A spacer installation position confirmation method based on power transmission tower geographic information

Abstract

The application discloses a kind of interval rod installation position confirmation methods based on power transmission tower geographic information, it is related to power transmission line construction intelligent technical field, comprising: obtaining the geographic information data of two adjacent base power transmission towers;Based on geographic information data, calculate the length of span and generate installation position data in combination with preset arrangement rule;Installation position data is mapped to three-dimensional space coordinate system, and installation position model including the local attitude feature of target installation point is constructed;The current pose of unmanned aerial vehicle is obtained, and the multidimensional space deviation containing the included angle deviation of heading and local attitude feature between it and target installation point is calculated;In response to multidimensional space deviation satisfying preset threshold and time sequence stability constraint condition, output confirmation signal triggers installation process.The application realizes the high-precision attitude alignment confirmation and anti-disturbance reliable triggering of installation position.

Description

Technical Field

[0001] This invention belongs to the field of intelligent construction technology for power transmission lines, and specifically relates to a method for confirming the installation location of spacers based on the geographical information of transmission towers. Background Technology

[0002] In power transmission line construction, the installation of spacers is a crucial step in ensuring the safe and stable operation of multi-split conductors. With the widespread adoption of drone technology, using drones to replace manual spacer installation has become a development trend. However, existing drone spacer installation positioning technologies mainly rely on three-dimensional coordinate information obtained through global navigation satellite systems or visual recognition for position alignment. This method has significant drawbacks in actual operations: Firstly, spacer installation requires not only that the drone reach the designated three-dimensional spatial point, but also that the drone's operating attitude be consistent with the conductor's direction. Position alignment alone cannot meet the attitude alignment requirements, easily leading to installation failure or equipment damage. Secondly, power transmission lines are usually located in high-altitude outdoor environments with frequent external disturbances such as wind loads. When the drone approaches the target point, it is prone to instantaneous attitude fluctuations. Without an effective stability discrimination mechanism, the system may misinterpret the instantaneous compliance status as a positioning signal, triggering incorrect installation actions and seriously affecting the safety and reliability of the operation. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a method for confirming the installation position of spacers based on the geographical information of transmission towers, thereby achieving high-precision attitude alignment confirmation of the installation position and reliable triggering against disturbances.

[0004] This invention provides a method for confirming the installation location of spacers based on the geographical information of transmission towers, comprising:

[0005] Obtain geographic information data of two adjacent transmission towers;

[0006] The span length is calculated based on the geographic information data, and the spacer installation location data is generated by combining the preset spacer arrangement rules.

[0007] The spacer installation position data is mapped to a three-dimensional spatial coordinate system to construct an installation position model, which includes the local attitude features of the target installation point corresponding to the spacer installation position data.

[0008] The current pose of the spacer bar-mounted UAV is obtained, and the multidimensional spatial deviation between the current pose and the target mounting point is calculated. The multidimensional spatial deviation includes at least the angle deviation between the heading information in the current pose and the local attitude features.

[0009] In response to the multidimensional spatial deviation meeting the preset deviation threshold and the timing stability constraint, an installation position confirmation signal is output to trigger the installation operation process.

[0010] The local attitude features include the tangential direction at the target mounting point; the angular deviation includes the angular deviation between the current heading angle of the spacer-mounted UAV and the tangential direction angle of the guide wire at the target mounting point; the mounting position model is generated based on the guide wire space curve, and the tangential direction is determined based on the guide wire space curve. This preferred solution introduces the tangential direction of the guide wire space curve as an attitude matching reference, enabling the UAV's heading alignment to adapt to the actual spatial orientation of the guide wire, further improving the installation alignment accuracy under complex alignments.

[0011] The temporal stability constraints include at least one of the following: the duration for which the multidimensional spatial deviation continuously satisfies the preset deviation threshold reaches a preset time window; the number of times the multidimensional spatial deviation continuously satisfies the preset deviation threshold reaches a preset number of confirmations. This preferred solution transforms instantaneous pose attainment into continuous stable state confirmation through a time window or continuous counting mechanism, thereby enhancing the system's robustness to random disturbances such as wind loads from a temporal perspective.

[0012] The method for generating the conductor space curve includes: obtaining the horizontal tension of the conductor, the self-weight of the conductor per unit length, and the elevation of the hanging point of the starting transmission tower; using the horizontal distance from the starting transmission tower along the span direction of the target installation point as the independent variable, and combining the horizontal tension of the conductor and the self-weight of the conductor per unit length, substituting them into the catenary equation to calculate the elevation coordinates of the target installation point, thereby generating the conductor space curve; differentiating the catenary equation to calculate the tangent slope at the target installation point, and determining the tangential direction based on the tangent slope. This preferred scheme uses the catenary equation to accurately describe the natural shape of the conductor under gravity, and obtains an accurate tangential vector through mathematical differentiation, providing a physically accurate geometric benchmark for attitude matching.

[0013] Before satisfying the temporal stability constraint, the method further includes: acquiring the current pose of the spacer bar-installed UAV in real time at a preset sampling interval, and continuously calculating the multidimensional spatial deviation; when the multidimensional spatial deviation does not meet the preset deviation threshold or the temporal stability constraint, an interlock operation is performed, which includes prohibiting the output of the installation position confirmation signal and prohibiting the triggering of the installation operation process. This preferred solution, by setting interlock logic, ensures that the installation trigger path is forcibly blocked in the event of any deviation exceeding the standard or insufficient stability, thus guaranteeing operational safety from the control logic level.

[0014] The multidimensional spatial deviation also includes: the three-dimensional distance deviation between the spacer-mounted UAV and the target mounting point; and the altitude deviation between the current altitude of the spacer-mounted UAV and the altitude of the target mounting point. This preferred solution constructs a complete set of error evaluation indicators including distance, altitude, and heading angle, realizing comprehensive quantitative monitoring of the UAV's approach to the target.

[0015] The preset spacer arrangement rules include at least one of the following: rules for the number and spacing of spacers along the span direction; rules for safe distances from transmission towers or conductor hanging points; and rules for arrangement constraints on the spacing of multi-sub-conductors and two-split conductors. This preferred solution digitizes the standardized layout specifications at the engineering site, ensuring that the automatically generated installation location data meets the construction standards and safety requirements of the power industry.

[0016] The method further includes: synchronously displaying the current position of the spacer bar installation UAV, the route of the power transmission line, and the target installation point on the ground control station interface, and graphically identifying the relative relationship between the spacer bar installation UAV and the target installation point; displaying the target installation point number and current deviation value on the ground control station interface, and generating suggested correction direction or correction amount prompts. This preferred solution reduces the cognitive load on operators dealing with abstract data through visual feedback and correction guidance, improving the efficiency and intuitiveness of human-machine collaborative operations.

[0017] The present invention also provides a spacer installation location confirmation device based on transmission tower geographic information, comprising:

[0018] The data acquisition module is used to acquire geographic information data of two adjacent transmission towers;

[0019] The location generation module is used to calculate the span length based on the geographic information data and generate spacer installation location data in combination with the preset spacer arrangement rules.

[0020] The model building module is used to map the spacer installation position data to a three-dimensional spatial coordinate system to build an installation position model. The installation position model includes the local attitude features of the target installation point corresponding to the spacer installation position data.

[0021] The deviation calculation module is used to obtain the current pose of the spacer bar-mounted UAV and calculate the multi-dimensional spatial deviation between the current pose and the target mounting point. The multi-dimensional spatial deviation includes at least the angle deviation between the heading information in the current pose and the local attitude features.

[0022] The confirmation output module is used to output an installation position confirmation signal to trigger the installation operation process in response to the multidimensional spatial deviation meeting the preset deviation threshold and the timing stability constraint.

[0023] The aforementioned device realizes the physical embodiment of the installation location confirmation method through a modular architecture, and the data flow and logical collaboration between modules ensure the automated and standardized execution of the confirmation process.

[0024] This application also provides a spacer installation system, including:

[0025] The spacer rods are used to mount drones to provide real-time position and attitude information during operations;

[0026] The ground control station includes a spacer installation location confirmation device based on the geographical information of the transmission tower as described in the above scheme. The ground control station is communicatively connected to the spacer installation UAV and is used to receive the real-time location information and the attitude information, and output the installation location confirmation signal.

[0027] The aforementioned system, through the deep integration of physical entities and verification devices, covers the complete operational loop from data acquisition and processing to command output, providing a product-level solution for the engineering application of spacer bar installation on UAVs.

[0028] This invention discloses a method for confirming the installation location of spacer bars based on the geographical information of transmission towers. By constructing an installation location model that includes the local attitude features of the target installation point, and calculating the angular deviation between the UAV's heading and these local attitude features as the core dimension of multi-dimensional spatial deviation, this method solves the problem of traditional techniques relying solely on three-dimensional position alignment while neglecting attitude matching. The principle is that spacer bar installation has clear directional constraints; successful operation is only possible when the UAV's heading is aligned with the tangential height of the conductor. Introducing attitude-dimensional deviation calculation aligns the confirmation logic with physical process requirements, thereby significantly improving the accuracy and success rate of installation alignment.

[0029] This invention introduces a temporal stability constraint in deviation determination, requiring that multidimensional spatial deviations must continuously meet the standard or meet the standard multiple times within a preset time window before a confirmation signal can be output. This mechanism utilizes the physical difference between the transient randomness of environmental disturbances (such as gusts) and the temporal continuity of the actual positioning state. Through temporal filtering, it effectively eliminates false compliance signals caused by instantaneous pose fluctuations, avoiding safety risks caused by false triggering and significantly improving the system's operational robustness and reliability in complex field environments.

[0030] This invention, through the combination of interlocking operation and visual correction prompts, forcibly blocks the installation process when the confirmation conditions are not met and provides intuitive correction guidance. This not only eliminates the possibility of operating with defects from the underlying logic, but also reduces the operator's reliance on experience judgment, and promotes the standardization and intelligentization of UAV spacer installation operations. Attached Figure Description

[0031] Figure 1 This is a flowchart of a method for confirming the installation location of spacers based on the geographical information of transmission towers, according to an embodiment of this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0034] like Figure 1 As shown in the figure, this embodiment provides a method for confirming the installation location of spacers based on the geographical information of transmission towers. This method constructs an installation location model including attitude references and combines multi-dimensional deviations and temporal constraints for comprehensive judgment to achieve high-precision installation location confirmation. Specifically, the method includes the following steps:

[0035] Step S101: Obtain geographic information data for two adjacent transmission towers. Specifically, geographic information data is the fundamental input for all subsequent calculations and modeling, typically including but not limited to the latitude and longitude coordinates of the tower locations, elevation information of the mounting points, and tower structural parameters. In practice, this data can be obtained from the digital handover results of the design institute or from on-site measurement databases. Obtaining accurate geographic information data provides a reliable spatial benchmark for determining the geometric relationship between spans, avoiding systematic offsets in installation positions due to missing or incorrect basic data.

[0036] Step S102 involves calculating the span length based on geographic information data and generating spacer installation location data by combining it with preset spacer arrangement rules. Specifically, the system first calculates the horizontal or inclined span length based on the coordinates of two adjacent transmission towers, and then automatically calculates the theoretical installation points of each spacer within that span according to the preset spacer arrangement rules. These arrangement rules cover various constraints in engineering specifications, such as the number and spacing distribution along the span direction, the minimum safe distance from the tower body or conductor hanging point, and special spacing requirements for multi-split conductors. This step achieves automated conversion from macroscopic line parameters to microscopic installation points, replacing the inefficient traditional method of relying on manual experience estimation or on-site measurement, ensuring the standardization and consistency of installation location data.

[0037] Step S103 involves mapping the spacer installation position data to a three-dimensional spatial coordinate system to construct an installation position model. This model includes the local attitude features of the target installation points corresponding to the spacer installation position data. Specifically, the installation position model is not merely a set of three-dimensional coordinate points; more importantly, it contains the local attitude features at each target installation point. Local attitude features describe the geometric properties of the conductor's spatial orientation at that point, such as the tangential or normal direction. It is crucial to emphasize that these local attitude features are inherent properties determined during the construction phase of the installation position model. They are pre-calculated based on the line design parameters and physical model, rather than being obtained through real-time sensing or fitting during UAV operation. This design provides the system with a stable attitude reference base unaffected by environmental interference, providing a prerequisite for achieving precise attitude alignment between the UAV and the conductor.

[0038] Step S104: Obtain the current pose of the spacer bar installation UAV and calculate the multidimensional spatial deviation between the current pose and the target installation point. The multidimensional spatial deviation includes at least the angular deviation between the heading information and local attitude features in the current pose. Based on this, to comprehensively evaluate the UAV's positioning status, the multidimensional spatial deviation can further include the three-dimensional distance deviation between the spacer bar installation UAV and the target installation point, and the altitude deviation between the current altitude of the spacer bar installation UAV and the altitude of the target installation point. Specifically, the current pose includes the UAV's real-time three-dimensional position coordinates and attitude angle information. When calculating the deviation, the system not only focuses on the overlap at the position level (such as the three-dimensional distance deviation and altitude deviation), but more importantly, on the matching degree at the attitude level, i.e., the angular deviation between the UAV's current heading and the local attitude features at the target installation point (such as the tangent of the guide wire). This is because spacer bar installation has strong directional constraints; it can only operate smoothly when the UAV's fuselage axis is nearly parallel to the guide wire's direction. By considering the heading-attitude angle deviation as a necessary component of multidimensional spatial deviation and taking it into account alongside position deviation, this embodiment constructs a dual matching system of "position + attitude," effectively solving the installation failure problem caused by traditional technologies that rely solely on position alignment while neglecting attitude alignment. It should be understood that although three-dimensional distance deviation and altitude deviation are listed here as specific examples of multidimensional spatial deviation, in other embodiments, multidimensional spatial deviation can also include other indicators that characterize the relative relationship between the UAV and the target point, as long as they, together with the angle deviation, constitute a complete description of the in-position state.

[0039] Step S105: In response to the multidimensional spatial deviation meeting the preset deviation threshold and the temporal stability constraint, an installation position confirmation signal is output to trigger the installation operation process. Specifically, this is a logical judgment process with two conditions. On the one hand, all indicators of the multidimensional spatial deviation (such as angular deviation, distance deviation, etc.) must be within the range allowed by the preset deviation threshold, representing the achievement of static accuracy. On the other hand, this achievement must also meet the temporal stability constraint, that is, maintain a certain continuity or consistency in the time dimension, rather than merely being a momentary, accidental achievement. The introduction of the temporal stability constraint is essentially to distinguish between the true stable positioning state and the instantaneous pose fluctuations caused by environmental disturbances such as wind loads. Only when both conditions are met simultaneously will the system output an installation position confirmation signal and trigger subsequent mechanical installation actions. This mechanism constructs a safety defense line at the logical level, significantly reducing the risk of false triggering due to environmental interference and ensuring the reliability and safety of unmanned high-altitude operations.

[0040] Furthermore, the specific mechanism of constructing the installation position model in step S103 is explained in detail, focusing on the generation method of local attitude features and its physical and mathematical basis. In some embodiments, local attitude features include the tangential direction at the target installation point; the included angle deviation includes the included angle deviation between the current heading angle of the spacer bar installation UAV and the tangential direction angle of the guide wire at the target installation point; the installation position model is generated based on the guide wire space curve, and the tangential direction is determined based on the guide wire space curve. Specifically, the tangential direction here is not obtained by real-time scanning or fitting by the UAV's onboard sensors at the work site, but is an inherent geometric attribute of the installation position model, which is accurately calculated and stored during the model construction stage. This design gives the system an a priori, stable attitude reference benchmark, unaffected by environmental factors such as lighting, texture, or instantaneous wind deflection at the work site. Since the spacer bar installation process strictly requires the UAV's fuselage axis to remain parallel to the guide wire direction, using the tangential direction as the core element of the local attitude features can directly characterize the directional constraints required for the installation operation, providing a geometric basis for subsequent calculation of the heading angle deviation.

[0041] To accurately generate the aforementioned conductor space curve and determine the tangential direction, this embodiment provides an implementation method based on mechanical principles. Specifically, the method for generating the conductor space curve includes: obtaining the horizontal tension of the conductor, the self-weight of the conductor per unit length, and the elevation of the hanging point of the starting transmission tower; using the horizontal distance from the target installation point to the starting transmission tower along the span direction as the independent variable, and combining the horizontal tension of the conductor and the self-weight of the conductor per unit length, substituting them into the catenary equation to calculate the elevation coordinates of the target installation point, thereby generating the conductor space curve; differentiating the catenary equation, calculating the tangent slope at the target installation point, and determining the tangential direction based on the tangent slope. In this process, the catenary equation is an accurate analytical solution describing the natural sag of the flexible cable in a uniform gravitational field. The specific expression of the catenary equation is as follows: ;in, This indicates the elevation coordinates of the target installation point in the vertical plane; This represents the horizontal distance from the target installation point to the starting point of the transmission tower along the span direction, i.e., the independent variable; This parameter represents the horizontal tension of the conductor, measured in Newtons (N). It reflects the tightness of the conductor during installation. This indicates the weight of the conductor per unit length, expressed in Newtons per meter (N / m), and is determined by the conductor type and material density. This represents the elevation difference between the initial transmission tower mounting point and the origin of the coordinate system. The function is a hyperbolic cosine function. It should be understood that all the above parameters can be directly obtained from the line design ledger or construction drawings, ensuring the engineering accuracy of the model input data.

[0042] After determining the analytical expression of the catenary space curve, the system uses the independent variable of the catenary equation. By taking the first derivative, we can obtain the result for any position. tangent slope at Based on the slope of the tangent, the three-dimensional tangential direction vector of the conductor at that point can be uniquely determined. Compared with the parabolic approximation or simple linear interpolation methods commonly used in engineering, using the catenary equation and its derivative to determine the tangential direction has significant technical advantages. This is because under conditions of large spans, high drops, or high tension, the actual shape of the conductor has a non-linear deviation from the parabola, and the linear model completely ignores the sag characteristics of the conductor. Only through the catenary, a mechanical model that conforms to physical reality, can the true trajectory changes of the conductor in three-dimensional space be accurately captured, thereby ensuring that the generated local attitude features have sufficient accuracy to support the high-precision attitude alignment of the UAV. If a simplified geometric model is used, the resulting attitude reference error will be directly transmitted to the subsequent deviation calculation stage, causing the UAV to be judged as substandard even if the attitude is correct, or conversely, triggering false triggering. Therefore, this embodiment eliminates the systematic error caused by model simplification from the source by introducing a rigorous mechanical modeling and analytical differentiation mechanism, laying a solid mathematical and physical foundation for the reliability of the entire installation position confirmation method. Furthermore, although this embodiment uses a standard catenary as an example for illustration, in other embodiments, a wind deflection correction factor can be introduced according to actual meteorological conditions or an elastic catenary model considering the influence of stiffness can be adopted. As long as its essence is still based on generating a spatial curve based on the mechanical properties of the conductor and determining the tangential direction accordingly, it should be regarded as an equivalent replacement of the technical solution of this application.

[0043] Furthermore, the temporal stability constraints and safety interlocking mechanisms involved in step S105 are described in detail. In some embodiments, the temporal stability constraints include at least one of the following: the duration for which the multidimensional spatial deviation continuously meets the preset deviation threshold reaches a preset time window; the number of times the multidimensional spatial deviation continuously meets the preset deviation threshold reaches a preset number of confirmations. Specifically, the design intention of this constraint mechanism is to solve the transient interference problem that is common in high-altitude working environments. Under actual working conditions, when the UAV approaches the target installation point, it is easily affected by factors such as gusts, airflow turbulence, or its own attitude adjustment overshoot, which may cause the multidimensional spatial deviation to accidentally fall into the preset deviation threshold range within a short period of time. If the system outputs a confirmation signal based solely on a single or instantaneous compliance status, it will generate a very high risk of false triggering. By introducing a preset time window mode, the system requires that the deviation compliance status must remain unchanged for a continuous period of time, effectively filtering out false signals by utilizing the physical difference between the temporal continuity of the actual position status and the transient randomness of environmental disturbances. As an alternative implementation, the preset confirmation count mode achieves a similar filtering effect by counting the frequency of consecutive compliance at discrete sampling points. This method has relatively lower requirements for the processor's clock synchronization accuracy and is more suitable for control systems with dynamically changing sampling rates. It should be understood that the above two modes can be implemented independently or in combination. For example, a requirement can be placed that the number of consecutive compliances within a preset time window is not less than a certain threshold, thus ensuring safety while also considering adaptability to different hardware platforms.

[0044] To ensure the effectiveness of the aforementioned timing determination and guarantee operational safety, before meeting the timing stability constraints, the system further includes: acquiring the current pose of the spacer bar-installed UAV in real time at preset sampling intervals and continuously calculating multi-dimensional spatial deviations. Specifically, the preset sampling interval defines the frequency at which the system perceives the UAV's state and serves as the data basis for timing stability determination. A higher sampling frequency can capture pose change details more precisely and improve the ability to distinguish instantaneous disturbances; while a lower sampling frequency helps reduce computational load. The system performs a complete deviation calculation and threshold comparison within each sampling period and stores the results in a timing buffer for subsequent stability analysis. More importantly, when the multi-dimensional spatial deviation does not meet the preset deviation threshold or the timing stability constraints, an interlock operation is executed. This interlock operation includes prohibiting the output of the installation position confirmation signal and prohibiting the triggering of the installation operation process. This interlock operation is a mandatory safety blocking mechanism with higher logical priority than any trigger command. In other words, the system sets "prohibited triggering" as the default safe state. The interlock is only released and an acknowledgment signal is allowed to be output when all dimensions of the multidimensional spatial deviation simultaneously meet the standards, and this compliance state passes the timing stability verification. This design fundamentally eliminates unexpected actions caused by sensor noise, algorithm anomalies, or sudden environmental interference, ensuring the absolute safety of UAV spacer installation operations in complex field environments. Compared to the "trigger-then-verify" or "single-verify-trigger" logic that may exist in existing technologies, the "real-time monitoring-dual-determination-default interlocking" closed-loop control strategy constructed in this embodiment significantly improves the robustness and reliability of the system.

[0045] Furthermore, the arrangement rules involved in step S102 and the human-machine interaction feedback mechanism during the operation are described in detail. In some embodiments, the preset spacer arrangement rules include at least one of the following: rules on the number and spacing of spacers along the span direction; rules on safe distances from transmission towers or conductor hanging points; and arrangement constraint rules for multi-sub-conductor spacing and two-split conductors. Specifically, these arrangement rules are not merely abstract clauses existing only in paper design specifications or the experience of operators, but are digitized into computer-readable and executable logical parameters, which directly participate in the calculation as constraints for generating spacer installation position data. For example, the number and spacing rules of spacers along the span direction can automatically match the optimal distribution scheme according to the span length. For instance, unequal spacing can be used in long spans to suppress conductor oscillations in secondary spans. Safety distance rules for transmission towers or conductor mounting points enforce minimum spatial thresholds between installation points and towers or fittings to prevent electrical flashovers or mechanical collisions due to positioning errors. Constraint rules for the spacing of multi-sub-conductors and the arrangement of two-split conductors ensure that the generated installation positions can adapt to the geometric characteristics of different split conductor types, avoiding abnormal stress after spacer installation due to mismatched spacing. By internalizing the above engineering specifications into algorithm input, the system can automatically generate installation position data that meets industry standards and safety requirements without manual intervention, eliminating placement errors caused by human negligence at the source, and providing clear digital rule comparison basis for subsequent infringement evidence collection. It should be understood that the above examples are merely illustrations. In practical applications, the arrangement rules can also include dynamic adjustment rules based on meteorological conditions or differentiated installation rules for specific tower types. As long as they can serve as parameters to constrain the generation logic of the installation positions, they should be considered equivalent implementations of the technical solution in this application.

[0046] To further improve operational efficiency and reduce the cognitive load on operators, this embodiment also provides an intuitive visual feedback mechanism. Specifically, the method further includes: synchronously displaying the current position of the spacer bar installation UAV, the transmission line route, and the target installation point on the ground control station interface, and graphically identifying the relative relationship between the spacer bar installation UAV and the target installation point; displaying the target installation point number and current deviation value on the ground control station interface, and generating suggested correction direction or correction amount prompts. It is particularly important to emphasize that all elements on the ground control station interface are dynamically linked with the real-time data stream in the background, rather than being pre-rendered static images or videos superimposed. Specifically, the position of the UAV icon in the interface is updated in real time with telemetry data, the transmission line route is displayed in three dimensions based on the installation position model constructed in Embodiment 2, and the graphical identifiers (such as dynamic lines, color gradient areas, or vector arrows) intuitively represent the relative orientation and distance between the UAV and the target installation point in three-dimensional space. More importantly, the system not only passively displays the current deviation value, but also actively calculates the optimal correction strategy based on the results of multi-dimensional spatial deviation calculations, presenting it to the operator in the form of "suggested correction direction" or "correction amount prompt". For example, when the heading angle deviation is detected to exceed the standard, the interface can directly prompt "Yaw 3.5 degrees to the left"; when both altitude and distance deviations exist, it can provide a combined prompt "Move forward and upward 0.3 meters". This mechanism of transforming abstract spatial error vectors into concrete operational instructions essentially establishes an efficient information dimensionality reduction channel between humans and machines, enabling operators to quickly make correct responses without having to perform complex three-dimensional coordinate conversions in their minds, significantly shortening the closed-loop time from perception to decision-making to execution. In addition, this visualized correction guidance also provides a standardized information interface for remote monitoring and emergency takeover, enhancing the system's controllability and security under complex operating conditions. It should be understood that the specific layout, color scheme, or wording of the prompts can be adjusted according to actual ergonomic needs, as long as its core function is to reflect spatial relationships in real time and provide data-based correction guidance, it falls within the scope of protection of this application.

[0047] This embodiment provides a spacer installation location confirmation device based on transmission tower geographic information. This device is a modular physical carrier of the installation location confirmation method in the aforementioned embodiments, aiming to achieve standardized packaging and product application of the technical solution through clear functional division. Specifically, the device includes a data acquisition module, a location generation module, a model building module, a deviation calculation module, and a confirmation output module. It should be understood that "module" here refers to a logical unit that performs a specific function. It can be implemented by dedicated hardware circuits, by running software programs on a general-purpose processor, or by a combination of hardware and software, as long as it can complete the functional configuration defined by each module below.

[0048] The data acquisition module is used to acquire geographic information data of two adjacent transmission towers. Specifically, this module serves as the data entry point for the entire system, responsible for reading basic geographic information from external databases, design documents, or field measurement equipment. At the data flow level, the data acquisition module not only performs simple read operations but also verifies the integrity and standardizes the format of the acquired latitude, longitude, elevation, and tower type parameters to ensure the accuracy of the basic data upon which subsequent calculations rely. The standardized geographic information data output by this module directly serves as the input source for the location generation module, establishing a conversion channel from raw data to operational data.

[0049] The location generation module calculates the span length based on geographic information data and generates spacer installation location data by combining it with preset spacer arrangement rules. Specifically, this module receives geographic information data from the data acquisition module, first calculates the geometric span between adjacent tower sites, and then calls a built-in or externally configured arrangement rule library to automatically calculate the sequence data of all theoretical installation points within that span. This process achieves digital execution of engineering specifications, avoiding the arbitrariness of manual calculations. The installation location data output by the location generation module includes key parameters such as the number of each installation point, the distance along the span, and the split spacing. This data is then passed to the model building module for three-dimensional spatial mapping.

[0050] The model building module maps the spacer installation position data to a three-dimensional coordinate system to construct an installation position model. This model includes the local attitude features of the target installation points corresponding to the spacer installation position data. Specifically, the core function of this module is to upscale one-dimensional or two-dimensional installation position data to three-dimensional space and assign geometric attitude attributes to each target installation point. As illustrated in the previous examples, the local attitude features are inherent attributes determined during the model building stage, rather than real-time sensing results. After completing the modeling, the model building module generates a structured model data containing the three-dimensional coordinates of all target points and their corresponding tangential direction vectors, and stores it in shared memory or a database for the deviation calculation module to access at any time. This pre-construction mechanism eliminates the need for repeated complex curve fitting calculations during subsequent real-time comparisons, significantly reducing the system's real-time computational load.

[0051] The deviation calculation module is used to acquire the current pose of the spacer bar-mounted UAV and calculate the multi-dimensional spatial deviation between the current pose and the target mounting point. This multi-dimensional spatial deviation includes at least the angular deviation between the heading information and local attitude features in the current pose. Specifically, this module acts as a bridge between the static model and the dynamic entity. It receives pose stream data from the UAV telemetry link in real time and extracts the reference data of the current target mounting point from the output of the model building module. Logically, this module calculates the position and attitude deviations in parallel or sequentially, particularly by performing vector operations between the UAV's heading angle and the pre-stored tangential direction angle in the model to obtain the angular deviation. This design, which incorporates attitude matching into the core calculation dimension, ensures that the deviation indicators output by the device accurately reflect the alignment requirements of the installation process. The multi-dimensional spatial deviation vector output by the deviation calculation module is pushed to the confirmation output module in real time.

[0052] The confirmation output module is used to output an installation position confirmation signal to trigger the installation operation process in response to multi-dimensional spatial deviations meeting a preset deviation threshold and timing stability constraints. Specifically, this module is the safety decision-making center of the device. It integrates a threshold comparator and timing logic units (such as a sliding window timer or a continuous compliance counter) to double-verify the received deviation data. Only when the deviation data is numerically below the threshold and meets the timing stability constraints will the module release the interlock and generate a high-level or specific protocol confirmation signal. Conversely, if either condition is not met, the module will maintain the default prohibited output state. This modular safety logic encapsulation makes the confirmation mechanism independent of the underlying sensing and calculation links. Even if there are transient anomalies in the front-end data, they can be intercepted by timing filtering at the output end, thus providing reliable product-level safety assurance for UAV spacer installation operations.

[0053] This embodiment provides a spacer installation system, which is a complete operating platform physically integrated with the aforementioned method and device embodiments. It aims to cover an end-to-end business loop from data acquisition and real-time calculation to command execution. Specifically, the spacer installation system includes a spacer installation UAV and a ground control station. The spacer installation UAV serves as the execution terminal for high-altitude operations, providing real-time location and attitude information during the operation. The ground control station, as the system's decision-making and interaction hub, includes the spacer installation location confirmation device based on transmission tower geographic information. The ground control station is communicatively connected to the spacer installation UAV, receiving real-time location and attitude information and outputting an installation location confirmation signal.

[0054] Specifically, spacer bar installation drones are typically equipped with high-precision RTK positioning modules, inertial measurement units, and dedicated spacer bar installation robotic arms or grippers. During operation, the drone not only serves as the flight platform but also as a source of dynamic data acquisition. The real-time position and attitude information it provides constitutes the basic input for the system to determine its positioning status. It should be understood that although this embodiment uses a multi-rotor drone as an example, in other embodiments, compound-wing drones, tethered drones, or other aircraft with hovering capabilities can also be used, as long as they can stably acquire and transmit position and attitude data that meets the system's accuracy requirements.

[0055] The communication connection between the ground control station and the spacer bar installation UAV is the link for system collaboration. In actual deployment, this communication connection can be achieved through various links, such as point-to-point data transmission radios, 4G / 5G mobile communication networks, satellite communication links, or self-organizing mesh networks. Through this communication connection, the UAV uploads real-time attitude stream data, including three-dimensional coordinates, heading angle, pitch angle, and roll angle, to the ground control station at a preset high frequency (e.g., 10Hz to 50Hz). Simultaneously, after completing the deviation calculation and timing stability determination described in Example 5, the ground control station sends an installation position confirmation signal or an interlock prohibition command to the UAV through this link. This two-way real-time data interaction mechanism ensures that the calculation results at the ground end can be converted into action responses at the front end within milliseconds, meeting the stringent latency requirements of high-altitude precision installation.

[0056] Inside the ground control station, the installation position confirmation device described in Example 5 can run as software on an industrial computer, ruggedized laptop, or dedicated embedded computing platform. Alternatively, it can utilize dedicated hardware acceleration cards such as FPGAs and ASICs to perform core deviation calculations and timing logic processing. Regardless of the hardware platform used, the core principle is to solidify the abstract confirmation algorithm into a system-level functional module, transforming the ground control station from a mere display and remote control device into an intelligent node with autonomous judgment capabilities. When the system outputs an installation position confirmation signal, this signal can directly trigger the installation action sequence of the UAV's onboard controller, or it can be forwarded to the UAV via the ground station, thereby achieving unattended automated installation operations.

[0057] Through the aforementioned integrated hardware and software system design, this embodiment constructs a complete UAV spacer installation operation system. Compared to simple method or software protection, this system's claims cover the product forms of terminal equipment manufacturers and system integrators, effectively compensating for the limitations of pure algorithm solutions in rights protection and evidence collection. Simultaneously, the connection relationships and collaborative workflows between physical entities further confirm the practicality and feasibility of the technical solution in industrial settings, providing solid product-level fallback protection for the entire patent portfolio. It should be understood that the specific selection of components, communication protocols, or deployment methods in the system can be adjusted according to the actual operating environment and hardware conditions. As long as the core system architecture of "UAV data acquisition - ground station confirmation - signal feedback triggering" is retained, it should be considered an equivalent implementation of the technical solution of this application.

[0058] This embodiment provides a comprehensive application scenario for the installation of spacer bars by drones on 220kV transmission lines. The aim is to verify the effectiveness and reliability of the technical solution in practical engineering by connecting the technical features of the aforementioned embodiments with specific operating data. It should be noted that the specific values ​​listed below, such as tower coordinates, span length, conductor parameters, deviation thresholds, and time windows, are merely exemplary data set for the purpose of understanding the technical solution of this application and do not constitute a limitation on the scope of protection of this application. In practical applications, the above parameters should be adaptively adjusted according to specific line design documents, environmental conditions, and equipment performance.

[0059] In this application scenario, the system executes the method for confirming the installation location of spacers based on the geographical information of the transmission tower. The specific process is as follows:

[0060] In step S101, the geographic information data of two adjacent transmission towers is acquired. Specifically, the system reads the digital handover results of a tension section of a 220kV transmission line and obtains the geographic information of the starting tower A and the ending tower B. Tower A has the following coordinates: longitude and latitude coordinates: 118°45′23″E, 31°52′17″N; suspension point elevation: 78.5m; tower type: tension tower. Tower B has the following coordinates: longitude and latitude coordinates: 118°46′08″E, 31°52′41″N; suspension point elevation: 85.2m; tower type: straight-line tower. Simultaneously, the conductor type LGJ-400 / 35, along with the corresponding suspension point geometric parameters and line alignment information, are acquired. This basic data provides accurate physical input for subsequent high-precision modeling.

[0061] In step S102, the span length is calculated based on geographic information data, and the spacer installation location data is generated by combining the preset spacer arrangement rules. Specifically, the system first uses Gauss-Kruger projection to convert the geographic coordinates of towers A and B into engineering coordinates, and calculates the horizontal span between the two towers to be 1520m. Subsequently, according to the preset spacer arrangement rules, an unequal spacing arrangement scheme of 6 spacer installation points is automatically generated for this 1520m span. This arrangement scheme comprehensively considers suppressing secondary span oscillations and safety distance requirements, and is specifically distributed as follows: installation point 1 is 40m from tower A, installation point 2 is 210m from tower A, installation point 3 is 480m from tower A, installation point 4 is 850m from tower A, installation point 5 is 1220m from tower A, and installation point 6 is 1480m from tower A. Each installation point is associated with a corresponding splitting spacing parameter (such as a gradual change from 400mm to 404mm), realizing the automated and standardized generation of installation locations.

[0062] In step S103, the spacer installation position data is mapped to a three-dimensional spatial coordinate system to construct an installation position model. This model includes the local attitude features of the target installation points corresponding to the spacer installation position data. Specifically, based on the mechanical properties of the LGJ-400 / 35 conductor, the system sets the horizontal tension H of the conductor to 24500N, the self-weight ω per unit length of conductor to 13.5N / m, and the elevation difference y0 of the initial hanging point to 78.5m. These parameters are substituted into the catenary equation to accurately calculate the elevation coordinates of each installation point in the vertical plane, thereby generating a conductor spatial curve that conforms to physical reality. Based on this, the tangent slope at each installation point is calculated by differentiating the catenary equation, and the tangential direction vector serving as the local attitude feature is determined accordingly. For example, for installation point 3 (480m from tower A), the system not only generates its three-dimensional spatial coordinates but also pre-calculates the precise tangential angle of the conductor's direction at that point, providing a stable priori reference for subsequent attitude matching.

[0063] In step S104, the current pose of the spacer bar-mounted UAV is acquired, and the multidimensional spatial deviation between the current pose and the target installation point is calculated. This multidimensional spatial deviation includes at least the angular deviation between the heading information and local attitude features in the current pose. Taking installation point 3 as the target installation location as an example, the real-time pose transmitted by the UAV during its initial approach shows a three-dimensional distance deviation of 0.23m, an angular deviation between the heading and the tangent of the guide wire of 3.5°, and an altitude deviation of -0.08m. This multidimensional deviation vector intuitively reflects that although the UAV has approached the target point, there is still a significant gap in attitude alignment, and it has not yet reached the precise positioning state required by the installation process. At this time, the ground control station interface simultaneously displays the above deviation values ​​and suggested correction prompts such as "Yaw 3.5° to the right, move forward 0.23m," assisting the operator in making quick adjustments.

[0064] In steps S105 and S106, in response to the multidimensional spatial deviation meeting the preset deviation threshold and the temporal stability constraint, an installation position confirmation signal is output to trigger the installation operation process. Specifically, after the operator corrects the UAV's pose according to the visual prompts, the multidimensional spatial deviation recalculated by the system is updated as follows: three-dimensional distance deviation 0.09m, heading angle deviation 1.2°, and altitude deviation 0.03m. At this time, all indicators have fallen within the preset deviation threshold range (e.g., distance <0.15m, angle <2.0°, altitude <0.10m). However, the system does not immediately trigger installation but instead initiates a temporal stability verification mechanism. In this scenario, the preset time window is set to 0.5s. The system continuously monitors the above deviation indicators within a continuous 0.5s sampling period to confirm that they remain stably within the threshold range without any instantaneous fluctuations caused by gusts or control overshoot. Only after passing this temporal stability constraint verification is the confirmation output module released from the interlock state and officially outputs the installation position confirmation signal, triggering the UAV robotic arm to perform the spacer grabbing and installation actions. This process fully demonstrates the effectiveness of the closed-loop technology, from data-driven position generation, attitude benchmark construction based on mechanical models, real-time quantitative evaluation of multi-dimensional deviations, to time-series filtering safety confirmation. It fully verifies the ability of this application to achieve high-precision and high-reliability unmanned installation in complex high-altitude operating environments.

[0065] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions within the technical scope disclosed in this application. For example, equivalent transformations or adaptive adjustments can be made to the specific dimensional combinations of multidimensional spatial deviations, the judgment logic of temporal stability constraints, the selection of mechanical models for conductor space curves, the digital expression of spacer bar arrangement rules, and the hardware and software implementation methods of the device modules. All of these should be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for confirming the installation location of spacers based on the geographical information of transmission towers, characterized in that, include: Obtain geographic information data of two adjacent transmission towers; The span length is calculated based on the geographic information data, and the spacer installation location data is generated by combining the preset spacer arrangement rules. The spacer installation position data is mapped to a three-dimensional spatial coordinate system to construct an installation position model, which includes the local attitude features of the target installation point corresponding to the spacer installation position data. The current pose of the spacer bar-mounted UAV is obtained, and the multidimensional spatial deviation between the current pose and the target mounting point is calculated. The multidimensional spatial deviation includes at least the angle deviation between the heading information in the current pose and the local attitude features. In response to the multidimensional spatial deviation meeting the preset deviation threshold and the timing stability constraint, an installation position confirmation signal is output to trigger the installation operation process.

2. The method for confirming the installation location of spacers based on the geographical information of transmission towers according to claim 1, characterized in that, The local attitude features include the tangential direction at the target mounting point; The included angle deviation includes: the included angle deviation between the current heading angle of the spacer-mounted UAV and the tangential direction angle of the guide wire at the target mounting point; The installation location model is generated based on the conductor space curve, and the tangential direction is determined based on the conductor space curve.

3. The method for confirming the installation location of spacers based on the geographical information of transmission towers according to claim 1, characterized in that, The time-series stability constraints include at least one of the following: The duration for which the multidimensional spatial deviation continuously meets the preset deviation threshold reaches a preset time window; The number of times the multidimensional spatial deviation continuously meets the preset deviation threshold reaches the preset confirmation number.

4. The method for confirming the installation location of spacers based on the geographical information of transmission towers according to claim 2, characterized in that, The methods for generating the space curve of the conductor include: Obtain the horizontal tension of the conductor, the self-weight of the conductor per unit length, and the elevation of the hanging point of the starting transmission tower; The horizontal distance from the target installation point to the starting transmission tower along the span direction is taken as the independent variable. Combined with the horizontal tension of the conductor and the self-weight of the conductor per unit length, the elevation coordinates of the target installation point are calculated by substituting them into the catenary equation to generate the conductor space curve. Differentiate the catenary equation, calculate the tangent slope at the target installation point, and determine the tangential direction based on the tangent slope.

5. The method for confirming the installation location of spacers based on the geographical information of transmission towers according to claim 3, characterized in that, Before satisfying the aforementioned timing stability constraint, the following is also included: The current pose of the UAV mounted on the spacer bar is acquired in real time at a preset sampling interval, and the multidimensional spatial deviation is continuously calculated. When the multidimensional spatial deviation does not meet the preset deviation threshold or the timing stability constraint, an interlock operation is performed. The interlock operation includes prohibiting the output of the installation position confirmation signal and prohibiting the triggering of the installation operation process.

6. The method for confirming the installation location of spacers based on the geographical information of transmission towers according to claim 1, characterized in that, The multidimensional spatial bias also includes: The three-dimensional distance deviation between the spacer bar-mounted UAV and the target mounting point; The height deviation between the current height of the spacer-mounted drone and the height of the target mounting point.

7. The method for confirming the installation location of spacers based on the geographical information of transmission towers according to claim 1, characterized in that, The preset spacer arrangement rules include at least one of the following: The number and spacing rules of spacers along the span direction; Rules governing safe distances from transmission towers or conductor suspension points; Constraint rules for the spacing of multiple conductors and the arrangement of bi-split conductors.

8. The method for confirming the installation location of spacers based on the geographical information of transmission towers according to claim 1, characterized in that, The method further includes: The current location of the spacer bar installation drone, the route of the power transmission line and the target installation point are displayed synchronously on the ground control station interface, and the relative relationship between the spacer bar installation drone and the target installation point is graphically represented. The ground control station interface displays the target installation point number, current deviation value, and generates suggested correction direction or correction amount prompts.

9. An apparatus for implementing the method for confirming the installation location of spacers based on the geographical information of transmission towers as described in any one of claims 1 to 8, characterized in that, include: The data acquisition module is used to acquire geographic information data of two adjacent transmission towers; The location generation module is used to calculate the span length based on the geographic information data and generate spacer installation location data in combination with the preset spacer arrangement rules. The model building module is used to map the spacer installation position data to a three-dimensional spatial coordinate system to build an installation position model. The installation position model includes the local attitude features of the target installation point corresponding to the spacer installation position data. The deviation calculation module is used to obtain the current pose of the spacer bar-mounted UAV and calculate the multi-dimensional spatial deviation between the current pose and the target mounting point. The multi-dimensional spatial deviation includes at least the angle deviation between the heading information in the current pose and the local attitude features. The confirmation output module is used to output an installation position confirmation signal to trigger the installation operation process in response to the multidimensional spatial deviation meeting the preset deviation threshold and the timing stability constraint.

10. A spacer installation system, characterized in that, include: The spacer rods are used to mount drones to provide real-time position and attitude information during operations; A ground control station, comprising the apparatus as described in claim 9, wherein the ground control station is communicatively connected to the spacer-mounted UAV, and is used to receive the real-time position information and the attitude information, and output the installation position confirmation signal.

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