A Method and System for Predicting Spatial Coordinates of Sag Impact Points Based on Ground Line Point Clouds

Abstract

This invention provides a method and system for predicting the spatial coordinates of a sag impact point based on ground wire point clouds, belonging to the field of ground wire sag measurement technology. The method includes: obtaining the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state based on the coordinates of the high suspension point, the ground wire at 1 / 4 of its length near the high suspension point, and the lower suspension point; obtaining the horizontal stress and specific load of the ground wire under icing conditions based on the specific load and initial horizontal stress of the ground wire in the initial state; obtaining the sag value of the impact point under icing conditions based on the horizontal stress and specific load of the ground wire under icing conditions and the vertical plane coordinates of the ground wire at 1 / 4 of its length near the high suspension point; and obtaining the spatial coordinates of the impact point under icing conditions based on the sag value. This method and system predict the sag of the ground wire to be impacted after icing and can output the predicted coordinates of the impact point under actual tower span conditions.

Description

Technical Field

[0001] This invention relates to the field of ground wire sag measurement technology, and more specifically to a method and system for predicting the spatial coordinates of sag impact points based on ground wire point clouds. Background Technology

[0002] Due to icing on the ground wire, the line experiences an additional icing load on top of its own weight, causing it to sag. If a drone is used for de-icing the ground wire under these conditions, problems arise such as difficulty in making contact with the line or an unsafe collision point leading to the rigging becoming entangled with the ground wire. Furthermore, in foggy or snowy weather, the visibility of overhead lines is low, making it difficult to directly observe the precise location of the ground wire. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for predicting the spatial coordinates of sag impact points based on ground wire point clouds. This method and system predicts the sag of the ground wire to be impacted after it is covered with ice, and can output the predicted coordinates of the impact point under actual tower span conditions, providing a quantitative basis for the selection of de-icing operation points and the assessment of safe distances.

[0004] To achieve the above objectives, embodiments of the present invention provide a method for predicting the spatial coordinates of an arc-shaped impact point based on a ground point cloud, comprising: A plane rectangular coordinate system is established based on the equation of the parabolic suspension curve, with the high suspension point of the line as the origin. By processing the ground wire point cloud data, the vertical plane coordinates of the ground wire at 1 / 4 of the distance from the high suspension point and the vertical plane coordinates of the lower suspension point are extracted. The specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state are obtained based on the coordinates of the high suspension point, the ground wire 1 / 4 point near the high suspension point, and the lower suspension point. The horizontal stress and specific load of the ground wire under icing conditions are obtained based on the specific load acting on the power line and the initial horizontal stress of the ground wire under the initial state. Based on the horizontal stress under icing conditions, the specific load of the ground wire, and the vertical plane coordinates of the ground wire at 1 / 4 of the distance from the high suspension point, the sag value of the sag impact point under icing conditions is obtained. The spatial coordinates of the sag striking point under icy conditions are obtained based on the sag value.

[0005] Optionally, the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state are obtained based on the coordinates of the high suspension point, the ground wire at 1 / 4 of its length near the high suspension point, and the lower suspension point, including: The value of the elevation difference angle is obtained according to formula (1). (1) in, The initial elevation difference angle value. The z-axis coordinate of the lower suspension point. The span of the tower; The equation of the oblique parabola suspension curve in formula (2) is transformed into the equation of the parabola in formula (3). (2) (3) in, is the vertical coordinate of the line. The x-axis coordinate of the line is... The specific load acting on the power line, The initial horizontal stress of the ground wire, The coefficient of the quadratic term in the equation of the parabola. The coefficient of the linear term, For constant terms; Substitute the coordinates of the high suspension point, the 1 / 4 point of the ground line near the high suspension point, and the lower suspension point into the parabola equation, and obtain the equation (4) using Gaussian elimination. The value, , in, The x-axis coordinate of the high suspension point. The z-axis coordinate of the high suspension point. This represents the x-axis coordinate value at 1 / 4 of the distance from the ground line on the side closest to the high suspension point. This represents the z-axis coordinate value at 1 / 4 of the distance from the ground line on the side closest to the high suspension point. The x-axis coordinate value of the lower suspension point. This represents the z-axis coordinate of the lower suspension point.

[0006] Optionally, the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state are obtained based on the coordinates of the high suspension point, the ground wire at 1 / 4 of its length near the high suspension point, and the lower suspension point, including: The specific load acting on the power line in the initial state is the specific load of the ground wire's self-weight. The specific load of the ground wire's self-weight is obtained according to formula (5). (MPa / m), (5) in, The specific load is the weight of the ground wire itself. The mass per unit length of the ground wire, The cross-sectional area of ​​the ground wire; The initial horizontal stress of the ground wire is obtained according to formula (6). (MPa), (6) in, This represents the initial horizontal stress of the ground wire.

[0007] Optionally, the horizontal stress and specific load of the ground wire under icing conditions are obtained based on the specific load acting on the power line and the initial horizontal stress of the ground wire under the initial state, including: The specific load of the ground wire under icing conditions is obtained according to formula (7). (MPa / m), (7) in, The specific load of the ground wire under icing conditions. For ice thickness, This is the outer diameter of the ground wire.

[0008] Optionally, the horizontal stress and specific load of the ground wire under icing conditions are obtained based on the specific load acting on the power line and the initial horizontal stress of the ground wire under the initial state, including: The horizontal stress of the ground wire under icing conditions is obtained according to formula (8). (8) in, The coefficient of thermal expansion of the ground wire. The temperature of the ground wire under icing conditions. The initial temperature of the ground wire. The elastic coefficient of the ground wire. This represents the horizontal stress on the ground wire under icing conditions.

[0009] Optionally, based on the horizontal stress under icing conditions, the specific load of the ground wire, and the vertical plane coordinates at 1 / 4 of the ground wire near the high suspension point, the sag value of the impact point under icing conditions is obtained, including: The sag value of the striking point under icy conditions is obtained according to formula (9). (9) in, This represents the sag value at the impact point under icy conditions. The x-axis coordinate for selecting the location of the tapping point.

[0010] Optionally, obtaining the spatial coordinates of the sag striking point under icy conditions based on the sag value includes: With the suspension points at the same height, a Cartesian coordinate system is established with any suspension point as the origin. The z-axis coordinate of the sag striking point under icy conditions is obtained according to formula (10). (10) in, The z-axis coordinate of the sag impact point under icy conditions.

[0011] Optionally, obtaining the spatial coordinates of the sag striking point under icy conditions based on the sag value includes: When the suspension points are at different heights, a Cartesian coordinate system is established with the highest suspension point as the origin. The z-axis coordinate of the sag striking point under icy conditions is obtained according to formula (11). , (11).

[0012] On the other hand, the present invention also provides a sag impact point spatial coordinate prediction system based on ground point cloud, the sag impact point spatial coordinate prediction system including a processor for executing the sag impact point spatial coordinate prediction method as described above.

[0013] Through the above technical solution, the purpose of this invention is to provide a method and system for predicting the spatial coordinates of sag impact points based on ground wire point clouds. A Cartesian coordinate system is established based on the equation of the parabolic suspension curve, with the high suspension point of the line as the origin. By processing the ground wire point cloud data, the vertical plane coordinates of the ground wire at the 1 / 4 point near the high suspension point and the vertical plane coordinates of the lower suspension point are extracted. Based on the coordinates of the high suspension point, the ground wire at the 1 / 4 point near the high suspension point, and the lower suspension point, the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state are obtained. Based on the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state, the horizontal stress and specific load of the ground wire in the icing state are obtained. Based on the horizontal stress and specific load of the ground wire in the icing state, and the vertical plane coordinates of the ground wire at the 1 / 4 point near the high suspension point, the sag value of the sag impact point in the icing state is obtained. Based on the sag value, the spatial coordinates of the sag impact point in the icing state are obtained. The method and system for predicting the spatial coordinates of the sag impact point can predict the sag of the ground wire to be impacted after it is covered with ice. It can output the predicted coordinates of the impact point under the actual tower span conditions, providing a quantitative basis for the selection of de-icing operation points and the assessment of safe distances.

[0014] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a method for predicting the spatial coordinates of an arc-shaped impact point based on ground point cloud, according to one embodiment of the present invention. Figure 2 This is a schematic diagram of a catenary for an overhead line with unequal suspension points according to one embodiment of the present invention. Figure 3 This is a flowchart of an embodiment of the present invention for obtaining the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state. Figure 4 This is a flowchart of obtaining the horizontal stress and specific load of the ground wire under icing conditions according to one embodiment of the present invention. Figure 5 This is a flowchart of an embodiment of the present invention for obtaining the spatial coordinates of an arc-shaped striking point under icy conditions. Figure 6 This is a schematic diagram showing the comparison of the predicted position before and after one embodiment of the present invention. Detailed Implementation

[0016] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0017] In the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, they do not mean that the applicant has used or necessarily used the solution.

[0018] like Figure 1 The diagram shows a flowchart of a method for predicting the spatial coordinates of an arc-shaped impact point based on a ground point cloud, according to one embodiment of the present invention. Figure 2 The diagram shown is a schematic diagram of a catenary for an overhead line with unequal suspension points according to an embodiment of the present invention. Figure 1 In this context, the method for predicting the spatial coordinates of the sag impact point may include: In step S1, a plane rectangular coordinate system is established based on the equation of the oblique parabola suspension curve, with the high suspension point of the line as the origin of the coordinate system; In step S2, by processing the ground wire point cloud data, the vertical plane coordinates of the ground wire at 1 / 4 of the distance from the high suspension point and the vertical plane coordinates of the lower suspension point are extracted. In step S3, the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state are obtained based on the coordinates of the high suspension point, the ground wire 1 / 4 point near the high suspension point, and the lower suspension point. In step S4, the horizontal stress and specific load of the ground wire under icing conditions are obtained based on the specific load acting on the power line and the initial horizontal stress of the ground wire under the initial state. In step S5, the sag value of the sag impact point under icy conditions is obtained based on the horizontal stress under icy conditions, the specific load of the ground wire, and the vertical plane coordinates of the ground wire at 1 / 4 of the distance from the high suspension point. In step S6, the spatial coordinates of the sag striking point under the icy condition are obtained based on the sag value.

[0019] In Figure 1 The method shown can output the predicted coordinates of the striking point by predicting the sag of the ground wire after it is covered with ice, under the actual tower span conditions, thus providing a quantitative basis for the selection of de-icing operation points and the assessment of safe distances.

[0020] In existing technologies, there are two main models for transmission lines: the parabolic model and the catenary model. The catenary model, assuming a uniform distribution of the overhead line length relative to the load along the line, exhibits characteristics of a catenary in its formulas regarding sag and stress, and can be used as follows: Figure 2 As shown. The ground wire point cloud processing module can obtain the curve equation of the actual line. By comparing the coefficients with the catenary equation, the initial horizontal stress of the ground wire can be calculated. Then, substituting this into the state equation of the transmission line, the stress after icing is calculated. Finally, the sag at any point is obtained using the catenary sag equation. In engineering practice, the length of the overhead line and the span length are very close, with the former being about a few thousandths longer than the latter. Therefore, assuming that the specific load of the overhead line is uniformly distributed along the span length will not produce large errors. The parabolic formula can also be used to calculate the ground wire stress and sag. With changes in span length and the elevation difference coefficient in windless conditions, when the span length is 200, changing the elevation difference coefficient yields consistent stress values ​​from both the catenary and parabolic state equations. As the span length increases, slight differences occur in the calculated results under large elevation difference coefficients, but the errors are all within 0.1. Compared to the catenary model, the parabolic model not only meets the accuracy requirements but also improves computational efficiency. Therefore, this scheme adopts the oblique parabola model.

[0021] In Figure 1In the method shown, step S1 can be used to establish a Cartesian coordinate system based on the equation of the parabolic suspension curve, with the high suspension point of the line as the origin. During de-icing operations, the de-icing process of the ground wire should be made as uniform as possible to avoid excessive jumps in the conductor due to de-icing in a particular section. Furthermore, when a drone carrying a de-icing rod strikes the conductor, to ensure safety and de-icing effectiveness, the striking should be performed near the tower to reduce the risk of jumping during de-icing. Therefore, based on practical experience and theoretical analysis, we select the 1 / 4 mark of the ground wire (on the side of the higher tower). Step S2 can be used to process the ground wire point cloud data to extract the vertical plane coordinates of the 1 / 4 mark of the ground wire near the high suspension point and the vertical plane coordinates of the lower suspension point. Step S3 can be used to obtain the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state based on the coordinates of the high suspension point, the 1 / 4 mark of the ground wire near the high suspension point, and the lower suspension point. The specific methods for obtaining the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state can be of various forms known to those skilled in the art. In one example of the present invention, a method for obtaining the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state may include, as follows: Figure 3 The steps are shown. Specifically: In step S11, the value of the elevation difference angle is obtained according to formula (1). (1) in, The initial elevation difference angle value. The z-axis coordinate of the lower suspension point. The span of the tower; In step S12, the equation of the oblique parabola suspension curve in formula (2) is transformed into the equation of the parabola in formula (3). (2) (3) in, is the vertical coordinate of the line. The x-axis coordinate of the line is... The specific load acting on the power line, The initial horizontal stress of the ground wire, The coefficient of the quadratic term in the equation of the parabola. The coefficient of the linear term, For constant terms; In step S13, the coordinates of the high suspension point, the 1 / 4 point of the ground line near the high suspension point, and the lower suspension point are substituted into the parabola equation, and the equation (4) is obtained by Gaussian elimination. The value, , in, The x-axis coordinate of the high suspension point. The z-axis coordinate of the high suspension point. This represents the x-axis coordinate value at 1 / 4 of the distance from the ground line on the side closest to the high suspension point. This represents the z-axis coordinate value at 1 / 4 of the distance from the ground line on the side closest to the high suspension point. The x-axis coordinate value of the lower suspension point. This represents the z-axis coordinate of the lower suspension point.

[0022] In step S14, the specific load acting on the power line in the initial state is the specific load of the ground wire's self-weight. The specific load of the ground wire's self-weight is obtained according to formula (5). (MPa / m), (5) in, The specific load is the weight of the ground wire itself. The mass per unit length of the ground wire, The cross-sectional area of ​​the ground wire; In step S15, the initial horizontal stress of the ground wire is obtained according to formula (6). (MPa), (6) in, This represents the initial horizontal stress of the ground wire.

[0023] Step S4 can be used to obtain the horizontal stress and specific load of the ground wire under icing conditions based on the specific load acting on the power line and the initial horizontal stress of the ground wire under the initial state. The specific method for obtaining the horizontal stress and specific load of the ground wire under icing conditions can be of various forms known to those skilled in the art. In one example of the present invention, the method for obtaining the horizontal stress and specific load of the ground wire under icing conditions may include, for example... Figure 4 The steps are shown. Specifically: In step S21, the specific load of the ground wire under icing conditions is obtained according to formula (7). (MPa / m), (7) in, The specific load of the ground wire under icing conditions. For ice thickness, This is the outer diameter of the ground wire.

[0024] In step S22, the horizontal stress of the ground wire under icing conditions is obtained according to formula (8). (8) in, The coefficient of thermal expansion of the ground wire. The temperature of the ground wire under icing conditions. The initial temperature of the ground wire. The elastic coefficient of the ground wire. This represents the horizontal stress on the ground wire under icing conditions.

[0025] In Figure 4 In the method shown, step S21 can be used to obtain the specific load of the ground wire under icing conditions according to formula (7). The outer diameter of the ground wire is determined according to the ground wire model. Regarding icing thickness, according to the "Design Code for 110kV 750kV Overhead Transmission Lines" (GB 50545-2010), the icing thickness in light icing areas should be designed as 5 mm or 10 mm, and the icing thickness in medium icing areas should be designed as 15 mm or 20 mm. Step S22 can be used to obtain the horizontal stress of the ground wire under icing conditions according to formula (8). From the transmission line state equation in formula (8), we need to obtain the relevant physical parameters. The temperature of the ground wire under icing conditions. The initial temperature of the ground wire can be determined by querying the temperature range for the day based on the time the ground wire point cloud data was read, and then taking the median value. For the temperature during icing conditions, the temperature value at the time of drone operation can be used. The span of the tower can be obtained by subtracting the x-coordinate of the higher suspension point from the x-coordinate of the lower suspension point in the coordinate system. Equation (8) can be transformed to obtain equation (12). (12) Because in formula (12) besides the horizontal stress of the ground wire under icing conditions... Since all other parameters are known, formula (12) can be considered as a function of... The cubic equation in one variable is simplified to formula (13). (13) = , =- , Using Cardano's formula, this cubic equation is transformed into the standard form of formula (14). (14) In this equation, , ,so , calculate and : , get .

[0026] Step S5 can be used to obtain the sag value of the sag impact point under icy conditions based on the horizontal stress under icy conditions, the specific load of the ground wire, and the vertical plane coordinates at 1 / 4 of the ground wire near the high suspension point. The specific method for obtaining the sag value of the sag impact point under icy conditions can be of various forms known to those skilled in the art. In one example of the present invention, the sag value of the sag impact point under icy conditions can be obtained according to formula (9). (9) in, This represents the sag value at the impact point under icy conditions. The x-axis coordinate for selecting the location of the tapping point.

[0027] Step S6 can be used to obtain the spatial coordinates of the sag striking point under icy conditions based on the sag value. The specific method for obtaining the spatial coordinates of the sag striking point under icy conditions can be of various forms known to those skilled in the art. In one example of the present invention, the method for obtaining the spatial coordinates of the sag striking point under icy conditions may include, for example... Figure 5 The steps are shown. Let the spatial coordinates of the sag striking point be ( , , ),for The calculation will be discussed in two cases below, specifically: In step S31, with the suspension points at the same height, a Cartesian coordinate system is established with any suspension point as the origin. The z-axis coordinate of the sag striking point under icy conditions is obtained according to formula (10). (10) in, The z-axis coordinate of the sag impact point under icy conditions.

[0028] In step S32, when the suspension points are not at equal heights, a Cartesian coordinate system is established with the highest suspension point as the origin. The z-axis coordinate of the sag striking point under icy conditions is obtained according to formula (11). , (11).

[0029] The default horizontal position remains unchanged, and the other two coordinates of the sag tapping point are consistent with the 1 / 4 mark of the ground line. = , = This allows us to obtain the spatial coordinates of the sag striking point.

[0030] In one embodiment of the present invention, taking a power transmission and transformation tower as an example, the point cloud is extracted and constructed through module 1. The two-dimensional coordinates of the midpoint of a ground wire line are selected as (21.85, -2.10), and the coordinates of the low suspension point are (43.70, -1.58), indicating that the span of the ground wire is 43.7 meters.

[0031] The grounding wire selected for testing was GJ-80, and its corresponding physical parameters are shown in Table 1. The meteorological data during the test are shown in Table 2.

[0032] Table 1 Physical parameters of GJ-80 type ground wire

[0033] Table 2 Test meteorological data

[0034] Based on the above data, mechanical calculations were performed to obtain the values ​​of specific load and horizontal stress before and after icing.

[0035] Self-weight load The value is: 7.801e-02 MPa / m; After icing, it is always more than a load The value is: 7.801e-02 MPa / m; Initial horizontal stress The value is: 14.201 MPa; Horizontal stress after icing The value is 14.303 MPa.

[0036] Since the ice thickness is 0, the specific load remains unchanged before and after icing; the temperature rises from 20℃ to 23℃, resulting in an increase of 0.102 MPa in horizontal stress.

[0037] Based on the horizontal stress calculation after icing, the predicted sag value fz is 1.303 m, with two-dimensional coordinates of (21.85, -2.09). Comparison with the original location is as follows: Figure 6 As shown. Since the ice thickness was 0, and only the temperature changed by 3℃, the predicted location did not change significantly. Converting the 2D coordinates of the predicted location to UTM coordinates, the coordinates of the impact point M1 were obtained as (523096.5689833768, 3511407.589850886, 54.548948867253706). Comparing these coordinates with the original coordinates before prediction, only the altitude changed. This comparison with the actual values ​​demonstrates the effectiveness of the algorithm.

[0038] On the other hand, the present invention also provides a sag impact point spatial coordinate prediction system based on ground point cloud, the sag impact point spatial coordinate prediction system including a processor for executing the sag impact point spatial coordinate prediction method as described above.

[0039] Through the above technical solution, the purpose of this invention is to provide a method and system for predicting the spatial coordinates of sag impact points based on ground wire point clouds. A Cartesian coordinate system is established based on the equation of the parabolic suspension curve, with the high suspension point of the line as the origin. By processing the ground wire point cloud data, the vertical plane coordinates of the ground wire at the 1 / 4 point near the high suspension point and the vertical plane coordinates of the lower suspension point are extracted. Based on the coordinates of the high suspension point, the ground wire at the 1 / 4 point near the high suspension point, and the lower suspension point, the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state are obtained. Based on the specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state, the horizontal stress and specific load of the ground wire in the icing state are obtained. Based on the horizontal stress and specific load of the ground wire in the icing state, and the vertical plane coordinates of the ground wire at the 1 / 4 point near the high suspension point, the sag value of the sag impact point in the icing state is obtained. Based on the sag value, the spatial coordinates of the sag impact point in the icing state are obtained. The method and system for predicting the spatial coordinates of the sag impact point can predict the sag of the ground wire to be impacted after it is covered with ice. It can output the predicted coordinates of the impact point under the actual tower span conditions, providing a quantitative basis for the selection of de-icing operation points and the assessment of safe distances.

[0040] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0041] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0042] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0043] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0044] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0045] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0046] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0047] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0048] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for predicting the spatial coordinates of an arc-shaped impact point based on ground line point clouds, characterized in that, The method for predicting the spatial coordinates of the sag impact point includes: A plane rectangular coordinate system is established based on the equation of the parabolic suspension curve, with the high suspension point of the line as the origin. By processing the ground wire point cloud data, the vertical plane coordinates of the ground wire at 1 / 4 of the distance from the high suspension point and the vertical plane coordinates of the lower suspension point are extracted. The specific load acting on the power line and the initial horizontal stress of the ground wire in the initial state are obtained based on the coordinates of the high suspension point, the ground wire 1 / 4 point near the high suspension point, and the lower suspension point. The horizontal stress and specific load of the ground wire under icing conditions are obtained based on the specific load acting on the power line and the initial horizontal stress of the ground wire under the initial state. Based on the horizontal stress under icing conditions, the specific load of the ground wire, and the vertical plane coordinates of the ground wire at 1 / 4 of the distance from the high suspension point, the sag value of the sag impact point under icing conditions is obtained. The spatial coordinates of the sag striking point under icy conditions are obtained based on the sag value.

2. The method for predicting the spatial coordinates of a sag striking point according to claim 1, characterized in that, The initial load on the power line and the initial horizontal stress on the ground wire are obtained based on the coordinates of the high suspension point, the ground wire at 1 / 4 of its length near the high suspension point, and the lower suspension point, including: The value of the elevation difference angle is obtained according to formula (1). ，（1） in, The initial elevation difference angle value. The z-axis coordinate of the lower suspension point. The span of the tower; The equation of the oblique parabola suspension curve in formula (2) is transformed into the equation of the parabola in formula (3). ，（2） ，（3） in, is the vertical coordinate of the line. The x-axis coordinate of the line is... The specific load acting on the power line, The initial horizontal stress of the ground wire, The coefficient of the quadratic term in the equation of the parabola. The coefficient of the linear term, For constant terms; Substitute the coordinates of the high suspension point, the 1 / 4 point of the ground line near the high suspension point, and the lower suspension point into the parabola equation, and obtain the equation (4) using Gaussian elimination. The value, ， in, The x-axis coordinate of the high suspension point. The z-axis coordinate of the high suspension point. This represents the x-axis coordinate value at 1 / 4 of the distance from the ground line on the side closest to the high suspension point. This represents the z-axis coordinate value at 1 / 4 of the distance from the ground line on the side closest to the high suspension point. The x-axis coordinate value of the lower suspension point. This represents the z-axis coordinate of the lower suspension point.

3. The method for predicting the spatial coordinates of an arc-shaped striking point according to claim 2, characterized in that, The initial load on the power line and the initial horizontal stress on the ground wire are obtained based on the coordinates of the high suspension point, the ground wire at 1 / 4 of its length near the high suspension point, and the lower suspension point, including: The specific load acting on the power line in the initial state is the specific load of the ground wire's self-weight. The specific load of the ground wire's self-weight is obtained according to formula (5). (Mpa / m),(5) in, The specific load is the weight of the ground wire itself. The mass per unit length of the ground wire, The cross-sectional area of ​​the ground wire; The initial horizontal stress of the ground wire is obtained according to formula (6). (Mpa),(6) in, This represents the initial horizontal stress of the ground wire.

4. The method for predicting the spatial coordinates of an arc-shaped striking point according to claim 3, characterized in that, The horizontal stress and specific load of the ground wire under icing conditions are obtained based on the specific load acting on the power line and the initial horizontal stress of the ground wire under the initial state, including: The specific load of the ground wire under icing conditions is obtained according to formula (7). (Mpa / m),(7) in, The specific load of the ground wire under icing conditions. For ice thickness, This is the outer diameter of the ground wire.

5. The method for predicting the spatial coordinates of an arc-shaped striking point according to claim 4, characterized in that, The horizontal stress and specific load of the ground wire under icing conditions are obtained based on the specific load acting on the power line and the initial horizontal stress of the ground wire under the initial state, including: The horizontal stress of the ground wire under icing conditions is obtained according to formula (8). ，（8） in, The coefficient of thermal expansion of the ground wire. The temperature of the ground wire under icing conditions. The initial temperature of the ground wire. The elastic coefficient of the ground wire. This represents the horizontal stress on the ground wire under icing conditions.

6. The method for predicting the spatial coordinates of an arc-shaped striking point according to claim 5, characterized in that, Based on the horizontal stress under icing conditions, the specific load of the ground wire, and the vertical plane coordinates at 1 / 4 of the ground wire near the high suspension point, the sag value of the impact point under icing conditions is obtained, including: The sag value of the striking point under icy conditions is obtained according to formula (9). ，（9） in, This represents the sag value at the impact point under icy conditions. The x-axis coordinate for selecting the location of the tapping point.

7. The method for predicting the spatial coordinates of a sag striking point according to claim 6, characterized in that, The spatial coordinates of the sag striking point under icy conditions are obtained based on the sag value, including: With the suspension points at the same height, a Cartesian coordinate system is established with any suspension point as the origin. The z-axis coordinate of the sag striking point under icy conditions is obtained according to formula (10). ，（10） in, The z-axis coordinate of the sag impact point under icy conditions.

8. The method for predicting the spatial coordinates of a sag striking point according to claim 6, characterized in that, The spatial coordinates of the sag striking point under icy conditions are obtained based on the sag value, including: When the suspension points are at different heights, a Cartesian coordinate system is established with the highest suspension point as the origin. The z-axis coordinate of the sag striking point under icy conditions is obtained according to formula (11). ，（11）。 9. A system for predicting the spatial coordinates of sag impact points based on ground line point clouds, characterized in that, The sag tapping point spatial coordinate prediction system includes a processor for executing the sag tapping point spatial coordinate prediction method as described in any one of claims 1 to 8.

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