An ultra-high voltage wire non-interference crossing erection method and system based on unmanned aerial vehicle traction and double-line tension cooperative control, and a medium

Abstract

The present application relates to the technical field of electric power engineering, and more particularly to a method and system for erecting an ultra-high voltage wire across without interference based on drone traction and double-wire tension collaborative control. The method first relies on BIM+GIS joint survey planning path, constructs a set of drone performance parameters, and then sets multi-dimensional operation constraints. The drone group completes the guidance rope tower traction and sensor deployment. The rigidly connected guidance rope and wire are used to calculate the cluster collaborative parameters and total traction load, combined with the drone pose compensation tension detection value. Finally, according to the real-time tension, wind speed and load, the drone traction speed and ground tension machine tension are dynamically adjusted to realize double-wire collaborative control. This method realizes high-precision non-interference stringing and provides an efficient and safe technical solution for erecting an ultra-high voltage transmission line in a complex scene.

Description

Technical Field

[0001] This invention relates to the field of power engineering technology, and in particular to a method and system for interference-free crossing of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control. Background Technology

[0002] The 500kV Qiaoqu Line #058 tower project is constrained by both terrain and cost, making rerouting impossible. The area has a 35° steep slope on the east side and is adjacent to a highway ramp on the west side, with a line corridor width of only 80 meters. The project requires the construction of a new 106-meter-high, 161-ton ultra-large tension tower 45 meters back from the original tower site, vertically crossing an eight-lane highway main line and two ramps. This crossing has a width of 68 meters and a clearance height of 55 meters, far exceeding the standard for conventional "three-span" projects. It is a typical and challenging case of a 500kV double-circuit line crossing a highway at a high altitude in China.

[0003] Faced with such extremely challenging ultra-high voltage conductor crossing and erection conditions, the existing technical system has revealed many unavoidable shortcomings. The traditional "crossing frame + load-bearing cable netting" or "pole-mounted + load-bearing cable netting" erection methods not only suffer from high construction costs, long construction periods, and poor terrain adaptability, but also present significant challenges in this project's narrow 80-meter-long line corridor and 35° steep slope. Summary of the Invention

[0004] To completely solve the problems of high cost, long cycle, poor terrain adaptability, and inability to meet the tension control and airspace safety requirements of ultra-high voltage "high-span" projects in the existing technologies, this invention proposes a non-interference crossing erection method for ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control. It relies on a 1+N architecture UAV swarm, combined with BIM+GIS surveying and dual-line tension coordinated control, to achieve safe and efficient crossing erection of ultra-high voltage conductors in complex terrain. The specific technical approach is as follows:

[0005] A method for interference-free crossing of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control, implemented using a UAV swarm that meets a 1+N architecture, including one main traction UAV and multiple auxiliary UAVs, comprising the following steps:

[0006] S1: Conduct BIM+GIS joint survey of the crossing section area, set the crossing path of the conductor, set up protective nets, tension machines, and cable laying frames in the crossing section area, and deploy a centralized management and control platform;

[0007] S2: Construct a set of performance parameters for the drone swarm, set operational constraints, and have the drone swarm take off from one tower carrying a guide rope. Based on the cross-path flight, the guide rope is pulled to the other tower. The guide rope is then manually attached to the other tower, and tension sensing devices are installed at the attachment point.

[0008] S3: The guide rope is rigidly connected to the wire, and the UAV swarm continues to pull the guide rope. At the same time, the coordinated control parameters and traction load of the UAV swarm are calculated in real time by combining the performance parameter set of the UAV swarm.

[0009] S4: Synchronously start the tension machine to lay out the wire, detect the original tension value of the key nodes of the conductor through the tension sensing device, and calculate the real-time tension monitoring value of the conductor by combining the collaborative control parameters to compensate for the influence of posture.

[0010] S5: Based on the real-time tension monitoring value of the conductor and operational constraints, combined with on-site wind speed data, calculate the traction speed adjustment amount of the UAV swarm; combine the total traction load to calculate the tension adjustment command value of the ground tension machine, and dynamically output the traction speed adjustment amount and tension adjustment command value;

[0011] S6: Adjust the speed of the drone swarm according to the output traction speed, and at the same time input the tension adjustment command value into the ground tension machine. After the conductor is pulled to the designated tower, the conductor is manually anchored. Then the equipment stops, the drone swarm is retrieved, and the crossing is completed.

[0012] Preferably, in step S2, the performance parameter set of the UAV swarm The relevant expressions are as follows:

[0013] ;

[0014] ;

[0015] ;

[0016] ;

[0017] in, For load parameters, The baseline path length for the crossing section is obtained from the geographic data of the crossing section obtained through joint BIM+GIS survey. The mass per unit length of the guide rope, It is the acceleration due to gravity. For the load safety factor, The wind speed load influence coefficient is... The maximum design wind speed for the crossing section, This refers to the windward area of ​​the drone; For speed parameters, For speed matching coefficient, This serves as the reference time threshold for overhead line operation paths. For battery life parameters, This is the range redundancy factor. The load factor is the coefficient that affects the driving range. The rated payload for the drone.

[0018] Preferably, in step S2, the job constraints are set, and the relevant expressions are as follows:

[0019] ;

[0020] in, For tension safety constraints, , ; The minimum safe tension during the conductor stringing process is the lowest tension threshold that ensures the conductor does not become excessively slack and avoids contact with the facilities being crossed. The maximum safe tension during the wire stringing process is the highest tension threshold that prevents the wire from undergoing plastic deformation or even breaking due to excessive tension. For the minimum tension safety factor, For the maximum tension safety factor, The rated design tension of the conductor; For traction speed safety constraints, , ; The minimum safe speed for pulling the guide rope and wire of the drone swarm is the minimum speed threshold that ensures the efficiency of the pulling operation and avoids the wire from piling up and getting tangled due to slow pulling. The maximum safe speed for pulling the guide rope and wire of the drone swarm is the highest speed threshold to prevent excessive traction speed from causing sudden tension changes and affecting the stability of the overhead line; The minimum speed coefficient, The maximum speed coefficient, For the speed parameters of the drone swarm; For wind speed safety constraints, ; The maximum safe wind speed allowed for overhead power line operations is the critical wind speed value that ensures the flight stability of drone swarms and prevents significant wind deflection of the power lines. For wind speed safety factor, This is the maximum design wind speed for the spanning section.

[0021] Preferably, in step S3, the cooperative control parameters of the UAV swarm are calculated. The relevant expressions are as follows:

[0022] ;

[0023] ;

[0024] ;

[0025] in, The number of drone swarms; For traction speed, For speed coordination coefficient, For the speed parameters of the drone swarm, This is the spacing speed compensation coefficient. Main traction drone and the first The spacing between the auxiliary drones This is the baseline path length for the crossing segment; For heading angle, For heading coordination coefficient, Segment heading angles for the path. This is a wind direction and heading correction factor. This is the angle between the real-time wind direction and the path heading; For flight altitude, For a high degree of synergy, Divide the path into segments of height. The obstacle height safety compensation coefficient, For the first The maximum height of the facilities crossed in the path segment.

[0026] Preferably, in step S3, the total traction load is calculated. The relevant expressions are as follows:

[0027] ;

[0028] in, Additional factor for conductor connection load. For drone swarm payload parameters, For the quality of the connected conductor segments, It is the acceleration due to gravity. For conductor wind load factor, This refers to the real-time wind speed at the scene. The area of ​​the conductor facing the wind.

[0029] Preferably, in step S4, the real-time tension monitoring value of the conductor is calculated. The specific formula is as follows:

[0030] ;

[0031] ;

[0032] in, Number the critical nodes of the conductor. The original tension value detected by the tension sensing device. The tension influence coefficient for the drone's velocity and pose. For the drone's towing speed, The data sampling time interval, For the first The speed direction of the drone is related to the first The angle between the tangent directions of the node conductor. The tension influence coefficient for the UAV's heading angle. For the drone's heading angle, This represents the change in the length of the conductor segment caused by the attitude deviation of the UAV. This refers to the number of drone swarms.

[0033] Preferably, in step S5, the adjustment amount of the traction speed of the UAV swarm is calculated. The relevant expressions are as follows:

[0034] ;

[0035] in, This is the tension deviation speed adjustment coefficient. For the first The target tension at key nodes This represents the real-time tension monitoring value of the conductor. For the speed parameters of the drone swarm, Design the conductor to the maximum tension. This is the wind speed deviation speed adjustment coefficient. This refers to the real-time wind speed at the scene. For reference wind speed, The maximum design wind speed for the crossing section, For speed safety constraint adjustment coefficient, This is the upper limit of the safety constraint for traction speed.

[0036] Preferably, in step S5, the tension adjustment command value of the tension machine is calculated. The relevant expressions are as follows:

[0037] ;

[0038] in, This is the total traction load tension adjustment coefficient. This is the total traction load. The total mass of the conductor. It is the acceleration due to gravity. This is the real-time temperature tension adjustment coefficient. Real-time conductor temperature on site. This is the reference temperature for conductor tension.

[0039] An interference-free crossing erection system for ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control includes:

[0040] The survey parameter construction module is used to complete the collection of geographic information across the cross section, the setting of the cross benchmark path, and the calculation and generation of the performance parameter set of the UAV swarm through the BIM+GIS joint survey algorithm.

[0041] The safety constraint and guidance module is used to generate safety constraint parameters for the entire overhead line operation process and to simulate the virtual operation process of a drone swarm pulling the guide rope and deploying tension sensing equipment.

[0042] The collaborative load calculation module is used to perform real-time calculations of the collaborative control parameters and total traction load of the UAV swarm.

[0043] The tension monitoring and compensation module is used to interface with virtual tension sensing data and output the real-time tension value of the conductor after compensating for the influence of the UAV's pose.

[0044] The adjustment command generation module is used to combine data such as tension monitoring values ​​and wind speed to generate the adjustment amount of the UAV traction speed and the tension adjustment command of the ground tension machine;

[0045] The closed-loop operation control module is used to receive adjustment instructions and virtually control the operation status of the drone swarm and tensioner, completing the entire closed-loop operation of conductor anchoring, equipment shutdown and drone recovery.

[0046] A storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it implements the above-described virtual method for non-interference crossing and erection of ultra-high voltage conductors based on the coordinated control of UAV traction and dual-line tension.

[0047] The beneficial effects of this invention are as follows:

[0048] 1. This invention relies on the 1+N architecture of UAV swarms and BIM+GIS surveying, adapting to complex terrains such as 35° steep slopes and 80-meter narrow corridors. It abandons the traditional cross-bracing / pole mode, overcomes the bottleneck of poor terrain adaptability, and ensures the feasibility of stringing cables in narrow passages.

[0049] 2. This invention replaces traditional large overhead line facilities with drone-guided towing, eliminating the need to build complex crossing frames, significantly reducing equipment investment and site modification costs, while shortening the facility construction period, thus solving the shortcomings of traditional technologies such as high cost and long cycle.

[0050] 3. This invention constructs a dual-line tension collaborative control system to compensate for the influence of UAV position and attitude in real time, accurately control the tension of the conductor, avoid the risk of contact with 68-meter-wide high-speed facilities, meet the 55-meter clearance requirement, and far exceed the conventional three-span safety standard.

[0051] 4. This invention sets up a multi-dimensional operation constraint and dynamic adjustment mechanism, and combines wind speed to correct traction parameters in real time, so as to avoid the accumulation of conductor slack or deformation due to tension overload, and solve the problems of lagging tension control and high safety hazards in traditional overhead line.

[0052] 5. The performance parameter set of the UAV swarm of the present invention can accurately match the requirements of the overhead line, and achieve dynamic adaptation of speed and load through collaborative control, so as to avoid low traction efficiency or equipment overload and solve the defects of insufficient adaptability of traditional traction mode. Attached Figure Description

[0053] Figure 1 This is a schematic diagram illustrating the steps of an interference-free crossing erection method for ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control according to the present invention. Detailed Implementation

[0054] A method for interference-free crossing of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control, implemented using a UAV swarm that meets a 1+N architecture, including one main traction UAV and multiple auxiliary UAVs, comprising the following steps:

[0055] S1: Conduct BIM+GIS joint survey of the crossing section area, set the crossing path of the conductor, set up protective nets, tension machines, and cable laying frames in the crossing section area, and deploy a centralized management and control platform;

[0056] S2: Construct a set of performance parameters for the drone swarm, set operational constraints, and have the drone swarm take off from one tower carrying a guide rope. Based on the cross-path flight, the guide rope is pulled to the other tower. The guide rope is then manually attached to the other tower, and tension sensing devices are installed at the attachment point.

[0057] S3: The guide rope is rigidly connected to the wire, and the UAV swarm continues to pull the guide rope. At the same time, the coordinated control parameters and traction load of the UAV swarm are calculated in real time by combining the performance parameter set of the UAV swarm.

[0058] S4: Synchronously start the tension machine to lay out the wire, detect the original tension value of the key nodes of the conductor through the tension sensing device, and calculate the real-time tension monitoring value of the conductor by combining the collaborative control parameters to compensate for the influence of posture.

[0059] S5: Based on the real-time tension monitoring value of the conductor and operational constraints, combined with on-site wind speed data, calculate the traction speed adjustment amount of the UAV swarm; combine the total traction load to calculate the tension adjustment command value of the ground tension machine, and dynamically output the traction speed adjustment amount and tension adjustment command value;

[0060] S6: Adjust the speed of the drone swarm according to the output traction speed, and at the same time input the tension adjustment command value into the ground tension machine. After the conductor is pulled to the designated tower, the conductor is manually anchored. Then the equipment stops, the drone swarm is retrieved, and the crossing is completed.

[0061] In step S2, the performance parameter set of the drone swarm The relevant expressions are as follows:

[0062] ;

[0063] ;

[0064] ;

[0065] ;

[0066] in, For load parameters, The baseline path length for the crossing section is obtained from the geographic data of the crossing section obtained through joint BIM+GIS survey. The mass per unit length of the guide rope, It is the acceleration due to gravity. For the load safety factor, The wind speed load influence coefficient is... The maximum design wind speed for the crossing section, This refers to the windward area of ​​the drone; For speed parameters, For speed matching coefficient, This serves as the reference time threshold for overhead line operation paths. For battery life parameters, This is the range redundancy factor. The load factor is the coefficient that affects the driving range. The rated payload for the drone.

[0067] In step S2, the job constraints are set, and the relevant expressions are as follows:

[0068] ;

[0069] in, For tension safety constraints, , ; The minimum safe tension during the conductor stringing process is the lowest tension threshold that ensures the conductor does not become excessively slack and avoids contact with the facilities being crossed. The maximum safe tension during the wire stringing process is the highest tension threshold that prevents the wire from undergoing plastic deformation or even breaking due to excessive tension. For the minimum tension safety factor, For the maximum tension safety factor, The rated design tension of the conductor; For traction speed safety constraints, , ; The minimum safe speed for pulling the guide rope and wire of the drone swarm is the minimum speed threshold that ensures the efficiency of the pulling operation and avoids the wire from piling up and getting tangled due to slow pulling. The maximum safe speed for pulling the guide rope and wire of the drone swarm is the highest speed threshold to prevent excessive traction speed from causing sudden tension changes and affecting the stability of the overhead line; The minimum speed coefficient, The maximum speed coefficient, For the speed parameters of the drone swarm; For wind speed safety constraints, ; The maximum safe wind speed allowed for overhead power line operations is the critical wind speed value that ensures the flight stability of drone swarms and prevents significant wind deflection of the power lines. For wind speed safety factor, This is the maximum design wind speed for the spanning section.

[0070] In step S3, the cooperative control parameters of the UAV swarm are calculated. The relevant expressions are as follows:

[0071] ;

[0072] ;

[0073] ;

[0074] in, The number of drone swarms; For traction speed, For speed coordination coefficient, For the speed parameters of the drone swarm, This is the spacing speed compensation coefficient. Main traction drone and the first The spacing between the auxiliary drones This is the baseline path length for the crossing segment; For heading angle, For heading coordination coefficient, Segment heading angles for the path. This is a wind direction and heading correction factor. This is the angle between the real-time wind direction and the path heading; For flight altitude, For a high degree of synergy, Divide the path into segments of height. The obstacle height safety compensation coefficient, For the first The maximum height of the facilities crossed in the path segment.

[0075] In step S3, the total traction load is calculated. The relevant expressions are as follows:

[0076] ;

[0077] in, Additional factor for conductor connection load. For drone swarm payload parameters, For the quality of the connected conductor segments, It is the acceleration due to gravity. For conductor wind load factor, This refers to the real-time wind speed at the scene. The area of ​​the conductor facing the wind.

[0078] In step S4, the real-time tension monitoring value of the conductor is calculated. The specific formula is as follows:

[0079] ;

[0080] ;

[0081] in, Number the critical nodes of the conductor. The original tension value detected by the tension sensing device. The tension influence coefficient for the drone's velocity and pose. For the drone's towing speed, The data sampling time interval, For the first The speed direction of the drone is related to the first The angle between the tangent directions of the node conductor. The tension influence coefficient for the UAV's heading angle. For the drone's heading angle, This represents the change in the length of the conductor segment caused by the attitude deviation of the UAV. This refers to the number of drone swarms.

[0082] In step S5, the adjustment amount of the traction speed of the UAV swarm is calculated. The relevant expressions are as follows:

[0083] ;

[0084] in, This is the tension deviation speed adjustment coefficient. For the first The target tension at key nodes This represents the real-time tension monitoring value of the conductor. For the speed parameters of the drone swarm, Design the conductor to the maximum tension. This is the wind speed deviation speed adjustment coefficient. This refers to the real-time wind speed at the scene. For reference wind speed, The maximum design wind speed for the crossing section, For speed safety constraint adjustment coefficient, This is the upper limit of the safety constraint for traction speed.

[0085] In step S5, the tension adjustment command value of the tension machine is calculated. The relevant expressions are as follows:

[0086] ;

[0087] in, This is the total traction load tension adjustment coefficient. This is the total traction load. The total mass of the conductor. It is the acceleration due to gravity. This is the real-time temperature tension adjustment coefficient. Real-time conductor temperature on site. This is the reference temperature for conductor tension.

[0088] An interference-free crossing erection system for ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control includes:

[0089] The survey parameter construction module is used to complete the collection of geographic information across the cross section, the setting of the cross benchmark path, and the calculation and generation of the performance parameter set of the UAV swarm through the BIM+GIS joint survey algorithm.

[0090] The safety constraint and guidance module is used to generate safety constraint parameters for the entire overhead line operation process and to simulate the virtual operation process of a drone swarm pulling the guide rope and deploying tension sensing equipment.

[0091] The collaborative load calculation module is used to perform real-time calculations of the collaborative control parameters and total traction load of the UAV swarm.

[0092] The tension monitoring and compensation module is used to interface with virtual tension sensing data and output the real-time tension value of the conductor after compensating for the influence of the UAV's pose.

[0093] The adjustment command generation module is used to combine data such as tension monitoring values ​​and wind speed to generate the adjustment amount of the UAV traction speed and the tension adjustment command of the ground tension machine;

[0094] The closed-loop operation control module is used to receive adjustment instructions and virtually control the operation status of the drone swarm and tensioner, completing the entire closed-loop operation of conductor anchoring, equipment shutdown and drone recovery.

[0095] A storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it implements the above-described virtual method for non-interference crossing and erection of ultra-high voltage conductors based on the coordinated control of UAV traction and dual-line tension.

[0096] The embodiments of the present invention are as follows:

[0097] This embodiment takes a domestic 500kV double-circuit transmission line crossing an eight-lane highway main line and two ramps as an example. The crossing width is 68 meters, the clearance height requirement is 55 meters, the line corridor is only 80 meters, the east side is a steep slope of 35°, and the west side is adjacent to the highway ramp. The erection method of this invention is used to complete the conductor crossing. The specific implementation process is as follows:

[0098] S1. Preliminary Preparations:

[0099] BIM+GIS Joint Survey: Using BIM technology to build a 3D model of the towers and highway facilities across the crossing section, and combining it with the terrain data obtained from GIS, a 75-meter-long guide crossing benchmark path is accurately planned, and key geographical parameters such as the height and heading of each segment within the path are clearly defined. At the same time, the maximum height of the highway facilities is marked as 12 meters.

[0100] Equipment and platform deployment: Protective nets are erected near the towers on both sides of the crossing section, and ground tensioners and cable laying frames are set up. At the same time, a centralized management and control platform is deployed to realize unified scheduling and data monitoring of the drone swarm and tensioners.

[0101] S2. Setting parameters and operational constraints for drone swarms:

[0102] Constructing a performance parameter set for the UAV swarm: This project adopts a 1+2 architecture UAV swarm (1 main tractor UAV and 2 auxiliary UAVs). Known parameters: Baseline path length of the crossing segment. Mass per unit length of guide rope Gravitational acceleration Load safety factor Wind speed load influence coefficient Maximum design wind speed of the crossing section The windward area of ​​the drone Speed ​​matching coefficient Baseline time threshold for overhead line operation Battery life redundancy factor The impact coefficient of load on range UAV rated payload .

[0103] Load parameters: (Equivalent load approximately 14 kg)

[0104] Speed ​​parameters:

[0105] Battery life parameters: (Approximately 10.1 minutes)

[0106] Set operational constraints: The rated design tension of the conductor is known. Minimum tension safety factor Maximum tension safety factor Minimum speed coefficient Maximum speed coefficient Wind speed safety factor Tension safety constraints: ; ,Right now Traction speed safety constraints: ; ,Right now Wind speed safety constraints: Guide rope traction and sensor deployment: A swarm of drones carrying guide ropes takes off from one side of the tower, flies along the planned path to the opposite side of the tower, and after the guide ropes are manually attached, tension sensing equipment is installed at the attachment point.

[0107] S3. Calculation of Coordination Parameters and Total Traction Load:

[0108] Calculate the cluster cooperative control parameters: given the speed cooperative coefficient. Spacing speed compensation coefficient The distance between the main traction drone and the two auxiliary drones , ; Heading Coordination Coefficient Path segment heading angle Wind direction and heading correction factor Real-time wind direction and path heading angle High degree of synergy Path segment height Obstacle height safety compensation coefficient Maximum height of the facility being crossed .

[0109] Traction speed: Assisted drone 1: ;Auxiliary drone 2: Main traction UAV ( ): Heading angle: Flight altitude:

[0110] Calculate the total traction load: Given the additional coefficient for conductor butt load. The quality of the connected conductor segments Conductor wind load factor Real-time wind speed at the scene Windward area of ​​the conductor .

[0111] S4. Real-time tension monitoring:

[0112] During the operation, the tension sensing device detected the original tension value at the critical node j of the conductor. The known influence coefficients of UAV velocity, attitude, and tension. Data sampling time interval The angle between the drone's velocity direction and the tangent direction of the conductor UAV heading angular tension influence coefficient The change in the length of the conductor segment caused by the attitude deviation of the UAV .

[0113] Calculate the tension compensation value affected by pose:

[0114] First, calculate the speed-related compensation terms: The compensation value is ;

[0115] Heading angle related compensation items: (Angle to radian, 25.5° ≈ 0.445 rad), that is ;

[0116] Total compensation value (Because the pose offset is small, the compensation value can be ignored; in actual engineering, accuracy needs to be preserved.)

[0117] Real-time tension monitoring values: , in Safe tension range.

[0118] S5. Adjustment command generation:

[0119] Calculation of UAV traction speed adjustment: Given the tension deviation speed adjustment coefficient Key node target tension Maximum tension of conductor design Wind speed deviation speed adjustment coefficient Reference wind speed Speed ​​safety constraint adjustment coefficient Taking the main-traction drone as an example, its current speed Substitute into the formula:

[0120] Calculate each item separately: Tension deviation item: Wind speed deviation term: Speed ​​constraint: Total adjustment: After adjustment, the speed of the main traction drone is approximately It is still within the safe speed range.

[0121] Calculation of tension adjustment command value for tension machine: Given the total traction load tension adjustment coefficient Total mass of conductor Real-time temperature tension adjustment coefficient Real-time conductor temperature at the site Wire tension reference temperature . This means that an adjustment command of 539.7N to increase the tension needs to be issued to the ground tensioner.

[0122] S6. Closed-loop management of operations:

[0123] According to the generated adjustment instructions, the drone swarm fine-tuned the traction speed, the ground tensioner increased the corresponding tension, and the conductor tension was kept stable within the target range throughout the process, while the drone flight altitude was maintained at 67.2m, meeting the 55-meter clearance requirement.

[0124] After the conductor was pulled to the designated tower, the conductor was manually anchored. Then, the ground tensioner, cable laying frame and other equipment were shut down, and the drone swarm was retrieved, completing the interference-free crossing of the ultra-high voltage conductor. After testing, the conductor did not come into contact with the high-speed facilities, and the tension and clearance height met the engineering standards.

Claims

1. A method for interference-free crossing and erection of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control, implemented using a UAV swarm satisfying a 1+N architecture, comprising one main traction UAV and multiple auxiliary UAVs, characterized in that... Includes the following steps: S1: Conduct BIM+GIS joint survey of the crossing section area, set the crossing path of the conductor, set up protective nets, tension machines, and cable laying frames in the crossing section area, and deploy a centralized management and control platform. S2: Construct a set of performance parameters for the drone swarm, set operational constraints, and have the drone swarm take off from one tower with a guide rope. Based on the cross-path flight, the guide rope is pulled to the other tower, and then manually attached. Tension sensing devices are installed at the attachment points. S3: The guide rope is rigidly connected to the wire, and the UAV swarm continues to pull the guide rope. At the same time, the coordinated control parameters and traction load of the UAV swarm are calculated in real time by combining the performance parameter set of the UAV swarm. S4: Synchronously start the tension machine to lay out the wire, detect the original tension value of the key nodes of the conductor through the tension sensing device, and calculate the real-time tension monitoring value of the conductor by combining the collaborative control parameters to compensate for the influence of posture. S5: Based on the real-time tension monitoring value of the conductor and operational constraints, combined with on-site wind speed data, calculate the traction speed adjustment amount of the UAV swarm; combine the total traction load to calculate the tension adjustment command value of the ground tension machine, and dynamically output the traction speed adjustment amount and tension adjustment command value; S6: Adjust the speed of the drone swarm according to the output traction speed, and at the same time input the tension adjustment command value into the ground tension machine. After the conductor is pulled to the designated tower, the conductor is manually anchored. Then the equipment stops, the drone swarm is retrieved, and the crossing is completed.

2. The method for interference-free crossing and erection of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control as described in claim 1, characterized in that, In step S2, the performance parameter set of the UAV swarm The relevant expressions are as follows: ; ； ； in, For load parameters, The baseline path length for the crossing section is obtained from the geographic data of the crossing section obtained through joint BIM+GIS survey. The mass per unit length of the guide rope, It is the acceleration due to gravity. For the load safety factor, The wind speed load influence coefficient is... The maximum design wind speed for the crossing section, This refers to the windward area of ​​the drone; For speed parameters, For speed matching coefficient, This serves as the reference time threshold for overhead line operation paths. For battery life parameters, This is the range redundancy factor. The load factor is the coefficient that affects the driving range. The rated payload for the drone.

3. The method for interference-free crossing and erection of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control as described in claim 1, characterized in that, In step S2, the job constraints are set, and the relevant expressions are as follows: ； in, For tension safety constraints, , ; The minimum safe tension during the conductor stringing process is the lowest tension threshold that ensures the conductor does not become excessively slack and avoids contact with the facilities being crossed. The maximum safe tension during the wire stringing process is the highest tension threshold that prevents the wire from undergoing plastic deformation or even breaking due to excessive tension. For the minimum tension safety factor, For the maximum tension safety factor, The rated design tension of the conductor; For traction speed safety constraints, , ; The minimum safe speed for pulling the guide rope and wire of the drone swarm is the minimum speed threshold that ensures the efficiency of the pulling operation and avoids the accumulation and tangling of the wire due to slow pulling. The maximum safe speed for pulling the guide rope and wire of the drone swarm is the highest speed threshold to prevent excessive traction speed from causing sudden tension changes and affecting the stability of the overhead line; The minimum speed coefficient, The maximum speed coefficient, For the speed parameters of the drone swarm; For wind speed safety constraints, ; The maximum safe wind speed allowed for overhead power line operations is the critical wind speed value that ensures the flight stability of drone swarms and prevents significant wind deflection of the power lines. For wind speed safety factor, This is the maximum design wind speed for the spanning section.

4. The method for interference-free crossing and erection of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control as described in claim 1, characterized in that, In step S3, the cooperative control parameters of the UAV swarm are calculated. The relevant expressions are as follows: ； ； ； in, The number of drone swarms; For traction speed, For speed coordination coefficient, For the speed parameters of the drone swarm, This is the spacing speed compensation coefficient. Main traction drone and the first The spacing between the auxiliary drones This is the baseline path length for the crossing segment; For heading angle, For heading coordination coefficient, Segment heading angles for the path. This is a wind direction and heading correction factor. This is the angle between the real-time wind direction and the path heading; For flight altitude, For a high degree of synergy, Divide the path into segments of height. The obstacle height safety compensation coefficient, For the first The maximum height of the facilities crossed in the path segment.

5. The method for interference-free crossing and erection of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control as described in claim 1, characterized in that, In step S3, the total traction load is calculated. The relevant expressions are as follows: ； in, Additional coefficient for conductor connection load. For the payload parameters of the drone swarm, For the quality of the connected conductor segments, It is the acceleration due to gravity. For conductor wind load factor, This refers to the real-time wind speed at the scene. The area of ​​the conductor facing the wind.

6. The method for interference-free crossing and erection of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control as described in claim 1, characterized in that, In step S4, the real-time tension monitoring value of the conductor is calculated. The specific formula is as follows: ； ； in, Number the critical nodes of the conductor. The original tension value detected by the tension sensing device. The tension influence coefficient for the drone's velocity and pose. For the drone's towing speed, The data sampling time interval, For the first The speed direction of the drone is related to the first The angle between the tangents of the nodal conductors. The tension influence coefficient for the UAV's heading angle. For the drone's heading angle, This represents the change in the length of the conductor segment caused by the attitude deviation of the UAV. This refers to the number of drone swarms.

7. The method for interference-free crossing and erection of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control as described in claim 1, characterized in that, In step S5, the adjustment amount of the traction speed of the UAV swarm is calculated. The relevant expressions are as follows: ； in, This is the tension deviation speed adjustment coefficient. For the first The target tension at key nodes This represents the real-time tension monitoring value of the conductor. For the speed parameters of the drone swarm, Design the conductor to the maximum tension. This is the wind speed deviation speed adjustment coefficient. This refers to the real-time wind speed at the scene. For reference wind speed, The maximum design wind speed for the crossing section, For speed safety constraint adjustment coefficient, This is the upper limit of the safety constraint for traction speed.

8. The method for interference-free crossing and erection of ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control as described in claim 1, characterized in that, In step S5, the tension adjustment command value of the tension machine is calculated. The relevant expressions are as follows: ； in, This is the total traction load tension adjustment coefficient. This is the total traction load. The total mass of the conductor. It is the acceleration due to gravity. This is the real-time temperature tension adjustment coefficient. Real-time conductor temperature on site. This is the reference temperature for conductor tension.

9. A non-interference crossing erection system for ultra-high voltage conductors based on UAV traction and dual-line tension coordinated control, characterized in that, include: The survey parameter construction module is used to complete the collection of geographic information across the cross section, the setting of the cross benchmark path, and the calculation and generation of the performance parameter set of the UAV swarm through the BIM+GIS joint survey algorithm. The safety constraint and guidance module is used to generate safety constraint parameters for the entire overhead line operation process and to simulate the virtual operation process of a drone swarm pulling the guide rope and deploying tension sensing equipment. The collaborative load calculation module is used to perform real-time calculations of the collaborative control parameters and total traction load of the UAV swarm. The tension monitoring and compensation module is used to interface with virtual tension sensing data and output the real-time tension value of the conductor after compensating for the influence of the UAV's pose. The adjustment command generation module is used to combine data such as tension monitoring values ​​and wind speed to generate the adjustment amount of the UAV traction speed and the tension adjustment command of the ground tension machine; The closed-loop operation control module is used to receive adjustment instructions and virtually control the operation status of the drone swarm and tensioner, completing the entire closed-loop operation of conductor anchoring, equipment shutdown and drone recovery.

10. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements a virtual method for non-interference crossing and erection of ultra-high voltage conductors based on the coordinated control of UAV traction and dual-line tension as described in any one of claims 1-9.

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