Automatic installation method for overhead transmission line of electric power Beidou fusion terminal

Abstract

The invention relates to a big data control method, and discloses an automatic installation method for an overhead transmission line of an electric power Beidou fusion terminal, and the method comprises the steps: S300, fusing a first simulation working condition and a second simulation working condition into a digital twinborn model; and S400, adjusting the navigation route of the unmanned aerial vehicle in the construction site and the construction time according to the digital twin model. According to the method, the simulation working condition fused by the Beidou data and the weather data is simulated according to the first simulation working condition, then the second simulation working condition is simulated according to the video data, and the navigation path of the unmanned aerial vehicle is adjusted after the simulation working condition and the video data are combined into the digital twinborn model, so that the unmanned aerial vehicle can be far away from a wire which swings severely when the wind power is strong, and the unmanned aerial vehicle is protected. When wind power is small, the unmanned aerial vehicle can approach the electric wire as much as possible, and navigation safety and working efficiency of the unmanned aerial vehicle are improved.

Description

Technical Field

[0001] This invention relates to a big data control method, and in particular to an automatic installation method for overhead transmission lines using a power grid BeiDou fusion terminal. Background Technology

[0002] As a core infrastructure for power transmission, the safety and efficiency of overhead lines in construction and operation have always been core demands of the power industry. Traditional manual high-altitude operations face many pain points, such as high labor intensity, high safety risks, and low operational efficiency. Especially in complex terrain and severe weather conditions, the difficulty and risks of operations increase significantly, making it difficult to meet the needs of large-scale and refined operation and maintenance of modern power systems.

[0003] To address the aforementioned issues, research and application exploration of robotics technology has been undertaken in related fields. For example, Chinese invention patent CN111262178B discloses a lifting and mounting device for a multi-splitter power transmission line operation robot. This technology, through the collaborative design of an articulated structure and an adjustment mechanism, achieves reliable engagement and disengagement between the robot and the power transmission line. Simultaneously, by combining UAV-assisted positioning and electric climbing machine drive, an automated operation process for the robot's loading and unloading from the line is constructed, effectively improving the safety of the operation and its adaptability to power transmission lines of different specifications, providing important technical reference for the robotic operation of overhead lines.

[0004] However, in practical applications, the technical solution disclosed in CN111262178B still has significant performance shortcomings, especially in the key robot operation processes shown in Figure 10 of its specification (i.e., the core action stage where the robot switches from the lifting state to engaging with the power line, or from separating from the power line to transferring). During this movement, the power line is easily affected by the external environment and its own characteristics, resulting in complex vibrations and swaying: on the one hand, wind loads in the natural environment (including instantaneous gusts and continuous light winds) directly drive the conductor to produce irregular lateral and longitudinal swaying, with an amplitude of 0.1-0.5m and a swaying frequency covering 0.5-50Hz; on the other hand, the robot's own lifting action and changes in climbing force will cause elastic vibration of the conductor, and the coupling effect between multiple split conductors will further aggravate the complexity of the vibration; in addition, electromagnetic interference during line operation and thermal expansion and contraction of the conductor caused by temperature changes will also indirectly affect the posture stability of the conductor. The dynamic changes of these wires are directly transmitted to the robot body, causing the relative position of the robot and the wires to shift in real time. This not only increases the difficulty of aligning the hinge structure for engagement / disengagement, but may also cause collisions and jamming between the robot and the wires, seriously affecting the continuity and safety of the operation.

[0005] More importantly, existing technologies lack effective means to deal with the aforementioned dynamic disturbances. Ordinary simulation technologies can only construct simulated scenarios based on preset fixed parameters (such as constant wind speed and ideal conductor stiffness), and the output is only reference data, which cannot reproduce the randomness and coupling characteristics of conductor vibration and sway in actual operation; while existing real-time data acquisition solutions either rely on a single sensor (such as a simple displacement sensor), with limited acquisition dimensions, and cannot fully capture the dynamic attitude of the conductor, or the data processing is lagging, making it difficult to accurately predict the vibration and sway trends of the conductor, causing the robot to be unable to make adaptive adjustments in advance.

[0006] Therefore, there is a need for an automatic installation method for overhead transmission lines using a BeiDou fusion terminal that can combine BeiDou simulation and real-time parameters to influence the online and offline methods. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide an automatic installation method for overhead transmission lines of power grid Beidou fusion terminal that can combine Beidou simulation and real-time parameters to influence the online and offline methods.

[0008] In a first aspect, the present invention provides an automatic installation method for overhead transmission lines using a power grid BeiDou fusion terminal, comprising: S100. Construct a meteorological map of the construction site based on BeiDou data and weather data; output the first simulation condition based on the meteorological map and construction time; S200: Output the second simulation condition based on video data of the construction site, construction time, and weather map; S300: The first and second simulation conditions are merged into a digital twin model; S400 adjusts the navigation routes of drones at construction sites and during construction time based on digital twin models.

[0009] This invention discloses an automatic installation method for overhead transmission lines using a BeiDou fusion terminal, wherein step S300 involves fusing a first simulation condition and a second simulation condition into a digital twin model, including: The maximum value in the first simulation condition and the second simulation condition is defined as Smax, and the minimum value is defined as Smin. The third simulation condition is defined as a×Smax+(1-a)×Smin, where a is the wind direction coefficient.

[0010] This invention discloses an automatic installation method for overhead transmission lines using a BeiDou fusion terminal for power grids, wherein step S400 involves adjusting the navigation route of a UAV at the construction site and during the construction time based on a digital twin model, including: S401. In the digital twin model, the center or center of gravity of the UAV is taken as the center of the sphere, and a first sphere with a first radius is constructed according to the wind direction coefficient a. The model configuration that the first sphere passes through is the traveling model. A second radius is constructed based on the maximum swing amplitude of the third simulation condition. A second sphere is configured at each point of each conductor based on the second radius. A conductor body is constructed using multiple second spheres with the same orientation. A no-fly model is constructed based on the swing amplitude of the conductor body up to the maximum swing amplitude of the third simulation condition. S402. Arrange the necessary points of the traveling model in sequence at the edge positions of the prohibited flight model that the first spherical object must pass through; S403. Configure the shortest route of the travel model based on the required points, the construction location, and the construction time, wherein the travel model and the prohibited flight model have no intersection; output the shortest travel model route as the navigation route of the UAV.

[0011] This invention discloses an automatic installation method for overhead transmission lines using a BeiDou fusion terminal, wherein, in step S403, the method configures the shortest route of the travel model based on the required transit points, within the construction location and time frame, wherein the travel model does not intersect with the prohibited flight model; and outputs the shortest travel model route as the navigation route for the UAV, including: Determine whether the first sphere can sequentially generate a path along the necessary points at the construction site and construction time that does not intersect with the prohibited flight model. If it can, output the shortest path and use it as the UAV's navigation route. If not, reduce the first radius and second radius with corresponding weights, jump to S401, and record the number of jumps. If the number of jumps is greater than 2, reduce the grid size and jump to S100.

[0012] This invention discloses an automatic installation method for overhead transmission lines using a BeiDou fusion terminal, wherein, in step S403, the method configures the shortest route of the travel model based on the required transit points, within the construction location and time frame, wherein the travel model does not intersect with the prohibited flight model; and outputs the shortest travel model route as the navigation route for the UAV, including: Determine whether the first sphere can sequentially generate a route along the necessary points at the construction site and construction time that does not intersect with the prohibited flight model. If it can, output the shortest route and use it as the UAV's navigation route. If not, reduce the first radius and second radius with corresponding weights, jump to S401, and record the number of jumps. If the number of jumps is greater than 2, output the shortest route among the routes with the fewest intersections and use it as the UAV's navigation route.

[0013] Secondly, the present invention provides an automatic installation method for overhead transmission lines using a power grid BeiDou fusion terminal, comprising an interconnected unmanned aerial vehicle (UAV) and a control terminal, wherein the control terminal controls the system as follows: S100. Construct a meteorological map of the construction site based on BeiDou data and weather data; output the first simulation condition based on the meteorological map and construction time; S200: Output the second simulation condition based on video data of the construction site, construction time, and weather map; S300: The first and second simulation conditions are merged into a digital twin model; S400 adjusts the navigation routes of drones at construction sites and during construction time based on digital twin models.

[0014] This invention discloses an automatic installation method for overhead transmission lines using a BeiDou fusion terminal for power systems. In step S300, fusing the first and second simulation conditions into a digital twin model includes: The maximum value in the first simulation condition and the second simulation condition is defined as Smax, and the minimum value is defined as Smin. The third simulation condition is defined as a×Smax+(1-a)×Smin, where a is the wind direction coefficient.

[0015] This invention discloses an automatic installation method for overhead transmission lines using a BeiDou fusion terminal for power grids, wherein step S400 involves adjusting the navigation route of a UAV at the construction site and during the construction time based on a digital twin model, including: S401. In the digital twin model, the center or center of gravity of the UAV is taken as the center of the sphere, and a first sphere with a first radius is constructed according to the wind direction coefficient a. The model configuration that the first sphere passes through is the traveling model. A second radius is constructed based on the maximum swing amplitude of the third simulation condition. A second sphere is configured at each point of each conductor based on the second radius. A conductor body is constructed using multiple second spheres with the same orientation. A no-fly model is constructed based on the swing amplitude of the conductor body up to the maximum swing amplitude of the third simulation condition. S402. Arrange the necessary points of the traveling model in sequence at the edge positions of the prohibited flight model that the first spherical object must pass through; S403. Configure the shortest route of the travel model based on the required points, the construction location, and the construction time, wherein the travel model and the prohibited flight model have no intersection; output the shortest travel model route as the navigation route of the UAV.

[0016] This invention discloses an automatic installation method for overhead transmission lines using a BeiDou fusion terminal, wherein, in step S403, the method configures the shortest route of the travel model based on the required transit points, within the construction location and time frame, wherein the travel model does not intersect with the prohibited flight model; and outputs the shortest travel model route as the navigation route for the UAV, including: Determine whether the first sphere can sequentially generate a path along the necessary points at the construction site and construction time that does not intersect with the prohibited flight model. If it can, output the shortest path and use it as the UAV's navigation route. If not, reduce the first radius and second radius with corresponding weights, jump to S401, and record the number of jumps. If the number of jumps is greater than 2, reduce the grid size and jump to S100.

[0017] Thirdly, a computer-readable storage medium is provided, characterized in that a computer program is stored on the computer program, which, when run on a computer, causes the computer to execute an automatic installation method for overhead transmission lines of a power grid Beidou fusion terminal.

[0018] The difference lies in the fact that the present invention provides an automatic installation method for overhead transmission lines using a Beidou fusion terminal. First, it simulates a simulation of the working conditions by fusing Beidou data and weather data based on the first simulation working condition mentioned above. Then, it simulates a second simulation working condition based on video data. Finally, it combines these into a digital twin model to adjust the navigation path of the UAV. This allows the UAV to stay away from power lines that are swinging significantly when the wind is strong, and to get as close to the power lines as possible when the wind is weak, thereby improving the navigation safety and working efficiency of the UAV.

[0019] The automatic installation method of an overhead transmission line for a power Beidou fusion terminal according to the present invention will be further described below with reference to the accompanying drawings. Attached Figure Description

[0020] Figure 1 This is a flowchart of an automatic installation method for overhead power transmission lines using a BeiDou fusion terminal for power systems. Detailed Implementation

[0021] like Figure 1 As shown, the present invention provides an automatic installation method for overhead transmission lines using a BeiDou fusion terminal for power systems, comprising: An automatic installation method for overhead transmission lines using a BeiDou fusion terminal for power systems, characterized by: including... S100. Construct a meteorological map of the construction site based on BeiDou data and weather data; output the first simulation condition based on the meteorological map and construction time; S200: Output the second simulation condition based on video data of the construction site, construction time, and weather map; S300: The first and second simulation conditions are merged into a digital twin model; S400 adjusts the navigation routes of drones at construction sites and during construction time based on digital twin models.

[0022] This invention first simulates a simulation of the working conditions by fusing BeiDou data and weather data based on the first simulation working condition, and then simulates a second simulation working condition based on video data. After combining them into a digital twin model, the navigation path of the UAV is adjusted so that it can stay away from the swinging power lines when the wind is strong and get as close to the power lines as possible when the wind is weak, thereby improving the navigation safety and working efficiency of the UAV.

[0023] The specific explanation is as follows: According to Figure 10 of CN111262178B, during the robot's navigation movement on and off the line, the drone navigation route based on the aforementioned digital twin model increases work safety and efficiency.

[0024] S100 constructs a meteorological map of the construction site based on BeiDou data and weather data; and outputs the first simulation condition based on the meteorological map and construction time, including: S101. Construct a basic map based on BeiDou data, and configure the basic map with a grid of a first preset size; S102. Configure the maximum wind speed within the grid according to the weather data, and output a meteorological map of the grid with the maximum wind speed. S103. Based on the construction time and meteorological map, output the first simulation condition, which includes wind speed peaks.

[0025] This invention constructs a simulation scenario based on the first simulation condition, depicting the impact of wind speed peaks on the swaying of various lines, thereby influencing navigation routes. Generally speaking, the greater the swaying amplitude of the lines, the greater the safe distance the drone should maintain when entering and leaving the lines to ensure safe operation; however, excessive distance wastes travel efficiency. While the influencing factor is the wind speed peak, the safe distance cannot be directly determined solely by the wind speed peak. This is because the degree of swaying, or the maximum swaying amplitude, varies depending on the angle at which the lines are blown by the same wind speed. Therefore, the first simulation condition, utilizing weather data, can eliminate this problem.

[0026] That is, in S101, we first simply configure a base map with a grid of the first preset size; then, based on configuring the maximum wind speed on the base map in S102, we obtain a meteorological map with four-dimensional coordinates, including the maximum wind speed and wind direction, in addition to the three-dimensional coordinates; then, in step S103, we first set a preset construction time, such as starting work in 10 minutes and completing work in 30 minutes. For this 20-minute construction time, we can use the meteorological map to predict the maximum wind speed and wind direction at the construction location within the next 10 to 30 minutes.

[0027] The weather data can be acquired through anemometers, DLR systems, LiDAR systems, SoDAR systems, or specialized apps. Furthermore, the size of the first preset grid can be adjusted based on the accuracy of the collected wind speed data. In the aforementioned base map, the grid for plains can be 10m*10m, while for areas with dramatic terrain undulations such as valleys, hills, and canyons, it can be 2m*2m to accommodate localized minor weather changes.

[0028] In areas within a grid without sensor coverage, Kriging interpolation or inverse distance weighted wave (IDW) methods, combined with a terrain model, can be used to calculate the average wind speed vector and turbulence intensity within each grid, generating the maximum wind speed value for each grid with refined wind field attributes. Alternatively, the maximum wind speed value within all adjacent grids can be used as the maximum wind speed value for the sensor-free area. In other words, by studying the maximum wind speed, the impact of wind speed on the trajectory sway can be simulated and analyzed to overcome the influence of trajectory sway on the UAV's navigation path for deployment and deployment.

[0029] For example, the wind direction on the weather map is east, and the grid is 10m*10m. The maximum wind speeds in the 10 grids east of the construction location are 2m / s, 2m / s, 2m / s, 2m / s, 2m / s, 10m / s, 2m / s, 2m / s, 2m / s, and 2m / s respectively. The construction time is 3 to 15 seconds in the future. Therefore, the maximum wind speed at the construction location in the 5th to 6th second in the future is 10m / s. We construct the length of the first rectangle based on the length of each wire, the width of the first rectangle is 20 times the diameter of each wire, and the height of the first rectangle is the distance from the line connecting the two endpoints of each wire to the lowest or midpoint. This creates a 3D model simulating the swaying of wires in the wind. The midpoints of the two widths of the first rectangle coincide with the two endpoints of the wires. If the wires are oriented southeast, then the maximum sway amplitude involved by a 10m / s east wind towards a southeast-oriented rectangle is the first simulation condition. The maximum swing amplitude mentioned above can be directly simulated using SolidWorks or ANSYS software, or it can be derived from data of the same situation pre-stored in the database; alternatively, it can be derived by directly simulating the corresponding power lines and wind speeds using SolidWorks or ANSYS software.

[0030] In the first simulation scenario, we output the maximum swing amplitude of the power line, for example, 30cm. This maximum swing amplitude should be the distance from the completely stationary position to the maximum swing position on the horizontal projection. Therefore, the safe distance for our drone's navigation trajectory should not be lower than the maximum swing amplitude.

[0031] The weather map for the construction site can be a map covering a radius of 10 kilometers. Alternatively, the weather map can be one displayed in a commercial weather app. In this case, the first simulation scenario could be the predicted maximum wind speed at the construction location displayed in a commercial app.

[0032] In other words, this invention uses BeiDou data and meteorological data for simulation. After simulation, image data of a designated location and the current location are collected. The simulation data and image data are fused to output a digital twin model. The digital twin model can affect the speed and navigation trajectory of the UAV throughout its operation.

[0033] Among them, S200 outputs the second simulation condition based on video data from the construction site, construction time, and weather map, including: As described in S100, we can obtain the maximum wind speed and wind angle at the construction site based on the construction time and weather map. We can also retrieve the maximum swing amplitude of the power line from the database based on the maximum wind speed and wind angle stored in the database, and thus output the second simulation condition.

[0034] For example, the database stores video images of the same power line, positioned in a southeast direction, being blown by an easterly wind of 10 m / s. The video images stored in the database have the same angle, length, position, and swing amplitude as the power line in this particular video. In other words, it's real-time video data recorded by a swing amplitude sensor. However, the swing amplitude sensor cannot detect in real time, while the monitoring video is continuously running. Therefore, the maximum swing amplitude can be calculated from the video. That is, based on the degree of swing in the video image, the maximum swing amplitude at this moment can be calculated to be 23 cm.

[0035] Each grid above has a similar video camera that captures images of the same type of wire from the same angle, or uses an equivalent wire obtained through algorithmic correction. The maximum sway amplitude of the wire is then calculated via video. Alternatively, the maximum sway amplitude of the wire at the video location can be directly determined using a large video model algorithm.

[0036] If the current wind speed and maximum sway amplitude can be measured through video data within each grid, then by predicting the maximum wind speed and direction at the construction location during the construction period, we can naturally obtain the corresponding maximum sway amplitude.

[0037] The aforementioned video algorithm utilizes actual swaying to eliminate inaccuracies caused by data simulation, as well as the problem of the maximum sway amplitude of the conductor affected by wind turbulence in special environments.

[0038] Among them, S300 integrates the first and second simulation conditions into a digital twin model, including: We take the maximum value from the first and second simulated operating conditions and merge them to get the third simulated operating condition. That is, the maximum swing amplitude of the wire in the first simulated operating condition is 30cm, and the maximum swing amplitude of the wire in the second simulated operating condition is 23cm. So, we can take the maximum value, that is, transform the first simulated operating condition into the third simulated operating condition, that is, the third simulated operating condition is that the maximum swing amplitude of the wire is 30cm.

[0039] Of course, we can also assign different weights to the first and second simulation conditions based on the angle between the wind direction and the length of the power line to obtain different third simulation conditions, as shown in the following example: The maximum value in the first and second simulation conditions is defined as Smax, and the minimum value is defined as Smin. The third simulation condition is calculated as a × Smax + (1-a) × Smin, where a is the wind direction coefficient, which changes according to the angle between the wind direction and the length of the power line, as shown in the table below. Wind direction and angle between power lines Wind direction coefficient a Third simulation condition Explanation of the fusion strategy [0，30) 0.6 0.6×Smax+0.4×Smin At this time, the wind direction is nearly parallel, and the risk of significant swaying is low. A value slightly higher than the average is chosen to eliminate the random error of a single small value, while not excessively pursuing the maximum value, thus allowing the drone to get closer, improving the clarity of the inspection video and operational efficiency. [30，60) 0.8 0.8×Smax+0.2×Smin As the windward area increases, the sway amplitude enters the nonlinear growth region. At this point, the weights shift significantly towards the maximum value to suppress the "drag" of smaller values ​​on the safe distance, ensuring that the calculated sway amplitude is sufficient to cover most of the sudden situations caused by turbulence. [60，90] 1.0 1.0×Smax+0×Smin This is the most dangerous operating condition, with the power line under maximum stress. The weight reaches a saturation value of 1.0, meaning the minimum value is completely discarded, and the maximum value is used directly as the final result. At this point, any low-value data that might lead to a smaller distance judgment must be ignored, using an absolute physical upper limit to ensure that the drone does not collide with the power line. This invention employs an asymmetric weighting method to construct a third simulation condition. That is, simply taking the maximum value would result in an overly conservative navigation distance, reducing efficiency, while simply taking the average value poses a safety hazard in strong winds. Therefore, this invention strictly limits the value range of the third simulation condition to between the average and the maximum value. For example: In the tangential wind scenario [0, 30), the wind direction coefficient α is set to 0.6, and the result is close to the average value. This means that the system determines that the risk is controllable at this time, allowing the drone to get closer to the line to obtain higher quality inspection data while ensuring basic safety; that is, taking a shortcut.

[0040] In a crosswind scenario [60, 90], the wind direction coefficient 'a' is dynamically adjusted to 1.0, and the formula degenerates to its maximum value. This means the system enters "absolute defense mode," completely blocking out interference from smaller values ​​and ensuring the navigation path remains within the theoretically predicted outermost safety boundary. In other words, it involves taking a longer route.

[0041] A digital twin model is obtained by using a meteorological map of the construction site at the construction time, configured in the third simulation scenario described above. On one hand, this invention can construct a meteorological map whose shape and location are highly consistent with the actual situation using traditional video data, construction time, BeiDou data, and weather data. This map serves as the shape of the three-dimensional model for the digital twin. On the other hand, this invention assigns data on the maximum amplitude of oscillation at the construction location and time. This allows for the correction of the safe distance of the drone's navigation route at different construction locations and times. Specifically, it corrects the distance the drone should travel away from power lines to ensure a fast and safe navigation path.

[0042] For example, the digital twin model should be able to select different construction locations and different construction times, and output different third simulation conditions through the above formula (third simulation condition = a × Smax + (1-a) × Smin), so as to reflect them on the digital twin model and guide the safe distance of the UAV's navigation path.

[0043] Among them, the S400, based on the digital twin model, adjusts the navigation routes of drones at the construction site and during the construction time, including: S401. In the digital twin model, the center or center of gravity of the UAV is taken as the center of the sphere, and a first sphere with a first radius is constructed according to the wind direction coefficient a. The model configuration that the first sphere passes through is the traveling model. A second radius is constructed based on the maximum swing amplitude of the third simulation condition. A second sphere is configured at each point of each conductor based on the second radius. A conductor body is constructed using multiple second spheres with the same orientation. A no-fly model is constructed based on the swing amplitude of the conductor body up to the maximum swing amplitude of the third simulation condition. S402. Arrange the necessary points of the traveling model in sequence at the edge positions of the prohibited flight model that the first spherical object must pass through; S403. Configure the shortest route of the travel model based on the required points, the construction location, and the construction time, wherein the travel model and the prohibited flight model have no intersection; output the shortest travel model route as the navigation route of the UAV.

[0044] This invention creatively introduces an extended "Method of Images" path planning method to handle dynamic wind-induced guide wire swaying scenarios. This method treats the drone as a point source and each guide wire as a linear obstacle. Using a third simulation condition as the base radius, a first sphere and a prohibited flight path are constructed, facilitating verification and training to derive a safe and shortest drone navigation route that always maintains the same minimum distance between the drone and the guide wire's maximum sway position.

[0045] Related items drones wire Wind direction coefficient a First radius, first sphere, travel model / The maximum swing amplitude in the third simulation condition / Second radius, second sphere, guide tube, no-fly model Specifically, S403 involves configuring the shortest route of the travel model based on the required points, considering the construction location and construction time, wherein the travel model does not intersect with the prohibited flight model; and outputting the shortest travel model route as the UAV's navigation route, including: Determine whether the first sphere can sequentially generate a path along the necessary points at the construction site and construction time that does not intersect with the prohibited flight model. If it can, output the shortest path and use it as the UAV's navigation route. If not, reduce the first radius and second radius with corresponding weights, jump to S401, and record the jump count. If the jump count is greater than 2, then (reduce the grid and jump to S100, or) output the shortest path among the paths with the fewest intersections and use it as the UAV's navigation route.

[0046] The second radius obtained from the third simulation condition can be derived by querying a pre-stored table in the database. For example, the larger the maximum swing amplitude in the third simulation condition, the larger the second radius. For instance, if the maximum swing amplitude is 30cm, the initial second radius is 42cm. Specific settings can be configured as needed.

[0047] The first and second radii can be reduced with corresponding weights using the following formula: First radius = First radius × (1 - 0.2a); Second radius = Second radius × (1 - 0.2 + 0.1a); As shown in the table below: Wind direction and angle between power lines Wind direction coefficient a First radius decreases Second radius decreases [0，30) 0.6 12% 14% [30，60) 0.8 16% 12% [60，90] 1.0 20% 10% In other words, when the included angle is [0, 30), the same wind force has a greater impact on the drone, so the impact on the swing of the second radius is not significant. Therefore, the radius can be reduced more to allow the drone to move to a position where it may not intersect. Correspondingly, the reduction of the first radius is smaller with the reduction of the second radius because the probability of collision is smaller, that is, the probability of collision for drones deviating along the direction of the guide wire is lower. When the angle is [60, 90], the weight of the reduction of the second radius is smaller, and the probability of collision with the first radius also increases. Therefore, the risk of collision with the guide wire due to the deviation of the drone perpendicular to the direction of the guide wire is increased more significantly.

[0048] Based on the results in the table above, the distance can be reduced a maximum of two times. For the third reduction, the route of the travel model with the least intersection can be output directly using the first and second radii that have been reduced twice.

[0049] For example, the drone has a maximum diagonal radius of 0.4m, a navigation error of 0.2m, and a safety redundancy of 0.4m, meaning the initial radius is 1m. Even reducing it to 0.6m still meets the safety requirements.

[0050] For example, in the third simulation condition, the maximum swing amplitude is 0.30m, the conductor radius is 0.05m, and the initial second radius is 0.7m. Even when reduced to 0.42m, the safety requirements are still met.

[0051] In this model, the "traveling model" represents all possible paths the drone might take within a three-dimensional digital twin. The "no-flying model" represents all possible locations the drone might touch when swaying in the wind. The intersection of the "traveling model" and the "no-flying model" represents potential collisions between the drone and the power lines, which is absolutely unacceptable. Our discussion of navigation aims to find the shortest path without any collisions, thus balancing the conflicting goals of safety and efficiency.

[0052] In Appendix 10 of CN111262178B, we can define the mandatory points according to a preset trajectory. These mandatory points are simply the locations the first sphere must pass through; they can be preset points and do not intersect with the prohibited flight model. Specific configurations can be made as needed.

[0053] In this case, lowering the grid and jumping to S100 can reduce the length of the original grid by 10%, for example, changing a 10m*10m grid to a 9m*9m grid, thereby changing the weather map and thus changing the maximum wind value of the first and second simulation conditions, thereby changing the maximum oscillation amplitude, and thus changing the first and second radii to reduce the possibility of intersection.

[0054] Furthermore, if the number of jumps to S401 is still increased after reducing the grid once, it can be stopped directly when it reaches the third time. That is, the first radius and the second radius can only be reduced twice at most and cannot be reduced indefinitely.

[0055] In some embodiments, see Figure 1 S300, which integrates the first and second simulation conditions into a digital twin model, including: The maximum value in the first simulation condition and the second simulation condition is defined as Smax, and the minimum value is defined as Smin. The third simulation condition is defined as a×Smax+(1-a)×Smin, where a is the wind direction coefficient.

[0056] This invention employs an asymmetric weighting method to construct a third simulation condition. That is, simply taking the maximum value would result in an overly conservative navigation distance, reducing efficiency, while simply taking the average value poses a safety hazard in strong winds. Therefore, this invention strictly limits the value range of the third simulation condition to between the average and the maximum value.

[0057] In some embodiments, see Figure 1 The S400 system adjusts the navigation routes of drones at construction sites and during construction time based on digital twin models, including: S401. In the digital twin model, the center or center of gravity of the UAV is taken as the center of the sphere, and a first sphere with a first radius is constructed according to the wind direction coefficient a. The model configuration that the first sphere passes through is the traveling model. A second radius is constructed based on the maximum swing amplitude of the third simulation condition. A second sphere is configured at each point of each conductor based on the second radius. A conductor body is constructed using multiple second spheres with the same orientation. A no-fly model is constructed based on the swing amplitude of the conductor body up to the maximum swing amplitude of the third simulation condition. S402. Arrange the necessary points of the traveling model in sequence at the edge positions of the prohibited flight model that the first spherical object must pass through; S403. Configure the shortest route of the travel model based on the required points, the construction location, and the construction time, wherein the travel model and the prohibited flight model have no intersection; output the shortest travel model route as the navigation route of the UAV.

[0058] This invention creatively introduces an extended "Method of Images" path planning method to handle dynamic wind-induced guide wire swaying scenarios. This method treats the drone as a point source and each guide wire as a linear obstacle. Using a third simulation condition as the base radius, a first sphere and a prohibited flight path are constructed, facilitating verification and training to derive a safe and shortest drone navigation route that always maintains the same minimum distance between the drone and the guide wire's maximum sway position.

[0059] In some embodiments, see Figure 1 S403. Configure the shortest route of the travel model based on the construction site and construction time according to the necessary points, wherein the travel model has no intersection with the prohibited flight model; output the shortest travel model route as the navigation route of the UAV, including: Determine whether the first sphere can sequentially generate a path along the necessary points at the construction site and construction time that does not intersect with the prohibited flight model. If it can, output the shortest path and use it as the UAV's navigation route. If not, reduce the first radius and second radius with corresponding weights, jump to S401, and record the number of jumps. If the number of jumps is greater than 2, reduce the grid size and jump to S100.

[0060] This invention classifies and judges the intersection of the travel model of the first sphere passing through the mandatory points and the prohibited flight model. If normal output is possible, it can be output directly. If normal output is not possible, the first and second radii can be reduced to decrease safety redundancy, resulting in a relatively safe and efficient travel model as the UAV's navigation route. Furthermore, if reducing the first and second radii still fails to yield a non-intersecting travel model, the system can jump to S100 and reduce the classified grid size. Since each grid may contain multiple wind speed sensors, changing the grid size will inevitably affect the maximum wind speed of each grid, and based on the maximum wind speed of each grid, it will affect our prediction of the maximum wind speed at the construction time and location. It will also change our prediction of the maximum wind speed for grids without sensors, thus altering the third simulation condition.

[0061] In some embodiments, see Figure 1 S403. Configure the shortest route of the travel model based on the construction site and construction time according to the necessary points, wherein the travel model has no intersection with the prohibited flight model; output the shortest travel model route as the navigation route of the UAV, including: Determine whether the first sphere can sequentially generate a route along the necessary points at the construction site and construction time that does not intersect with the prohibited flight model. If it can, output the shortest route and use it as the UAV's navigation route. If not, reduce the first radius and second radius with corresponding weights, jump to S401, and record the number of jumps. If the number of jumps is greater than 2, output the shortest route among the routes with the fewest intersections and use it as the UAV's navigation route.

[0062] This invention categorizes and judges the intersection of the travel model of the first sphere passing through the mandatory points and the prohibited flight model. If normal output is possible, it can be directly output. If normal output is not possible, the first and second radii can be reduced to decrease safety redundancy, resulting in a relatively safe and efficient travel model as the UAV's navigation route. Furthermore, if reducing the first and second radii still does not yield a non-intersecting travel model, the shortest travel model among the multiple models with the lowest intersection can be selected. "Shortest" refers to the shortest travel model in the length direction. This is the most efficient navigation model, providing the fastest UAV navigation route at the highest safety level.

[0063] like Figure 1 As shown, the present invention discloses an automatic installation system for overhead transmission lines using a BeiDou fusion terminal, comprising an interconnected UAV and a control terminal, wherein the control terminal controls the system as follows: S100. Construct a meteorological map of the construction site based on BeiDou data and weather data; output the first simulation condition based on the meteorological map and construction time; S200: Output the second simulation condition based on video data of the construction site, construction time, and weather map; S300: The first and second simulation conditions are merged into a digital twin model; S400 adjusts the navigation routes of drones at construction sites and during construction time based on digital twin models.

[0064] This invention first simulates a simulation of the working conditions by fusing BeiDou data and weather data based on the first simulation working condition, and then simulates a second simulation working condition based on video data. After combining them into a digital twin model, the navigation path of the UAV is adjusted so that it can stay away from the swinging power lines when the wind is strong and get as close to the power lines as possible when the wind is weak, thereby improving the navigation safety and working efficiency of the UAV.

[0065] In some embodiments, see Figure 1 S300, which integrates the first simulation condition and the second simulation condition into a digital twin model, includes: The maximum value in the first simulation condition and the second simulation condition is defined as Smax, and the minimum value is defined as Smin. The third simulation condition is defined as a×Smax+(1-a)×Smin, where a is the wind direction coefficient.

[0066] This invention employs an asymmetric weighting method to construct a third simulation condition. That is, simply taking the maximum value would result in an overly conservative navigation distance, reducing efficiency, while simply taking the average value poses a safety hazard in strong winds. Therefore, this invention strictly limits the value range of the third simulation condition to between the average and the maximum value.

[0067] In some embodiments, see Figure 1 The S400 system adjusts the navigation routes of drones at construction sites and during construction time based on digital twin models, including: S401. In the digital twin model, the center or center of gravity of the UAV is taken as the center of the sphere, and a first sphere with a first radius is constructed according to the wind direction coefficient a. The model configuration that the first sphere passes through is the traveling model. A second radius is constructed based on the maximum swing amplitude of the third simulation condition. A second sphere is configured at each point of each conductor based on the second radius. A conductor body is constructed using multiple second spheres with the same orientation. A no-fly model is constructed based on the swing amplitude of the conductor body up to the maximum swing amplitude of the third simulation condition. S402. Arrange the necessary points of the traveling model in sequence at the edge positions of the prohibited flight model that the first spherical object must pass through; S403. Configure the shortest route of the travel model based on the required points, the construction location, and the construction time, wherein the travel model and the prohibited flight model have no intersection; output the shortest travel model route as the navigation route of the UAV.

[0068] This invention creatively introduces an extended "Method of Images" path planning method to handle dynamic wind-induced guide wire swaying scenarios. This method treats the drone as a point source and each guide wire as a linear obstacle. Using a third simulation condition as the base radius, a first sphere and a prohibited flight path are constructed, facilitating verification and training to derive a safe and shortest drone navigation route that always maintains the same minimum distance between the drone and the guide wire's maximum sway position.

[0069] In some embodiments, see Figure 1 S403. Configure the shortest route of the travel model based on the construction site and construction time according to the necessary points, wherein the travel model has no intersection with the prohibited flight model; output the shortest travel model route as the navigation route of the UAV, including: Determine whether the first sphere can sequentially generate a path along the necessary points at the construction site and construction time that does not intersect with the prohibited flight model. If it can, output the shortest path and use it as the UAV's navigation route. If not, reduce the first radius and second radius with corresponding weights, jump to S401, and record the number of jumps. If the number of jumps is greater than 2, reduce the grid size and jump to S100.

[0070] This invention classifies and judges the intersection of the travel model of the first sphere passing through the mandatory points and the prohibited flight model. If normal output is possible, it can be output directly. If normal output is not possible, the first and second radii can be reduced to decrease safety redundancy, resulting in a relatively safe and efficient travel model as the UAV's navigation route. Furthermore, if reducing the first and second radii still fails to yield a non-intersecting travel model, the system can jump to S100 and reduce the classified grid size. Since each grid may contain multiple wind speed sensors, changing the grid size will inevitably affect the maximum wind speed of each grid, and based on the maximum wind speed of each grid, it will affect our prediction of the maximum wind speed at the construction time and location. It will also change our prediction of the maximum wind speed for grids without sensors, thus altering the third simulation condition.

[0071] A computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to execute the aforementioned automatic installation method for overhead transmission lines using a BeiDou fusion terminal for power grids.

[0072] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An automatic installation method for overhead transmission lines using a BeiDou fusion terminal for power systems, characterized in that: include S100. Construct a meteorological map of the construction site based on BeiDou data and weather data; output the first simulation condition based on the meteorological map and construction time; S200: Output the second simulation condition based on video data of the construction site, construction time, and weather map; S300: The first and second simulation conditions are merged into a digital twin model; S400 adjusts the navigation routes of drones at construction sites and during construction time based on digital twin models.

2. The automatic installation method for overhead transmission lines using a BeiDou fusion terminal for power grids according to claim 1, characterized in that: S300, merging the first and second simulation conditions into a digital twin model, including: The maximum value in the first simulation condition and the second simulation condition is defined as Smax, and the minimum value is defined as Smin. The third simulation condition is defined as a×Smax+(1-a)×Smin, where a is the wind direction coefficient.

3. The automatic installation method for overhead transmission lines of a power Beidou fusion terminal according to claim 2, characterized in that: S400, adjusting the navigation routes of drones at construction sites and during construction time based on digital twin models, including: S401. In the digital twin model, the center or center of gravity of the UAV is taken as the center of the sphere, and a first sphere with a first radius is constructed according to the wind direction coefficient a. The model configuration that the first sphere passes through is the traveling model. A second radius is constructed based on the maximum swing amplitude of the third simulation condition. A second sphere is configured at each point of each conductor based on the second radius. A conductor body is constructed using multiple second spheres with the same orientation. A no-fly model is constructed based on the swing amplitude of the conductor body up to the maximum swing amplitude of the third simulation condition. S402. Arrange the necessary points of the traveling model in sequence at the edge positions of the prohibited flight model that the first spherical object must pass through; S403. Configure the shortest route of the travel model based on the required points, the construction location, and the construction time, wherein the travel model and the prohibited flight model have no intersection; output the shortest travel model route as the navigation route of the UAV.

4. The automatic installation method for overhead transmission lines of a power Beidou fusion terminal according to claim 3, characterized in that: S403. Configure the shortest route of the travel model based on the required points, the construction location, and the construction time, wherein the travel model does not intersect with the prohibited flight model; output the shortest travel model route as the UAV's navigation route, including: Determine whether the first sphere can sequentially generate a path along the necessary points at the construction site and construction time that does not intersect with the prohibited flight model. If it can, output the shortest path and use it as the UAV's navigation route. If not, reduce the first radius and second radius with corresponding weights, jump to S401, and record the number of jumps. If the number of jumps is greater than 2, reduce the grid size and jump to S100.

5. The automatic installation method for overhead transmission lines of a power Beidou fusion terminal according to claim 3, characterized in that: S403. Configure the shortest route of the travel model based on the required points, the construction location, and the construction time, wherein the travel model does not intersect with the prohibited flight model; output the shortest travel model route as the UAV's navigation route, including: Determine whether the first sphere can sequentially generate a route along the necessary points at the construction site and construction time that does not intersect with the prohibited flight model. If it can, output the shortest route and use it as the UAV's navigation route. If not, reduce the first radius and second radius with corresponding weights, jump to S401, and record the number of jumps. If the number of jumps is greater than 2, output the shortest route among the routes with the fewest intersections and use it as the UAV's navigation route.

6. An automatic installation system for overhead transmission lines using a BeiDou fusion terminal for power grids, characterized in that: It includes interconnected drones and a control terminal, the control terminal being controlled in the following manner: S100. Construct a meteorological map of the construction site based on BeiDou data and weather data; output the first simulation condition based on the meteorological map and construction time; S200: Output the second simulation condition based on video data of the construction site, construction time, and weather map; S300: The first and second simulation conditions are merged into a digital twin model; S400 adjusts the navigation routes of drones at construction sites and during construction time based on digital twin models.

7. The automatic installation method for overhead transmission lines of a power Beidou fusion terminal according to claim 6, characterized in that: The S300, which integrates the first and second simulation conditions into a digital twin model, includes: The maximum value in the first simulation condition and the second simulation condition is defined as Smax, and the minimum value is defined as Smin. The third simulation condition is defined as a×Smax+(1-a)×Smin, where a is the wind direction coefficient.

8. The automatic installation method for overhead transmission lines of a power Beidou fusion terminal according to claim 7, characterized in that: S400, adjusting the navigation routes of drones at construction sites and during construction time based on digital twin models, including: S401. In the digital twin model, the center or center of gravity of the UAV is taken as the center of the sphere, and a first sphere with a first radius is constructed according to the wind direction coefficient a. The model configuration that the first sphere passes through is the traveling model. A second radius is constructed based on the maximum swing amplitude of the third simulation condition. A second sphere is configured at each point of each conductor based on the second radius. A conductor body is constructed using multiple second spheres with the same orientation. A no-fly model is constructed based on the swing amplitude of the conductor body up to the maximum swing amplitude of the third simulation condition. S402. Arrange the necessary points of the traveling model in sequence at the edge positions of the prohibited flight model that the first spherical object must pass through; S403. Configure the shortest route of the travel model based on the required points, the construction location, and the construction time, wherein the travel model and the prohibited flight model have no intersection; output the shortest travel model route as the navigation route of the UAV.

9. The automatic installation method for overhead transmission lines of a power Beidou fusion terminal according to claim 8, characterized in that: S403. Configure the shortest route of the travel model based on the required points, the construction location, and the construction time, wherein the travel model does not intersect with the prohibited flight model; output the shortest travel model route as the UAV's navigation route, including: Determine whether the first sphere can sequentially generate a path along the necessary points at the construction site and construction time that does not intersect with the prohibited flight model. If it can, output the shortest path and use it as the UAV's navigation route. If not, reduce the first radius and second radius with corresponding weights, jump to S401, and record the number of jumps. If the number of jumps is greater than 2, reduce the grid size and jump to S100.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when run on a computer, causes the computer to execute the automatic installation method for overhead transmission lines of a power Beidou fusion terminal as described in any one of claims 1 to 5.

Images