CN103091680A - Measuring method and measuring system for distance from wires to ground - Google Patents
Measuring method and measuring system for distance from wires to ground Download PDFInfo
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Abstract
The invention provides a measuring method and a measuring system for distance from wires to the ground. The measuring method includes the steps of using a laser radar to scan, obtaining laser scanning angle data and laser measuring data corresponding to the laser scanning angle data to an electric transmission line, obtaining point cloud data of a three-dimensional space corresponding to the electric transmission line according to the height of a laser device, the laser scanning angle data and the laser measuring data corresponding to the laser scanning angle data, and measuring the distance from various objects on the ground to the wires in the electric transmission line in the three-dimensional space corresponding to the electric transmission line by means of the point cloud data of the three-dimensional space corresponding to the electric transmission line. Through reliable, safe and non-contact type laser radar scanning, the measuring method can be used for carrying out three-dimensional reappearing to the electric transmission line and the surrounding environment so as to measure the distance from the various objects on the ground to the wires in the electric transmission line, so working efficiency of routing inspection for the electric transmission line is improved, safety of grid operation is guaranteed, and possible potential safety hazards are avoided.
Description
Technical field
The present invention relates to the power grid system technical field, relate in particular to a kind of wire distance to the ground measuring method and system.
Background technology
Under current low-carbon economy environmental background, human society proposes requirements at the higher level to the energy, environment and sustainable development, simultaneously under the continuous propelling and the continuous lifting of user to reliability of electric power and quality requirements of electricity market process, following electric power supply of requirement must be more safe and reliable, the needs of highly market-oriented electricity transaction and the autonomous selection demand that adapts to the client can be adapted to, huge power grid asset utilization factor can be further improved.For this reason, country variant take the U.S. and European Union as representative and organize coincidentally propose to build flexibly, safety, cleaning, economy, friendly intelligent grid, advanced person's ICT (information and communication technology), sensing measurement technology, analysis decision technology, automatic control technology and electricity power technology are combined, form novel modernization intelligent grid.
Intelligent grid claims again " electrical network 2.0 ", one of its characteristics are: automatic real-time control network system safe operation state, can in time find the trouble spot, the quick diagnosis failure cause, and the elimination potential faults, realize the self-recovery of network system, to avoid the occurrence of large-area power outage, can resist disaster, artificial situations such as outside destroy, guarantee the power grid security reliability service.
Transmission line of electricity is the important component part of electrical network, and the topography and geomorphology situation in the circuit corridor and atural object all can produce significant impact to laying and the safe operation of circuit, be the zone that Transmission Line Design and management are paid close attention to the most.In modern intelligent grid is built, the sharply increase of electrical network scale, the raising of electric network composition optimization and upgrading and automaticity, electrical network designing unit and operational management unit, the power equipment safety reliability is had higher requirement, need to continue to optimize the polling transmission line mode, patrol and examine efficient to reduce polling transmission line cost and raising.The purpose of polling transmission line is potential safety hazard and the fault of searching in circuit, in time overhauls, and farthest avoiding the generation of accident, or the normal operation that recovers circuit with the highest efficient, guarantees the security of operation of electrical network.
along with China's rapid economic development, UHV (ultra-high voltage), high-power, long distance transmission line is built more and more, the circuit corridor is away from cities and towns and the main line of communication, pass barren hill, geographical environment is complicated, and there is the line walking " blind area " that manually can not arrive in some area, perhaps because of equipment, trees are blocked the sight line that stops the pipeline rider, particularly when electrical network emergency safety accident occurs, the power circuit polling personnel utilize naked eyes or use common inspection instrument whether carry out checkout facility normal, under the prerequisite of guaranteed efficiency, this is a very large difficulty to patrolling and examining the maintainer.In addition, the disasteies such as ice damage, earthquake take place frequently, and bring new challenge to line data-logging.
In order to prevent and stop the generation of power grid security accident, operation of power networks maintenance department all will drop into a large amount of human and material resources and financial resources every year power transmission line is patrolled and examined, but conventional routine inspection mode at present, and condition of work is arduous, labour intensity is large, patrols and examines efficient low.In particularly mountain area and large cross line being patrolled and examined, and on ice damage, earthquake, floods, landslide, night condition the line walking inspection, that institute takes time is long, cost is high, difficulty is large, can not satisfy disaster and patrol and examine, ensure emergent needs of patrolling and examining under power supply and electrical network emergency condition, and the part project of patrolling and examining is difficult to complete by manual method.Therefore, conventional electric inspection process mode can not satisfy development and the safe operation demand of modernization intelligent grid, and supergrid is badly in need of safety, advanced person, science, efficient electric inspection process mode.
The 1950's, some developed countries begin to attempt using helicopter overhead transmission line are patrolled and examined work.Through research, the exploration of many decades, the application of helicopter in transmission line of electricity expanded to that line security is patrolled and examined, hot line job and lay the aspect such as shaft tower.China Hong Kong CLP company early adopts the efficient patrol mode of people's helicopter, by the operation of helicopter inspection of power transmission line, greatly improve labor productivity, China's power industry standard overhead transmission line manual inspection cycle (per month once) is significantly extended, and wherein affiliated Hong Kong, continent circuit are distinguished annual, every 4 months once.As seen, but adopt the artificial line walking of advanced patrol mode Partial Replacement, significantly reduce personnel labor intensity.In addition, in recent years, the helicopter routing inspection mode also is widely used at North China, the Yunnan Province of China.
Helicopter line walking mode is carried the equipment such as infrared photography instrument, digital camera, camera, high-resolution telescope, visible light video recorder more, awing to observing by way of circuit, obtains visible light and infrared video recording, the photo etc. of power transmission line corridor.But these technology space bearing accuracies are all not high, and the several data that obtains needs separately to process mostly, do not have integrated as a wholely, deal with pretty troublesome.In addition, these methods all are difficult to accurately to judge circuit corridor atural object (such as trees etc.) to the distance of wire, and the circuit that safe distance causes to dodge the road fault be the initial risk factor of many transmission line of electricity security incidents.On August 14th, 2003, the tree arcing fault has caused serious U.S. and has strengthened power outage, but before current accident, transmission line of electricity is is patrolled and examined by helicopter, even within before power failure 50 days of some line data-logging.In July, 1996 and August, US West had a power failure on a large scale for twice, and in September, 2003, Italy had a power failure on a large scale etc., was all caused by transmission line of electricity tree arcing fault.This shows, utilize conventional helicopter to carry the track walker, carry out line data-logging mode effect by telescope, camera unsatisfactory.In U.S. public utilities Tree management department in 2003, current tree being dodged the conclusion of having a power failure on a large scale that causes is: " people can not determine distance between trees and circuit all the time accurately by eyes ".
Therefore, rapidly in evolution, be badly in need of high efficiency polling transmission line mode at current intelligent grid.Airborne laser radar is measured (Light DetectionAnd Ranging, LiDAR) technology appear as transmission line of electricity efficiently patrol and examine the approach that provides new, the airborne laser radar measuring system is a kind of set laser ranging technology, high precision GPS (Global Positioning System, GPS) technology and high Dynamic Inertia navigational system (Inertial Navigation System, INS) technology is in the system of one.In conjunction with the regional GPS Continuous Tracking station of building up, the airborne laser radar system can directly gather circuit corridor high-precision laser point cloud and aerial image, data can be obtained the dimensional topography landforms of high-precision power transmission line corridor and the atural object spatial information in the corridor after treatment, comprise shaft tower, hanging wire point position, electric wire sag, trees, buildings etc.
Than traditional method, the airborne laser radar measuring system can provide the high accuracy three-dimensional spatial information, can penetrate vegetation and obtain earth's surface information, and the personnel of patrolling and examining can take full advantage of this information to the hidden danger that causes the line security problem and extremely analyze.In addition, due to the impact of wind-engaging to, temperature, humidity, wire load, the conducting wire sag degree can change, the conducting wire sag model is not easy to set up, after utilizing the airborne laser radar measuring technique to obtain data to carry out three-dimensional modeling, can directly measure sag to the distance of trees or barrier, and then determine how to cut down and removing obstacles; Secondly, the row vector if energy robotization extraction line of electric force point cloud is gone forward side by side, dangerous point will be detected automatically becomes possibility, the efficient that raising is is greatly patrolled and examined.
in sum, the airborne laser radar measuring technique has made up the deficiency of traditional routine inspection mode, utilizes the high-precision three-dimensional data of airborne laser radar system acquisition, can the Quick Measurement lines around atural object to the distance of wire, in time find and eliminate potential faults, on the basis that line of electric force extracts automatically, can realize that the robotization of dangerous point detects, improve greatly the efficient of patrolling and examining, save routing inspection cost, improve the administration of power networks level, (the 3S technology is remote sensing technology (Remote sensing to use the 3S technology, RS), Geographic Information System (Geography information systems, GIS) and GPS (Global positioning systems, GPS) general designation, it is space technology, sensor technology, satnav and airmanship and computer technology, mechanics of communication combines, what multidisciplinary height was integrated gathers spatial information, process, management, analyze, express, the modern information technologies of propagating and using), network technology, computer technology and three-dimensional panorama technology, with the grid equipment graphical information, the landform geography information, the information such as the high-precision three-dimensional data that laser radar system obtains organically combine, set up the transmission line of electricity Three-dimensional Visualization Management System, for the intelligent grid construction lays the first stone.
Choosing except considering normal electric insulation intensity of the minimum distance to the ground of wire also needs to consider this key factor of electric field intensity.For example, according to the design experiences of China's overhead transmission line, the distance to the ground of 330kV and following circuit decides by insulating safety distances, and 500kV and above circuit play control action by the ground electric field intensity that produces electrostatic effect.Under different meteorological conditions, the sag of wire also can affect the safe distance to ground.It has been generally acknowledged that, maximum sag can be higher at temperature or the meteorological condition of icing under produce.
The wire distance to the ground of overhead transmission line should meet designing requirement, but in operational process, desired safe distance may be damaged, and mainly contains several reasons: 1. newly-built below circuit or near it or the reconstruction buildings, make the wire distance to the ground reduce; 2. due to service work, move shaft tower or changed the size of shaft tower, and the length that has changed insulator chain; Crooked, the wire of shaft tower loosening and do not adjust or wire through long-play and elongated; 4. because loading in adjacent two grades is inhomogeneous, wire slides in suspension clamp.At present, the measuring method of transmission line of electricity distance to the ground there are following two kinds:
Range line is directly surveyed method: utilize the special isolation sounding rod directly to contact reading out data with wire with insulating cord on charged or dead line.
Instrument telemetry: utilize ultrasound wave altimeter, transit, laser range finder on the ground of circuit position or on shaft tower, alive circuit being measured.
Wherein, in the use procedure of first method, can directly contact wire.Except increasing staff's potential safety hazard, also can increase the wearing and tearing to transmission line of electricity and equipment.Although the ultrasound wave altimeter in second method, transit etc. do not need the direct or indirect contact power transmission line wire of staff, instrument need to be placed on circuit to be measured under measure.Due to the not impact of the factor such as gentle buildings of physical features, the result that this method is measured can produce some errors, and can not guarantee that the data that measure are minimum distance to the ground.Although these two kinds of methods are methods of relatively commonly using, all can not measure the True Data of minimum distance to the ground comprehensively.
Summary of the invention
The embodiment of the present invention provides a kind of wire distance to the ground measuring method and system, to measure the distance of the wire of various atural objects in the described transmission line of electricity.
On the one hand, the embodiment of the present invention provides a kind of wire distance to the ground measuring method, and described wire distance to the ground measuring method comprises:
Utilize a laser radar to scan, obtain laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data to transmission line of electricity;
According to the height of described laser instrument, described laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data, obtain three-dimensional cloud data corresponding to transmission line of electricity;
Utilize three-dimensional cloud data corresponding to described transmission line of electricity, measure the distance of the wire in the described transmission line of electricity of various atural objects in three dimensions corresponding to described transmission line of electricity.
Optionally, in an embodiment of the present invention, the three-dimensional cloud data that described transmission line of electricity is corresponding comprises power transmission line corridor landform, atural object and line facility device space information; Wherein, described line facility device space information comprises: shaft tower, insulator chain hanging point position, conducting wire sag.
Optionally, in an embodiment of the present invention, the interior various atural objects of the three dimensions that described transmission line of electricity is corresponding comprise: trees, house, scissors crossing line.
Optionally, in an embodiment of the present invention, described obtain three-dimensional cloud data corresponding to transmission line of electricity after, the three-dimensional cloud data corresponding to described transmission line of electricity carries out pre-service, rejects wrong and abnormal point.
Optionally, in an embodiment of the present invention, described obtain three-dimensional cloud data corresponding to transmission line of electricity after, to the processing of classifying of three-dimensional cloud data corresponding to described transmission line of electricity, and utilize the cloud data after classification is processed to carry out aerotriangulation, form orthophotoquad, set up the dimensional topography model.
On the other hand, the embodiment of the present invention provides a kind of wire distance to the ground measuring system, and described wire distance to the ground measuring system comprises:
The Laser Radar Scanning system is used for utilizing a laser radar to scan, and obtains laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data to transmission line of electricity;
Signal processor is used for according to the height of described laser instrument, described laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data, obtains three-dimensional cloud data corresponding to transmission line of electricity; Utilize three-dimensional cloud data corresponding to described transmission line of electricity, measure the distance of the wire in the described transmission line of electricity of various atural objects in three dimensions corresponding to described transmission line of electricity.
Optionally, in an embodiment of the present invention, described Laser Radar Scanning system comprises transmitter, transmit-receive switch, the receiver that is connected successively; Wherein, described transmit-receive switch connects an antenna.
Optionally, in an embodiment of the present invention, the three-dimensional cloud data that described transmission line of electricity is corresponding comprises power transmission line corridor landform, atural object and line facility device space information; Wherein, described line facility device space information comprises: shaft tower, insulator chain hanging point position, conducting wire sag; The interior various atural objects of the three dimensions that described transmission line of electricity is corresponding comprise: trees, house, scissors crossing line.
Optionally, in an embodiment of the present invention, described signal processor, after being further used for obtaining three-dimensional cloud data corresponding to transmission line of electricity, the three-dimensional cloud data corresponding to described transmission line of electricity carries out pre-service, rejects wrong and abnormal point.
Optionally, in an embodiment of the present invention, described signal processor, after being further used for obtaining three-dimensional cloud data corresponding to transmission line of electricity, to the processing of classifying of three-dimensional cloud data corresponding to described transmission line of electricity, and utilize the cloud data after classification is processed to carry out aerotriangulation, and form orthophotoquad, set up the dimensional topography model.
technique scheme has following beneficial effect: because adopt described wire distance to the ground measuring method, comprise: utilize a laser radar to scan, obtain laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data to transmission line of electricity, according to the height of described laser instrument, described laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data, obtain three-dimensional cloud data corresponding to transmission line of electricity, utilize three-dimensional cloud data corresponding to described transmission line of electricity, measure the technological means of the distance of the wire in the described transmission line of electricity of various atural objects in three dimensions corresponding to described transmission line of electricity, so reached following technique effect: reliable by adopting, safety, contactless Laser Radar Scanning carries out three-dimensional reconstruction to transmission line of electricity and surrounding environment, thereby measure the distance of the wire of various atural objects in the described transmission line of electricity, Quick Measuring measures wire pitch easily and effectively, improved the work efficiency of polling transmission line, ensured the security of operation of power networks, prevented its potential safety hazard that may bring, for example: tripping operation, produce corona etc.
Description of drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or description of the Prior Art, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 provides a kind of wire distance to the ground measuring method process flow diagram for the embodiment of the present invention;
Fig. 2 is a kind of wire distance to the ground of embodiment of the present invention measuring system structural representation;
Fig. 3 is a kind of Laser Radar Scanning system architecture of embodiment of the present invention schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
As shown in Figure 1, for the embodiment of the present invention provides a kind of wire distance to the ground measuring method process flow diagram, described wire distance to the ground measuring method comprises:
101, utilize a laser radar to scan, obtain laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data to transmission line of electricity;
102, according to the height of described laser instrument, described laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data, obtain three-dimensional cloud data corresponding to transmission line of electricity;
103, utilize three-dimensional cloud data corresponding to described transmission line of electricity, measure the distance of the wire in the described transmission line of electricity of various atural objects in three dimensions corresponding to described transmission line of electricity.
Optionally, three-dimensional cloud data corresponding to described transmission line of electricity comprises power transmission line corridor landform, atural object and line facility device space information; Wherein, described line facility device space information comprises: shaft tower, insulator chain hanging point position, conducting wire sag.
Optionally, the interior various atural objects of three dimensions corresponding to described transmission line of electricity comprise: trees, house, scissors crossing line.
Optionally, described obtain three-dimensional cloud data corresponding to transmission line of electricity after, the three-dimensional cloud data corresponding to described transmission line of electricity carries out pre-service, rejects wrong and abnormal point.
Optionally, described obtain three-dimensional cloud data corresponding to transmission line of electricity after, to the processing of classifying of three-dimensional cloud data corresponding to described transmission line of electricity, and utilize the cloud data after classification is processed to carry out aerotriangulation, form orthophotoquad, set up the dimensional topography model.
Corresponding to said method embodiment, as shown in Figure 2, be a kind of wire distance to the ground of embodiment of the present invention measuring system structural representation, described wire distance to the ground measuring system comprises:
Laser Radar Scanning system 21 is used for utilizing a laser radar to scan, and obtains laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data to transmission line of electricity;
Optionally, as shown in Figure 3, be a kind of Laser Radar Scanning system architecture of embodiment of the present invention schematic diagram, described Laser Radar Scanning system comprises transmitter 211, transmit-receive switch 212, the receiver 213 that is connected successively; Wherein, described transmit-receive switch 212 connects an antenna 214.
Optionally, three-dimensional cloud data corresponding to described transmission line of electricity comprises power transmission line corridor landform, atural object and line facility device space information; Wherein, described line facility device space information comprises: shaft tower, insulator chain hanging point position, conducting wire sag; The interior various atural objects of the three dimensions that described transmission line of electricity is corresponding comprise: trees, house, scissors crossing line.
Optionally, described signal processor 22, after being further used for obtaining three-dimensional cloud data corresponding to transmission line of electricity, the three-dimensional cloud data corresponding to described transmission line of electricity carries out pre-service, rejects wrong and abnormal point.
Optionally, described signal processor 22, after being further used for obtaining three-dimensional cloud data corresponding to transmission line of electricity, to the processing of classifying of three-dimensional cloud data corresponding to described transmission line of electricity, and utilize the cloud data after classification is processed to carry out aerotriangulation, form orthophotoquad, set up the dimensional topography model.
embodiment of the present invention technique scheme has following beneficial effect: because adopt described wire distance to the ground measuring method, comprise: utilize a laser radar to scan, obtain laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data to transmission line of electricity, according to the height of described laser instrument, described laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data, obtain three-dimensional cloud data corresponding to transmission line of electricity, utilize three-dimensional cloud data corresponding to described transmission line of electricity, measure the technological means of the distance of the wire in the described transmission line of electricity of various atural objects in three dimensions corresponding to described transmission line of electricity, so reached following technique effect: reliable by adopting, safety, contactless Laser Radar Scanning carries out three-dimensional reconstruction to transmission line of electricity and surrounding environment, thereby measure the distance of the wire of various atural objects in the described transmission line of electricity, Quick Measuring measures wire pitch easily and effectively, improved the work efficiency of polling transmission line, ensured the security of operation of power networks, prevented its potential safety hazard that may bring, for example: tripping operation, produce corona etc.
Below lifting application example is elaborated:
Application example of the present invention provides a kind of work high above the ground that do not need for measuring the transmission line wire distance to the ground, easy, safe non-contact measurement method fast,, system carries out the integral body measurement to transmission line of electricity and surrounding environment thereof by Laser Radar Scanning, judges whether the minimum distance to the ground of this section transmission line wire meets the safe operation rules.
The Laser Radar Scanning system mainly comprises single bundle narrow band laser and a receiving system.Laser instrument produces and launches a branch of pulse, beats on object and reflects, and finally received device receives.Receiver is measured light pulse exactly from being transmitted into the travel-time that is reflected back toward.Because light pulse is with light velocity propagation, so receiver always before next pulse sends, is received the previous pulse that is reflected back toward.In view of the light velocity is known, the travel-time can be converted into the measurement of adjusting the distance.In conjunction with height and the laser scanning angle of laser instrument, by calculating the three-dimensional coordinate of transmission line of electricity and surrounding environment flare thereof, obtain the complete three-dimensional model of the interior transmission line of electricity of sweep limit and surrounding environment thereof.According to the model that obtains, calculate the minimum distance to the ground of transmission line of electricity in sweep limit.
Application example of the present invention has adopted the mode of Laser Radar Scanning, Laser Radar Scanning equipment is placed near transmission line of electricity, do not need to be placed on wire under, then laser instrument produces and launches the light beam pulse, beat on object and reflect, then received device is accepted.Receiver is measured light pulse exactly from being transmitted into the travel-time that is reflected back toward.In view of the light velocity is straight, the travel-time can be converted into the measurement of adjusting the distance.Horizontally rotate continuous scanning by laser radar 360 degree, reach the equipment such as transmission line of electricity, object and building near it are measured, gather the true three-dimensional data of highdensity atural object, can supply fine modeling.Laser Radar Scanning has that speed is fast, precision is high, the congruent advantage of information.Use Laser Radar Scanning so that the transmission line of electricity distance to the ground is measured, can improve to measure and patrol and examine work efficiency, reduce costs inconvenience and the contradiction of avoiding as far as possible the factors such as complex-terrain, groups of building and vegetation region that surveying work is brought.
The principle schematic of Laser Radar Scanning system knot as shown in Figure 3., will extract for information about from target echo after target when radar detection.At first can distance and the space angle of target be positioned.Secondly, if the measurement of radar can have enough resolving powers on one dimension or multidimensional, can obtain the information of target size and shape.On principle, laser radar also can be measured the surfaceness of target and dielectric property etc.
During radar work, transmitter is outwards launched certain laser pulse signal of a string repetition period.If there is target to exist on the approach of laser propagation, radar just can receive the echo that is reflected by target so.Because echoed signal is travelled to and fro between between radar and target, it will lag behind an exomonental time t
r, the distance of establishing target is R, the distance of propagating equals the light velocity and is multiplied by the time interval, that is:
2R＝ct
r；
In formula, R is the one way distance that target arrives radar station, and unit is m; t
rTravel to and fro between time interval between target and radar for laser pulse signal, unit is s; C is the light velocity, c=3*10
8M/s.
Because the position of the laser radar apparatus that transmission line of electricity is scanned is fixed, therefore only the pendulum angle data of laser measurement data and laser scanning mirror need to be carried out Combined Treatment, obtain the three-dimensional coordinate data of each measuring point.Can obtain like this being suspended in a large number the discrete dot array data that there is no attribute in the air, be called cloud data.Laser point cloud data has reflected the three dimensions situation that gathers the transmission line of electricity of moment, comprises the power transmission line corridor landform, and atural object and line facility device space information comprise shaft tower, insulator chain hanging point position, conducting wire sag etc.After the corridor three-dimensional structure that goes out to transmit electricity by the laser point cloud data precise restoration, in the measuring circuit corridor, various atural objects (particularly trees, house, scissors crossing) to the distance of wire, and judge whether to satisfy the safe operation requirement.
After obtaining cloud data, need to carry out pre-service and classification processing to these data.At first should test to data, reject wrong and abnormal point, as low especially point (point of below ground) or extra high point (for example aloft bird).Then set up the ground data type, separate non-ground data.According to customer requirement, non-ground data is classified again, as buildings class data, transmission line of electricity data, road class data etc.In addition, can classify to non-ground point data according to overhead height, as classifying to different vegetation.Then the data of output category.
Then, carry out aerotriangulation according to cloud data figure, form orthophotoquad, set up the dimensional topography model.Thereby to classification to the minimum distance to the ground of transmission line of electricity measure.
The beneficial effect that application example technical scheme of the present invention is brought: transmission line wire distance to the ground deficiency is the key factor that threatens the transmission line of electricity safe operation, and its potential safety hazard of bringing has a lot of aspects, such as: tripping operation, generation corona etc.By adopting reliable, safe, contactless Laser Radar Scanning to carry out three-dimensional reconstruction to transmission line of electricity and surrounding environment, thereby measure the power line conductive distance between centers of tracks, Quick Measuring measures wire pitch easily and effectively, improve the work efficiency of polling transmission line, ensured the security of operation of power networks.
Those skilled in the art can also recognize the various illustrative components, blocks (illustrative logical block) that the embodiment of the present invention is listed, the unit, and step can pass through electronic hardware, computer software, or both combinations realize.Be the clear replaceability (interchangeability) of showing hardware and software, above-mentioned various illustrative components (illustrative components), unit and step have been described their function generally.Such function is to realize depending on the designing requirement of specific application and whole system by hardware or software.Those skilled in the art can be for every kind of specific application, and can make ins all sorts of ways realizes described function, but this realization should not be understood to exceed the scope of embodiment of the present invention protection.
Various illustrative logical block described in the embodiment of the present invention, or the unit can pass through general processor, digital signal processor, special IC (ASIC), field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the design of above-mentioned any combination realizes or operates described function.General processor can be microprocessor, and alternatively, this general processor also can be any traditional processor, controller, microcontroller or state machine.Processor also can realize by the combination of calculation element, for example digital signal processor and microprocessor, multi-microprocessor, Digital Signal Processor Core of one or more microprocessors associating, or any other similarly configuration realize.
Method described in the embodiment of the present invention or the step of algorithm can directly embed hardware, the software module of processor execution or the two combination.Software module can be stored in the storage medium of other arbitrary form in RAM storer, flash memory, ROM storer, eprom memory, eeprom memory, register, hard disk, moveable magnetic disc, CD-ROM or this area.Exemplarily, storage medium can be connected with processor so that processor can be from storage medium reading information, and can deposit write information to storage medium.Alternatively, storage medium can also be integrated in processor.Processor and storage medium can be arranged in ASIC, and ASIC can be arranged in user terminal.Alternatively, processor and storage medium also can be arranged in different parts in user terminal.
In one or more exemplary designs, the described above-mentioned functions of the embodiment of the present invention can realize in hardware, software, firmware or this three's combination in any.If realize in software, these functions can be stored on medium with computer-readable, or are transmitted on the medium of computer-readable with one or more instructions or code form.The computer-readable medium comprises the computer storage medium and is convenient to make allows computer program transfer to other local telecommunication media from a place.Storage medium can be the useable medium that any general or special computer can access.For example, such computer readable media can include but not limited to RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage device, or other anyly can be used for carrying or storage and can be read by general or special computer or general or special processor the medium of the program code of form with instruction or data structure and other.In addition, any connection can suitably be defined as the computer-readable medium, for example, if software is by a concentric cable, fiber optic cables, twisted-pair feeder, Digital Subscriber Line (DSL) or also being comprised in defined computer-readable medium with wireless way for transmittings such as infrared, wireless and microwave from a web-site, server or other remote resource.Described video disc (disk) and disk (disc) comprise Zip disk, radium-shine dish, CD, DVD, floppy disk and Blu-ray Disc, and disk is usually with the magnetic duplication data, and video disc carries out the optical reproduction data with laser usually.Above-mentioned combination also can be included in the computer-readable medium.
Above-described embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above is only the specific embodiment of the present invention; the protection domain that is not intended to limit the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a wire distance to the ground measuring method, is characterized in that, described wire distance to the ground measuring method comprises:
Utilize a laser radar to scan, obtain laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data to transmission line of electricity;
According to the height of described laser instrument, described laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data, obtain three-dimensional cloud data corresponding to transmission line of electricity;
Utilize three-dimensional cloud data corresponding to described transmission line of electricity, measure the distance of the wire in the described transmission line of electricity of various atural objects in three dimensions corresponding to described transmission line of electricity.
2. wire distance to the ground measuring method as claimed in claim 1, is characterized in that,
The three-dimensional cloud data that described transmission line of electricity is corresponding comprises power transmission line corridor landform, atural object and line facility device space information; Wherein, described line facility device space information comprises: shaft tower, insulator chain hanging point position, conducting wire sag.
3. wire distance to the ground measuring method as claimed in claim 1, is characterized in that,
The interior various atural objects of the three dimensions that described transmission line of electricity is corresponding comprise: trees, house, scissors crossing line.
4. wire distance to the ground measuring method as claimed in claim 1, is characterized in that,
Described obtain three-dimensional cloud data corresponding to transmission line of electricity after, the three-dimensional cloud data corresponding to described transmission line of electricity carries out pre-service, rejects wrong and abnormal point.
5. wire distance to the ground measuring method as claimed in claim 1, is characterized in that,
Described obtain three-dimensional cloud data corresponding to transmission line of electricity after, to the processing of classifying of three-dimensional cloud data corresponding to described transmission line of electricity, and utilize the cloud data after classification is processed to carry out aerotriangulation, and form orthophotoquad, set up the dimensional topography model.
6. a wire distance to the ground measuring system, is characterized in that, described wire distance to the ground measuring system comprises:
The Laser Radar Scanning system is used for utilizing a laser radar to scan, and obtains laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data to transmission line of electricity;
Signal processor is used for according to the height of described laser instrument, described laser scanning angle-data and laser measurement data corresponding to each laser scanning angle-data, obtains three-dimensional cloud data corresponding to transmission line of electricity; Utilize three-dimensional cloud data corresponding to described transmission line of electricity, measure the distance of the wire in the described transmission line of electricity of various atural objects in three dimensions corresponding to described transmission line of electricity.
7. wire distance to the ground measuring system as claimed in claim 6, is characterized in that,
Described Laser Radar Scanning system comprises transmitter, transmit-receive switch, the receiver that is connected successively; Wherein, described transmit-receive switch connects an antenna.
8. wire distance to the ground measuring system as claimed in claim 6, is characterized in that,
The three-dimensional cloud data that described transmission line of electricity is corresponding comprises power transmission line corridor landform, atural object and line facility device space information; Wherein, described line facility device space information comprises: shaft tower, insulator chain hanging point position, conducting wire sag; The interior various atural objects of the three dimensions that described transmission line of electricity is corresponding comprise: trees, house, scissors crossing line.
9. wire distance to the ground measuring system as claimed in claim 6, is characterized in that,
Described signal processor, after being further used for obtaining three-dimensional cloud data corresponding to transmission line of electricity, the three-dimensional cloud data corresponding to described transmission line of electricity carries out pre-service, rejects wrong and abnormal point.
10. wire distance to the ground measuring system as claimed in claim 6, is characterized in that,
Described signal processor, after being further used for obtaining three-dimensional cloud data corresponding to transmission line of electricity, to the processing of classifying of three-dimensional cloud data corresponding to described transmission line of electricity, and utilize the cloud data after classification is processed to carry out aerotriangulation, form orthophotoquad, set up the dimensional topography model.
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