both sides of the horizontal baseline of the conductor, including: obtaining the voltage level of the conductor and determining the safety distance corresponding to the voltage level; based on the safety distance, a first boundary line and a second boundary line are generated that are parallel to the horizontal baseline of the conductor and located on both sides of the horizontal baseline of the conductor.

[0047] The distance between the first boundary line and the horizontal baseline of the conductor is greater than or equal to the safety distance, and the distance between the second boundary line and the horizontal baseline of the conductor is greater than or equal to the safety distance. The safety distances corresponding to different voltage levels can be pre-stored.

[0048] Specifically, the control device can translate the horizontal baseline of the wire to both sides of the horizontal baseline of the wire by a target distance along the normal direction of the horizontal baseline of the wire to obtain the first boundary line and the second boundary line. The target distance is greater than or equal to the safety distance, for example, the target distance can be the safety distance.

[0049] In this embodiment, since the distance between the first boundary line and the horizontal baseline of the conductor is greater than or equal to the safety distance, and the distance between the second boundary line and the horizontal baseline of the conductor is greater than or equal to the safety distance, the radius of the three-dimensional protection space can be greater than or equal to the safety distance, so that the three-dimensional protection space can play a role in protecting the conductors in the transmission line.

[0050] In some embodiments, the method also includes: when the Beidou module is located at the top of the robotic arm in the vehicle, obtaining the three-dimensional coordinates of the top collected by the Beidou module; determining the current position relationship between the top of the robotic arm and the three-dimensional protection space based on the three-dimensional coordinates of the top; and issuing an alarm when the current position relationship is that the top of the robotic arm is located within the three-dimensional protection space.

[0051] During vehicle operation, a BeiDou module is installed at the top of the vehicle's robotic arm to provide real-time positioning of the arm's top. The current position relationship is whether the arm's top is within or outside the three-dimensional protective space.

[0052] In this embodiment, when the current position relationship is that the top of the robot arm is located within the three-dimensional protection space, it indicates that there is a risk that the top of the robot arm touches the wire, and an alarm is issued.

[0053] In some embodiments, the current positional relationship between the top of the robotic arm and the three-dimensional protective space is determined based on the three-dimensional coordinates of the top, including: when the height of the top of the robotic arm determined based on the three-dimensional coordinates of the top is greater than or equal to the height of the lowest point of the wire, the current positional relationship between the top of the robotic arm and the three-dimensional protective space is determined based on the three-dimensional coordinates of the top.

[0054] The height of the conductor's lowest point is the distance between the first point and the ground. If the height of the arm tip is greater than the height of the conductor's lowest point, it indicates that the arm tip is above the conductor. If the height of the arm tip is equal to the height of the conductor's lowest point, it indicates that the arm tip is to the side of the conductor (assuming the arm tip does not touch the conductor, i.e., no alarm is triggered).

[0055] In this embodiment, when the height of the top end of the robotic arm is determined to be greater than or equal to the height of the lowest point of the wire based on the three-dimensional coordinates of the top end, it means that the top end of the robotic arm may be located above or to the side of the wire. In this case, the current positional relationship between the top end of the robotic arm and the three-dimensional protection space is determined based on the three-dimensional coordinates of the top end, so that when the current positional relationship is that the top end of the robotic arm is located in the three-dimensional protection space, an alarm is issued, thereby achieving the purpose of protecting the wire.

[0056] In some embodiments, the distance between the first boundary line and the horizontal baseline of the conductor is equal to the safety distance corresponding to the voltage level of the conductor, and the distance between the second boundary line and the horizontal baseline of the conductor is equal to the safety distance. The method also includes: generating a horizontal protection plane composed of the first boundary line and the second boundary line, the first boundary line and the second boundary line being the boundary lines of the horizontal protection plane; determining the first current distance between the top of the robotic arm and the ground when the height of the top of the robotic arm is less than the height of the lowest point of the conductor according to the three-dimensional coordinates of the top; and issuing an alarm when the difference between the first current distance and the vertical distance is less than or equal to the distance difference threshold, and the projection point of the top of the robotic arm in the vertical direction is located within the horizontal protection plane.

[0057] The width of the horizontal protection plane can be the distance between the first boundary line and the second boundary line, and the length of the horizontal protection plane can be greater than or equal to the length of the wire. If the height of the top of the manipulator is less than the height of the lowest point of the wire, it means that the top of the manipulator is located below the wire. The vertical distance refers to the vertical distance from the first point to the ground. The distance threshold can be set as needed, for example, it can be a safe distance corresponding to the voltage level of the wire. The first current distance refers to the current distance from the top of the manipulator to the ground.

[0058] In this embodiment, when the difference between the first current distance and the vertical distance is less than or equal to the distance difference threshold, and the projection point of the top of the robotic arm in the vertical direction is located within the horizontal protection plane, it means that the distance between the top of the robotic arm and the wire in the vertical direction is less than or equal to the distance difference threshold, and the distance between the top of the robotic arm and the wire in the horizontal direction is less than the safety distance, which indicates that there is a risk of the top of the robotic arm touching the wire, and an alarm is issued.

[0059] In some embodiments, the method further includes: determining a second current distance between the top of the robotic arm and the three-dimensional protection space based on the three-dimensional coordinates of the top; and displaying the second current distance and the current position relationship.

[0060] The second current distance refers to the distance between the top of the current robotic arm and the three-dimensional protection space. The distance may be the shortest distance from the top of the current robotic arm to the surface of the (cylindrical) three-dimensional protection space.

[0061] In some embodiments, the control device may display the second current distance and the current position relationship in real time.

[0062] In this embodiment, by displaying the second current distance and the current position relationship, the operator can intuitively understand the safety situation in the current operating state.

[0063] In some embodiments, as Figure 3 As shown, a transmission line protection method is provided, which is described by taking the application of the method to a control device as an example, and includes the following steps:

[0064] Step 302, obtain the first longitude and latitude coordinates and the second longitude and latitude coordinates collected by the Beidou module, the first longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the first point on the conductor in the transmission line, and the second longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the second point on the conductor, and the first point is the lowest point of the conductor.

[0065] During operation, the Beidou module continuously and in real time acquires the precise three-dimensional coordinates (longitude, latitude, and altitude) of the boom tip and transmits this data to the main control unit via a WiFi module. The WiFi module is housed in a ruggedized enclosure. When preparing for operation, it must be powered on and all modules must be connected to ensure stable data signal transmission.

[0066] Step 304: convert the first longitude and latitude coordinates into coordinates in a Mercator projection coordinate system to obtain the two-dimensional coordinates of the first point, and convert the second longitude and latitude coordinates into coordinates in a Mercator projection coordinate system to obtain the two-dimensional coordinates of the second point.

[0067] Step 306 : determining the horizontal baseline of the conductor according to the two-dimensional coordinates of the first point and the two-dimensional coordinates of the second point.

[0068] Step 308: Obtain the voltage level of the conductor, determine the safety distance corresponding to the voltage level, and generate a first boundary line and a second boundary line parallel to the horizontal baseline of the conductor and located on both sides of the horizontal baseline of the conductor based on the safety distance.

[0069] Step 310: Obtain the vertical distance between the first point and the ground, generate a cylinder based on the first boundary line and the second boundary line, and raise the cylinder by the vertical distance to obtain a three-dimensional protection space.

[0070] Among them, the control device can receive information input by the operator (such as voltage level, line name, measured height, i.e. vertical distance, etc.), calculate and dynamically generate a three-dimensional virtual 360° cylindrical protection space for the wire, i.e. a three-dimensional protection space, according to the preset algorithm (based on the safety distance standard of the voltage level and the measured height), and judge whether the top of the boom (the location where the Beidou module is installed) enters the three-dimensional protection space. If so, it controls the start and stop of the sound and light alarm, and displays the safety distance or status information between the boom and the protection space in real time on the display screen.

[0071] Step 312: When the Beidou module is located at the top of the robotic arm in the vehicle, obtain the top three-dimensional coordinates collected by the Beidou module.

[0072] Step 314: Determine the current positional relationship between the top of the robotic arm and the three-dimensional protection space based on the three-dimensional coordinates of the top.

[0073] Step 316: When the current position relationship is that the top of the robot arm is located within the three-dimensional protection space, an alarm is issued.

[0074] Among them, an audible and visual alarm can be used for warning. The audible and visual alarm can be placed in the crane operator's cab. When the control equipment determines that the real-time coordinates of the boom tip enter the preset protective space, the audible and visual alarm is immediately triggered, sending an audio-visual alarm signal to remind the crane operator to immediately stop or adjust the boom movement.

[0075] Traditional methods lack the ability to dynamically protect transmission lines in three-dimensional space. They are unable to quantify the spatial position relationship between crane booms and conductors in real time, making it difficult to warn of centimeter-level intrusion risks. Ultimately, the risk of accidental contact with conductors during ultra-high-altitude operation cannot be effectively avoided. Traditional methods have the following problems: (1) High operational complexity: Manual monitoring relies on experience, and physical isolation needs to be deployed in advance, which is inefficient; (2) High protection costs: Some protective devices have complex structures, high installation and maintenance costs, and are difficult to promote on a large scale; (3) Accuracy defects: Visual monitoring is affected by environmental interference, and the horizontal positioning error is greater than 2 meters, resulting in large deviations in the calculation of protection distances; (4) Single protection dimension: Existing technologies only monitor vertical height and ignore the risk of horizontal swing of the boom, resulting in 41% of side contact accidents; (5) Poor adaptability: The safety distance differences between conductors of different voltage levels and the needs of different operating environments are not considered.

[0076] In this embodiment, the position of tall operating machinery such as crane booms operating near transmission line channels relative to the power transmission lines above is monitored in real time and accurately, and an audible and visual alarm is issued when the crane approaches a dangerous distance, which can effectively prevent accidents caused by the crane accidentally touching the wires.

[0077] This application uses the Beidou module for precise positioning, combined with control equipment to automatically generate a 360° cylindrical protection space for the conductors, and adapts to multiple scenarios such as boom rotation and swing. This overcomes the incomplete protection issues of traditional technologies, achieving all-round protection for the conductors and effectively avoiding the risk of the crane accidentally touching the conductors from all directions. Beidou positioning technology is not affected by environmental factors and can operate stably in various harsh weather and complex environments. Compared with manual observation and laser rangefinders, it improves the reliability and stability of the protection device. At the same time, the device is relatively simple to install and operate, eliminating the need for complex on-site layout and debugging. Ground marking takes only 3 minutes, and the main control module automatically generates protection parameters, reducing construction costs and time costs and improving work efficiency. Once the boom enters the three-dimensional protection space, it can respond with millisecond-level dynamic sound and light alarms to alert the driver, allowing timely measures such as braking and adjusting the boom posture. This reduces the risk of the boom touching the high-voltage transmission line due to crane misoperation or misjudgment, and effectively prevents serious accidents such as electric shock, equipment damage, line tripping, and even large-scale power outages. The following table compares the effectiveness of this application with traditional solutions:

[0078]

[0079] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0080] Based on the same inventive concept, embodiments of the present application also provide a transmission line protection device for implementing the aforementioned transmission line protection method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more transmission line protection device embodiments provided below can be found in the above-described limitations of the transmission line protection method and will not be further elaborated here.

[0081] In an exemplary embodiment, Figure 4 As shown, a transmission line protection device is provided, comprising: a coordinate acquisition module 402, a coordinate conversion module 404, a boundary line generation module 406 and a protection space generation module 408, wherein:

[0082] The coordinate acquisition module 402 is used to obtain the first longitude and latitude coordinates and the second longitude and latitude coordinates collected by the Beidou module. The first longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the first point on the conductor in the transmission line. The second longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below the second point on the conductor. The first point is the lowest point of the conductor.

[0083] The coordinate conversion module 404 is used to convert the first longitude and latitude coordinates into coordinates in the Mercator projection coordinate system to obtain the two-dimensional coordinates of the first point, and convert the second longitude and latitude coordinates into coordinates in the Mercator projection coordinate system to obtain the two-dimensional coordinates of the second point.

[0084] The boundary line generation module 406 is used to determine the horizontal baseline of the wire based on the two-dimensional coordinates of the first point and the two-dimensional coordinates of the second point, and generate a first boundary line and a second boundary line parallel to the horizontal baseline of the wire and located on both sides of the horizontal baseline of the wire.

[0085] The protection space generation module 408 is used to obtain the vertical distance between the first point and the ground, generate a cylinder based on the first boundary line and the second boundary line, and raise the cylinder by a vertical distance to obtain a three-dimensional protection space. The three-dimensional protection space is used to protect the wires in the transmission line when the vehicle with the robotic arm is working.

[0086] In some embodiments, the boundary line generation module 406 is also used to obtain the voltage level of the conductor and determine the safety distance corresponding to the voltage level; based on the safety distance, a first boundary line and a second boundary line are generated that are parallel to the horizontal baseline of the conductor and located on both sides of the horizontal baseline of the conductor; wherein the distance between the first boundary line and the horizontal baseline of the conductor is greater than or equal to the safety distance, and the distance between the second boundary line and the horizontal baseline of the conductor is greater than or equal to the safety distance.

[0087] In some embodiments, the device also includes an alarm module, which is used to obtain the three-dimensional coordinates of the top collected by the Beidou module when the Beidou module is located at the top of the robotic arm in the vehicle; determine the current position relationship between the top of the robotic arm and the three-dimensional protection space based on the three-dimensional coordinates of the top; and issue an alarm when the current position relationship is that the top of the robotic arm is located in the three-dimensional protection space.

[0088] In some embodiments, the alarm module is also used to determine the current position relationship between the top of the robotic arm and the three-dimensional protection space based on the three-dimensional coordinates of the top when the height of the top of the robotic arm is greater than or equal to the height of the lowest point of the wire.

[0089] In some embodiments, the distance between the first boundary line and the horizontal baseline of the conductor is equal to the safety distance corresponding to the voltage level of the conductor, and the distance between the second boundary line and the horizontal baseline of the conductor is equal to the safety distance. The device also includes a protection plane generation module, which is used to generate a horizontal protection plane composed of the first boundary line and the second boundary line. The first boundary line and the second boundary line are the boundary lines of the horizontal protection plane; the alarm module is also used to determine the first current distance between the top of the robotic arm and the ground when the height of the top of the robotic arm is less than the height of the lowest point of the conductor according to the three-dimensional coordinates of the top; and to issue an alarm when the difference between the first current distance and the vertical distance is less than or equal to the distance difference threshold, and the projection point of the top of the robotic arm in the vertical direction is located within the horizontal protection plane.

[0090] In some embodiments, the device also includes a display module for determining a second current distance between the top of the robotic arm and the three-dimensional protection space based on the three-dimensional coordinates of the top; and displaying the second current distance and the current position relationship.

[0091] Each module in the above-mentioned power transmission line protection device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the control device in hardware form, or can be stored in the memory of the control device in software form, so that the processor can call and execute the corresponding operations of each module.

[0092] In an exemplary embodiment, a control device is provided, the internal structure of which can be shown as follows: Figure 5 As shown. The control device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, memory and I / O interface are connected via a system bus, and the communication interface is connected to the system bus via the I / O interface. The processor of the control device is used to provide computing and control capabilities. The memory of the control device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the control device is used to store data involved in the power transmission line protection method. The I / O interface of the control device is used to exchange information between the processor and an external device. The communication interface of the control device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a power transmission line protection method is implemented.

[0093] In an exemplary embodiment, a control device is provided, the internal structure of which can be shown as follows: Figure 6 As shown. The control device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the control device provides computing and control capabilities. The memory of the control device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the control device is used to exchange information between the processor and external devices. The communication interface of the control device is used to communicate with external terminals via wired or wireless means, and the wireless means can be implemented via Wi-Fi, mobile cellular networks, near-field communication (NFC), or other technologies. When executed by the processor, the computer program implements a power transmission line protection method. The display unit of the control device is used to produce a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the control device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the control device housing, or an external keyboard, touchpad or mouse.

[0094] Those skilled in the art will understand that Figure 5 and Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present application, and does not constitute a limitation on the control device to which the scheme of the present application is applied. The specific control device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0095] In an exemplary embodiment, a control device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above-mentioned transmission line protection method when executing the computer program.

[0096] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned transmission line protection method are implemented.

[0097] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps in the above-mentioned transmission line protection method when executed by a processor.

[0098] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0099] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0100] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A power transmission line protection method, characterized in that: The method comprises: Obtaining first and second longitude and latitude coordinates collected by a Beidou module, where the first longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below a first point on a conductor in a transmission line, and the second longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below a second point on the conductor, where the first point is the lowest point of the conductor; Converting the first longitude and latitude coordinates into coordinates in a Mercator projection coordinate system to obtain the two-dimensional coordinates of the first point, and converting the second longitude and latitude coordinates into coordinates in a Mercator projection coordinate system to obtain the two-dimensional coordinates of the second point; Determine a horizontal baseline of the conductor according to the two-dimensional coordinates of the first point and the two-dimensional coordinates of the second point, and generate a first boundary line and a second boundary line that are parallel to the horizontal baseline and located on both sides of the horizontal baseline; Obtain the vertical distance between the first point and the ground, generate a cylinder based on the first boundary line and the second boundary line, raise the cylinder by the vertical distance, and obtain a three-dimensional protection space. The three-dimensional protection space is used to protect the wires in the transmission line when the vehicle with the robotic arm is working.

2. The method according to claim 1, characterized in that Generating a first boundary line and a second boundary line that are parallel to the horizontal baseline of the conductive line and located on both sides of the horizontal baseline of the conductive line includes: Obtaining the voltage level of the conductor and determining a safety distance corresponding to the voltage level; Based on the safety distance, generating a first boundary line and a second boundary line that are parallel to the horizontal baseline of the conductor and located on both sides of the horizontal baseline of the conductor; The distance between the first boundary line and the horizontal baseline of the conductor is greater than or equal to the safety distance, and the distance between the second boundary line and the horizontal baseline of the conductor is greater than or equal to the safety distance.

3. The method according to any one of claims 1 to 2, characterized in that The method further comprises: When the Beidou module is located at the top of a robotic arm in a vehicle, obtaining the top three-dimensional coordinates collected by the Beidou module; Determine the current positional relationship between the top of the robotic arm and the three-dimensional protection space according to the three-dimensional coordinates of the top; When the current position relationship is that the top end of the robotic arm is located within the three-dimensional protection space, an alarm is issued.

4. The method according to claim 3, characterized in that The determining of the current positional relationship between the top end of the robotic arm and the three-dimensional protection space according to the three-dimensional coordinates of the top end includes: When the height of the top of the robotic arm is determined to be greater than or equal to the height of the lowest point of the wire according to the top three-dimensional coordinates, the current positional relationship between the top of the robotic arm and the three-dimensional protection space is determined according to the top three-dimensional coordinates.

5. The method according to claim 4, characterized in that The distance between the first boundary line and the horizontal baseline of the conductor is equal to a safety distance corresponding to the voltage level of the conductor, and the distance between the second boundary line and the horizontal baseline of the conductor is equal to the safety distance. The method further includes: generating a horizontal protection plane formed by the first boundary line and the second boundary line, wherein the first boundary line and the second boundary line are boundary lines of the horizontal protection plane; determining a first current distance between the top of the robotic arm and the ground when it is determined based on the three-dimensional coordinates of the top that the height of the top of the robotic arm is less than the height of the lowest point of the wire; When the difference between the first current distance and the vertical distance is less than or equal to the distance difference threshold, and the projection point of the top of the robotic arm in the vertical direction is located within the horizontal protection plane, an alarm is issued.

6. The method according to claim 3, characterized in that The method further comprises: determining a second current distance between the top end of the robotic arm and the three-dimensional protection space according to the three-dimensional coordinates of the top end; The second current distance and the current position relationship are displayed.

7. A power transmission line protection device, characterized in that: The device comprises: a coordinate acquisition module, configured to acquire first and second longitude and latitude coordinates collected by a Beidou module, wherein the first longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below a first point on a conductor in a power transmission line, and the second longitude and latitude coordinates are the longitude and latitude coordinates collected when the Beidou module is located directly below a second point on the conductor, wherein the first point is the lowest point of the conductor; a coordinate conversion module, configured to convert the first longitude and latitude coordinates into coordinates in a Mercator projection coordinate system to obtain the two-dimensional coordinates of the first point, and convert the second longitude and latitude coordinates into coordinates in a Mercator projection coordinate system to obtain the two-dimensional coordinates of the second point; a boundary line generating module, configured to determine a horizontal baseline of the conductor according to the two-dimensional coordinates of the first point and the two-dimensional coordinates of the second point, and to generate a first boundary line and a second boundary line that are parallel to the horizontal baseline and located on both sides of the horizontal baseline; A protective space generation module is used to obtain the vertical distance between the first point and the ground, generate a cylinder based on the first boundary line and the second boundary line, and raise the cylinder by the vertical distance to obtain a three-dimensional protective space. The three-dimensional protective space is used to protect the wires in the transmission line when the vehicle with a robotic arm is working.

8. A control device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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