A method, system, and storage medium for batch verification of soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model.

Abstract

This invention provides a method, system, and storage medium for automated and high-precision batch soft and hard collision verification of transmission line insulator string attachment points based on GIM models. It relates to the field of tension insulator string collision verification technology and includes: identifying all tension insulator string tower attachment points to be tested and their corresponding hardware components from the model; constructing a refined model library; completing the initial import and placement of the refined model; achieving precise alignment of the hardware components with the refined tower attachment point model in spatial position and orientation; driving the refined model from a static installation state to a dynamic spatial state under specific operating conditions; and performing hard collision checks on each inspection unit in the dynamic spatial state. This invention liberates designers from tedious and repetitive work, resulting in an order-of-magnitude improvement in verification efficiency.

Description

Technical Field

[0001] This invention relates to the field of digital design and intelligent verification technology for power systems, specifically a method, system, and storage medium for batch verification of soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on GIM models. Background Technology

[0002] In current transmission line design, the General Information Model of the Power Grid (GIM) standard is widely used for 3D digital design. The GIM model can effectively represent the spatial relationships of major components such as the line corridor, towers, conductors, and ground wires at a macroscopic level. However, when dealing with finer structures such as the connection points between insulator strings and towers, the insulator string hardware assemblies are typically modeled using a detailed level (LOD400), while the tower model's tower connection point modeling depth (LOD300) is usually insufficient, lacking detailed features such as mounting plates and holes. This fails to accurately reflect the actual assembly relationship between the hardware and the connection points, leading to the following problems:

[0003] 1. Inability to perform accurate collision checks

[0004] Simplified tower mounting point models cannot accurately reflect details such as mounting plates, angle steel, bolts, and holes. Designers may find it difficult to identify potential installation interference problems, i.e., hard collisions, during the design phase. For example, the bolt members of the hardware assembly may be larger than the reserved bolt holes, or the hardware may deflect under specific wind conditions and physically interfere with other components on the tower.

[0005] 2. The soft collision problem was ignored.

[0006] Besides physical interference, there is also the problem of soft collision caused by improper fit. For example, if the diameter of the fitting bolt is too small relative to the bolt hole, or the width of the connection is insufficient, although it does not constitute an installation obstacle, it will cause excessive wear due to vibration, fretting, etc. during long-term operation, affecting the reliability of the connection and the service life of the structure.

[0007] 3. Relies on manual experience, resulting in low efficiency.

[0008] Currently, the inspection of such intricate structures relies heavily on the experience of designers. Problems are discovered by manually reviewing two-dimensional machining drawings or conducting manual three-dimensional comparisons. This method is insufficient to cover hundreds or even thousands of hanging points along the entire line, making it easy to miss inspections and lacking traceability.

[0009] Although the CAD (SolidWorks) / Tower Laying-out Software (TMA) supports local collision detection, it is not integrated with the power industry's GIM system and does not support batch, dynamic, and collaborative anchor point-level verification. Therefore, there is an urgent need for an automated software and hardware collision joint verification solution for the entire power line scenario. Summary of the Invention

[0010] The technical problem to be solved by the present invention is to provide a method, system and storage medium for batch verification of soft and hard collisions of transmission line tension insulator string hanging points based on GIM model, which can automatically and accurately perform batch soft and hard collision checks on the hanging points of transmission line insulator strings in GIM model.

[0011] The technical solution adopted by this invention to solve its technical problem is: a batch verification method for soft and hard collisions of tension insulator string hanging points in transmission lines based on GIM model, including the following steps:

[0012] Based on the three-dimensional GIM model of the transmission line, according to the object type, attributes and connection relationship, all the tension insulator string tower hanging points and their corresponding hardware components to be inspected are identified from the model. Each tower hanging point and its corresponding hardware component are defined as an independent inspection unit, and each inspection unit is assigned a globally unique identifier.

[0013] For each inspection unit, the tower layout software is called to generate a refined tower hanging point model that meets the preset accuracy level based on the design data of its tower hanging point. This refined tower hanging point model is then associated with and stored with the unique identifier of its inspection unit to build a refined model library.

[0014] Based on the unique identifier of each inspection unit, the corresponding refined tower hanging point model is called from the constructed refined model library, and the original tower hanging point is automatically replaced in the three-dimensional GIM model of the transmission line, thus completing the initial import and placement of the refined model.

[0015] For each inspection unit that has completed the initial placement of the refined tower hanging point model, a preset registration algorithm is executed to achieve precise alignment of its hardware components with the refined tower hanging point model in terms of spatial position and attitude.

[0016] For the inspection unit that has been precisely aligned, attitude adjustment based on mechanical calculations is applied. The attitude adjustment includes limb length balance adjustment for balancing tension and attitude deflection calculation for simulating strong wind load, thereby driving the refined model to evolve from a static installation state to a dynamic spatial state under specific operating conditions.

[0017] In the dynamic spatial state, hard collision checks are performed on each inspection unit to identify physical spatial interference between its components, and soft collision checks are performed based on preset engineering fit tolerance standards to determine whether the dimensional fit of its connecting components is improper.

[0018] The step of executing a preset registration algorithm for each inspection unit that has completed the initial placement of the refined tower hanging point model to achieve precise alignment of its hardware components with the refined tower hanging point model in spatial position and orientation includes:

[0019] Calculate the center point P of the connecting bolt hole on the refined tower hanging point model of the inspection unit. tower and the central axis vector V tower ;

[0020] Calculate the center point P of the corresponding connecting bolt hole on the first hardware of the inspection unit hardware assembly. fitting and the central axis vector V fitting ;

[0021] Based on V fitting With V tower Calculate V fitting Rotate to V tower Align the first rotation parameter, and rotate the inspection unit hardware assembly according to the first rotation parameter so that the axis of the connecting bolt hole of the hardware assembly is aligned with the axis of the connecting bolt hole on its refined tower hanging point model;

[0022] Calculate P after axis alignment fitting To P tower The translation vector, and the hardware assembly of the inspection unit is translated according to the translation vector;

[0023] Calculate the central axis vector V of the second to third fittings in the inspection unit fitting assembly. connect And the central axis vector V of the wires connected to the inspection unit hardware assembly. line ;

[0024] Based on V connect With V line Calculate from V connect Rotate to V line Align the second rotation parameter, and rotate the second fitting of the inspection unit fitting assembly according to the second rotation parameter, so that the connection orientation of the second fitting is consistent with the orientation of the wire.

[0025] Furthermore, the limb length balance adjustment formula is as follows:

[0026] For double and triple tension strings: ;

[0027] In the formula, The limb length adjustment amount that needs to be calculated; , : These represent the actual tensions of the conductors on both sides; , The angle between the left and right insulator strings and the vertical direction; : The horizontal distance from the center O of the hanging point to the suspension point of each insulator string; Gravity of single-limb tension insulator strings and their hardware components.

[0028] Furthermore, the formula for calculating the attitude deflection is:

[0029] ;

[0030] ;

[0031] In the formula, : Attitude deflection angle; Wind pressure on tension insulator strings; Calculate the side clearance; Wind speed; : Horizontal tension of the phase conductor under calculation conditions; : Unit wind load under phase conductor calculation conditions.

[0032] Furthermore, the step of performing hard collision checks on each detection unit to identify physical spatial interference between its components includes the following steps:

[0033] Generate a directed bounding box for each component to be tested in each detection unit;

[0034] Based on the separation axis theorem, a rapid intersection test is performed on the directed bounding boxes of all pairs of components to be tested to screen out possible intersecting component pairs.

[0035] For the selected potentially intersecting component pairs, perform a precise intersection test based on a triangular mesh to confirm whether there is any physical spatial interference.

[0036] Furthermore, principal component analysis algorithm is used to generate directed bounding boxes for each component to be detected in each detection unit.

[0037] A batch verification system for soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model is used to implement the aforementioned batch verification method for soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model, including:

[0038] The inspection unit management module is configured based on the three-dimensional GIM model of the transmission line. According to the object type, attributes and connection relationship, it identifies all the tension insulator string tower hanging points and their corresponding hardware components to be inspected from the model. Each tower hanging point and its corresponding hardware component are defined as an independent inspection unit, and each inspection unit is assigned a globally unique identifier.

[0039] The refined modeling module is configured to call the tower layout software for each inspection unit, generate a refined tower hanging point model that meets the preset accuracy level based on the design data of its tower hanging points, and associate and store this refined tower hanging point model with the unique identifier of its inspection unit to build a refined model library.

[0040] The scene integration module is configured based on the unique identifier of each inspection unit. It calls the corresponding refined tower hanging point model from the constructed refined model library and automatically replaces the original tower hanging point in the three-dimensional GIM model of the transmission line, thus completing the initial import and placement of the refined model.

[0041] The registration module is configured in the inspection unit that has completed the initial placement of the refined tower hanging point model. It executes a preset registration algorithm to achieve precise alignment of its hardware components with the refined tower hanging point model in terms of spatial position and attitude.

[0042] The working condition simulation module is configured to apply attitude adjustments based on mechanical calculations to the precisely aligned inspection units. These attitude adjustments include limb length balancing adjustments to balance tension and attitude deflection calculations to simulate strong wind loads, thereby driving the refined model from a static installation state to a dynamic spatial state under specific operating conditions; and...

[0043] The collision verification module is configured to perform hard collision checks on each inspection unit in the dynamic space state to identify physical space interference between its components, and to perform soft collision checks based on a preset engineering fit tolerance standard to determine whether the dimensional fit of its connecting components is improper.

[0044] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described batch verification method for soft and hard collisions of transmission line tension insulator string hanging points based on the GIM model.

[0045] The beneficial effects of this invention are:

[0046] This invention, by creating uniquely identified inspection units, constructing a reusable and refined model library, and implementing full-process batch processing logic, can perform automated and procedural unified verification of a massive number of attachment points within an entire line or a specified section. This frees designers from tedious and repetitive labor, improves verification efficiency by orders of magnitude, and completely eliminates missed inspections caused by human negligence.

[0047] This invention generates a high-precision, detailed tower hanging point model by calling professional layout software, and uses an automated registration algorithm to achieve precise virtual assembly of hardware and tower hanging points in digital space. This provides a real geometric basis for subsequent collision detection, making it possible to discover and eliminate potential hard collisions during the design phase, avoiding the risk of on-site installation failure from the source, and ensuring the smooth progress of construction.

[0048] This invention integrates mechanical calculations to automatically simulate the attitude deflection of insulator strings under extreme conditions such as strong winds, and performs limb length balance adjustment on the tension strings of angle towers. This expands the verification scenario from the moment of installation to the moment of operation. Collision checks performed in this dynamic spatial state can detect dynamic interference that may occur after conductor wind deflection, enabling the design to avoid operational risks in advance and enhancing the line's ability to withstand severe weather conditions. Attached Figure Description

[0049] Figure 1 This is a structural diagram of the hardware components;

[0050] Figure 2 This is a flowchart of the present invention;

[0051] The diagram shows: pole mounting point 1, first fitting 21, second fitting 22, third fitting 23, and bolt 24. Detailed Implementation

[0052] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0053] like Figure 1 As shown, the existing hardware assembly for mounting tension insulator strings includes a first hardware 21, a second hardware 22, and a third hardware 23 connected end-to-end. The first hardware 21 is hinged to the tower mounting point 1 via bolts 24. The second hardware 22 and the third hardware 23 are U-shaped and interlocked. Because the tower mounting point 1 in the GIM model uses a simplified schematic representation, automatic and accurate collision checks are not possible. To achieve automated and high-precision soft and hard batch collision checks on the insulator string mounting points in the 3D GIM model of the transmission line, such as... Figure 1 , Figure 2 As shown, the present invention provides a batch verification method for soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model, comprising the following steps:

[0054] S1. Based on the three-dimensional GIM model of the transmission line, according to the object type, attributes and connection relationship, identify all the tension insulator string tower hanging points and their corresponding hardware components to be inspected from the model. Define each tower hanging point and its corresponding hardware component as an independent inspection unit, and assign a globally unique identifier to each inspection unit.

[0055] S2. For each inspection unit, call the tower layout software, and generate a refined tower hanging point model that meets the preset accuracy level based on the design data of its tower hanging point (the design data is extracted from the GIM model). Then, associate and store this refined tower hanging point model with the unique identifier of its inspection unit to build a refined model library.

[0056] S3. Based on the unique identifier of each inspection unit, call the corresponding refined tower hanging point model from the constructed refined model library, and automatically replace the original tower hanging point (simplified model) in the three-dimensional GIM model of the transmission line to complete the initial import and placement of the refined model.

[0057] S4. For each inspection unit that has completed the initial placement of the refined tower hanging point model, execute the preset registration algorithm to achieve precise alignment of its hardware components with the refined tower hanging point model in terms of spatial position and attitude.

[0058] S5. Apply attitude adjustment based on mechanical calculation to the inspection unit that has been precisely aligned. The attitude adjustment includes limb length balance adjustment for balancing tension and attitude deflection calculation for simulating strong wind load, thereby driving the refined model to evolve from a static installation state to a dynamic spatial state under specific operating conditions.

[0059] S6. In the dynamic space state, perform hard collision checks on each inspection unit to identify physical space interference between its components, and perform soft collision checks based on preset engineering fit tolerance standards to determine whether the dimensional fit of its connecting components is improper.

[0060] Based on the 3D GIM model of the transmission line, the specific method for identifying all tension insulator string tower hanging points and their corresponding hardware components to be detected from the model according to object type, attributes, and connection relationships is as follows:

[0061] Traverse the global scene of the 3D GIM model of the transmission line, and automatically filter out all tower objects and tension insulator string hardware combination objects based on the predefined engineering object types (such as "iron tower" and "tension insulator string") and their attributes;

[0062] For each selected tension insulator string hardware assembly, the system analyzes its spatial connection relationship or logical parent-child relationship with the tower object, determines the specific tower to which it is connected and the specific attachment point position on that tower, thus forming a unique pairing of "tower attachment point - hardware assembly", and completing the identification of all tension insulator string tower attachment points and their corresponding hardware components to be tested.

[0063] In this embodiment of the invention, the preset accuracy is LOD4. That is, the accuracy of the refined tower hanging point model is LOD4.

[0064] This invention, through the creation of uniquely identified inspection units, the construction of a reusable, refined model library, and a full-process batch processing logic, enables automated and programmed unified verification of a massive number of anchor points across an entire line or designated section. This liberates designers from tedious and repetitive labor, significantly improving verification efficiency and completely eliminating omissions due to human error. Existing GIM models lack detailed information about tower anchor points, hindering precise interference analysis. This invention generates high-precision, refined tower anchor point models using professional layout software and employs automated registration algorithms to achieve precise virtual assembly of hardware and tower anchor points in digital space. This provides a realistic geometric basis for subsequent collision detection, making it possible to identify and eliminate potential hard collisions during the design phase, thus avoiding the risk of on-site installation failures and ensuring smooth construction. Furthermore, traditional design verification typically only addresses static installation conditions. This invention, through integrated mechanical calculations, automatically simulates insulator string deflection under extreme conditions such as strong winds and adjusts the limb length balance of tension strings on angle towers, extending the verification scenario from the moment of installation to the operational phase. Collision checks conducted in this dynamic spatial state can detect potential dynamic interference after conductor wind deflection, enabling the design to mitigate operational risks in advance and enhancing the line's ability to withstand severe weather conditions.

[0065] Specifically, in this invention, the step of executing a preset registration algorithm on each inspection unit that has completed the initial placement of the refined tower hanging point model to achieve precise alignment of its hardware components with the refined tower hanging point model in spatial position and orientation includes:

[0066] a. Based on the refined tower hanging point model of the inspection unit, calculate the center point P of the connecting bolt hole on the refined tower hanging point model of the inspection unit. tower and the central axis vector V tower ;

[0067] b. Based on the hardware assembly of the inspection unit, calculate the center point P of the corresponding connecting bolt hole on the first hardware of the inspection unit hardware assembly. fitting and the central axis vector V fitting ;

[0068] c. Based on V fitting With V tower Calculate V fitting Rotate to V tower Align the first rotation parameter, and rotate the inspection unit hardware assembly according to the first rotation parameter so that the axis of the connecting bolt hole of the hardware assembly is aligned with the axis of the connecting bolt hole on its refined tower hanging point model;

[0069] d. Calculate P after axis alignment fitting To P towerThe translation vector is used to translate the hardware components of the inspection unit, thereby achieving precise alignment in space.

[0070] e. Calculate the central axis vector V of the second to third fittings in the inspection unit fitting assembly. connect And the central axis vector V of the wires connected to the inspection unit hardware assembly. line ;

[0071] f. Based on V connect With V line Calculate from V connect Rotate to V line The second rotation parameter is used for alignment, and the second fitting of the inspection unit fitting assembly is rotated according to the second rotation parameter so that the connection orientation of the second fitting is consistent with the orientation of the wire, thereby achieving precise alignment in posture.

[0072] In real-world operating conditions, hardware components undergo spatial attitude changes due to external loads, resulting in attitude deflection. After this deflection, to balance the unbalanced tension between different legs of the tension insulator string on the angle tower, the length of each leg needs to be adjusted.

[0073] Tension insulator strings are generally made of three or two strands. In a three-strand string, the middle string usually serves as the neutral plane reference and its length is not adjusted. Only the two outer insulator strings need to be shortened and lengthened, similar to a double-strand string, to counteract the torsional moment generated by unbalanced tension. Because the distance L from the center of the two outer strings is consistent with the defined geometry of a double-strand string, and the restoring moment is also provided by the weight G of these two strings, the calculation formula is mathematically the same as that for a double-strand string.

[0074] Specifically, in this invention, for double and triple tension strings: ;

[0075] In the formula, : The limb length adjustment amount to be calculated, in meters; , : These are the actual tensions of the conductors on both sides, in N; , : The angle between each of the left and right insulator strings and the vertical direction, °; : The horizontal distance from the center O of the hanging point to the suspension point of each insulator string, in meters; : Gravity of a single-limb tension insulator string and its hardware components, N.

[0076] In engineering practice, β1 and β2 are usually determined in the following ways:

[0077] For a conventional route (turning angle <10°, no strong wind), we can take β1=β2=0°, that is, cosβ1=cosβ2=1;

[0078] For areas with large turning angles (>15°) or strong winds, static equilibrium calculations should be performed:

[0079] β1≈arctan(H1 / T1), β2≈arctan(H2 / T2)

[0080] Where H1 and H2 are the horizontal lateral forces (N) acting on the left and right limbs.

[0081] In this invention, the formula for calculating the attitude deflection is:

[0082] ;

[0083] ;

[0084] In the formula, : Attitude deflection angle; Wind pressure on tension insulator strings; Calculate the side clearance; Wind speed, m / s; : Horizontal tension of the phase conductor under calculation conditions, N; : Unit wind load under phase conductor calculation conditions, N / m.

[0085] In this embodiment of the invention, a hard collision check is performed on each detection unit to identify physical spatial interference between its components. The specific steps are as follows:

[0086] S611. Generate a directed bounding box for each component to be detected in each detection unit; the directed bounding box can be generated using principal component analysis (PCA) algorithm, rotational caliper method, etc.

[0087] S612. Based on the separation axis theorem, perform a rapid intersection test on the directed bounding boxes of all pairs of components to be tested, filter out non-intersecting component pairs, and the remaining ones are possible intersecting component pairs.

[0088] For the selected potentially intersecting component pairs, perform a precise intersection test based on a triangular mesh to confirm whether there is any physical spatial interference.

[0089] The aforementioned hard collision inspection method, through a layered inspection strategy, greatly improves the efficiency of batch collision inspection of massive components while ensuring inspection accuracy.

[0090] For some simple shaft-hole interference collision checks, the diameters of the shaft and hole can be extracted directly from the refined model and then compared.

[0091] The soft collision inspection of this invention includes, but is not limited to, checking whether the inner diameter of the hole and the bolt diameter are within a preset reasonable tolerance range, whether the diameter fit clearance is too large, and whether the contact width meets the requirements. Specifically, the method involves extracting the corresponding component parameters from the corresponding refined model, then calculating the fit clearance using a preset calculation formula, and then comparing the calculated fit clearance with a preset fit clearance tolerance value to make a judgment. For example, to detect whether the diameter fit clearance is too large, the diameter D of the hole and the diameter d of the rod mating with the hole are extracted. The fit clearance is calculated using the preset diameter fit clearance formula: D - d. The calculated fit clearance is then compared with the set fit clearance tolerance value. If it is greater than the set tolerance value, the fit clearance is too large; if it is less, the fit clearance is too small.

[0092] This invention also provides a batch verification system for soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model, used to implement the above-mentioned batch verification method for soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model, including:

[0093] The inspection unit management module is configured based on the three-dimensional GIM model of the transmission line. According to the object type, attributes and connection relationship, it identifies all the tension insulator string tower hanging points and their corresponding hardware components to be inspected from the model. Each tower hanging point and its corresponding hardware component are defined as an independent inspection unit, and each inspection unit is assigned a globally unique identifier.

[0094] The refined modeling module is configured to call the tower layout software for each inspection unit, generate a refined tower hanging point model that meets the preset accuracy level based on the design data of its tower hanging points, and associate and store this refined tower hanging point model with the unique identifier of its inspection unit to build a refined model library.

[0095] The scene integration module is configured based on the unique identifier of each inspection unit. It calls the corresponding refined tower hanging point model from the constructed refined model library and automatically replaces the original tower hanging point in the three-dimensional GIM model of the transmission line, thus completing the initial import and placement of the refined model.

[0096] The registration module is configured in the inspection unit that has completed the initial placement of the refined tower hanging point model. It executes a preset registration algorithm to achieve precise alignment of its hardware components with the refined tower hanging point model in terms of spatial position and attitude.

[0097] The working condition simulation module is configured to apply attitude adjustments based on mechanical calculations to the precisely aligned inspection units. These attitude adjustments include limb length balancing adjustments to balance tension and attitude deflection calculations to simulate strong wind loads, thereby driving the refined model from a static installation state to a dynamic spatial state under specific operating conditions; and...

[0098] The collision verification module is configured to perform hard collision checks on each inspection unit in the dynamic space state to identify physical space interference between its components, and to perform soft collision checks based on a preset engineering fit tolerance standard to determine whether the dimensional fit of its connecting components is improper.

[0099] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the above-described batch verification method for soft and hard collisions of transmission line tension insulator string hanging points based on the GIM model.

Claims

1. A batch verification method for soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on GIM model, characterized in that, Including the following steps: Based on the three-dimensional GIM model of the transmission line, according to the object type, attributes and connection relationship, all the tension insulator string tower hanging points and their corresponding hardware components to be inspected are identified from the model. Each tower hanging point and its corresponding hardware component are defined as an independent inspection unit, and each inspection unit is assigned a globally unique identifier. For each inspection unit, the tower layout software is called to generate a refined tower hanging point model that meets the preset accuracy level based on the design data of its tower hanging point. This refined tower hanging point model is then associated with and stored with the unique identifier of its inspection unit to build a refined model library. Based on the unique identifier of each inspection unit, the corresponding refined tower hanging point model is called from the constructed refined model library, and the original tower hanging point is automatically replaced in the three-dimensional GIM model of the transmission line, thus completing the initial import and placement of the refined model. For each inspection unit that has completed the initial placement of the refined tower hanging point model, a preset registration algorithm is executed to achieve precise alignment of its hardware components with the refined tower hanging point model in terms of spatial position and attitude. For the inspection unit that has been precisely aligned, attitude adjustment based on mechanical calculations is applied. The attitude adjustment includes limb length balance adjustment for balancing tension and attitude deflection calculation for simulating strong wind load, thereby driving the refined model to evolve from a static installation state to a dynamic spatial state under specific operating conditions. In the dynamic spatial state, hard collision checks are performed on each inspection unit to identify physical spatial interference between its components, and soft collision checks are performed based on preset engineering fit tolerance standards to determine whether the dimensional fit of its connecting components is improper.

2. The method for batch verification of soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model as described in claim 1, characterized in that, The step of executing a preset registration algorithm for each inspection unit that has completed the initial placement of the refined tower hanging point model to achieve precise alignment of its hardware components with the refined tower hanging point model in spatial position and orientation includes: Calculate the center point P of the connecting bolt hole on the refined tower hanging point model of the inspection unit. tower and the central axis vector V tower ; Calculate the center point P of the corresponding connecting bolt hole on the first hardware of the inspection unit hardware assembly. fitting and the central axis vector V fitting ; Based on V fitting With V tower Calculate V fitting Rotate to V tower Align the first rotation parameter, and rotate the inspection unit hardware assembly according to the first rotation parameter so that the axis of the connecting bolt hole of the hardware assembly is aligned with the axis of the connecting bolt hole on its refined tower hanging point model; Calculate P after axis alignment fitting To P tower The translation vector, and the hardware assembly of the inspection unit is translated according to the translation vector; Calculate the central axis vector V of the second to third fittings in the inspection unit fitting assembly. connect And the central axis vector V of the wires connected to the inspection unit hardware assembly. line ; Based on V connect With V line Calculate from V connect Rotate to V line Align the second rotation parameter, and rotate the second fitting of the inspection unit fitting assembly according to the second rotation parameter, so that the connection orientation of the second fitting is consistent with the orientation of the wire.

3. The method for batch verification of soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model as described in claim 1, characterized in that, The formula for limb length balance adjustment is: For double and triple tension strings: ; In the formula, The limb length adjustment amount that needs to be calculated; , : These represent the actual tensions of the conductors on both sides; , The angle between the left and right insulator strings and the vertical direction; : The horizontal distance from the center O of the hanging point to the suspension point of each insulator string; Gravity of single-limb tension insulator strings and their hardware components.

4. The method for batch verification of soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model as described in claim 1, characterized in that, The formula for calculating the attitude deflection is: ； ； In the formula, : Attitude deflection angle; Wind pressure on tension insulator strings; Calculate the side clearance; : Wind-receiving area of ​​the insulator string; Wind speed; : Horizontal tension of the phase conductor under calculation conditions; : Unit wind load under phase conductor calculation conditions.

5. The method for batch verification of soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model as described in claim 1, characterized in that, The process of performing hard collision checks on each inspection unit to identify physical spatial interference between its components includes the following steps: Generate a directed bounding box for each component to be inspected in each inspection unit; Based on the separation axis theorem, a rapid intersection test is performed on the directed bounding boxes of all pairs of components to be tested to screen out possible intersecting component pairs. For the selected potentially intersecting component pairs, perform a precise intersection test based on a triangular mesh to confirm whether there is any physical spatial interference.

6. The method for batch verification of soft and hard collisions at the hanging points of tension insulator strings in transmission lines based on the GIM model as described in claim 5, characterized in that, Principal component analysis algorithm is used to generate directed bounding boxes for each component to be detected in each detection unit.

7. A batch verification system for soft and hard collisions of tension insulator string hanging points in transmission lines based on a GIM model, used to implement the batch verification method for soft and hard collisions of tension insulator string hanging points in transmission lines based on a GIM model as described in any one of claims 1 to 6, characterized in that, include: The inspection unit management module is configured based on the three-dimensional GIM model of the transmission line. According to the object type, attributes and connection relationship, it identifies all the tension insulator string tower hanging points and their corresponding hardware components to be inspected from the model. Each tower hanging point and its corresponding hardware component are defined as an independent inspection unit, and each inspection unit is assigned a globally unique identifier. The refined modeling module is configured to call the tower layout software for each inspection unit, generate a refined tower hanging point model that meets the preset accuracy level based on the design data of its tower hanging points, and associate and store this refined tower hanging point model with the unique identifier of its inspection unit to build a refined model library. The scene integration module is configured based on the unique identifier of each inspection unit. It calls the corresponding refined tower hanging point model from the constructed refined model library and automatically replaces the original tower hanging point in the three-dimensional GIM model of the transmission line, thus completing the initial import and placement of the refined model. The registration module is configured in the inspection unit that has completed the initial placement of the refined tower hanging point model. It executes a preset registration algorithm to achieve precise alignment of its hardware components with the refined tower hanging point model in terms of spatial position and attitude. The working condition simulation module is configured to apply attitude adjustment based on mechanical calculations to the inspection unit that has been precisely aligned. The attitude adjustment includes limb length balance adjustment for balancing tension and attitude deflection calculation for simulating strong wind load, thereby driving the refined model to evolve from a static installation state to a dynamic spatial state under specific operating conditions. as well as, The collision verification module is configured to perform hard collision checks on each inspection unit in the dynamic space state to identify physical space interference between its components, and to perform soft collision checks based on a preset engineering fit tolerance standard to determine whether the dimensional fit of its connecting components is improper.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the batch verification method for soft and hard collision of the hanging point of the tension insulator string of the transmission line based on the GIM model as described in any one of claims 1 to 6.

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