CN115598685A - Measuring and calculating method for remotely positioning connecting point of power wire and tower - Google Patents
Measuring and calculating method for remotely positioning connecting point of power wire and tower Download PDFInfo
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- CN115598685A CN115598685A CN202211141186.3A CN202211141186A CN115598685A CN 115598685 A CN115598685 A CN 115598685A CN 202211141186 A CN202211141186 A CN 202211141186A CN 115598685 A CN115598685 A CN 115598685A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a measuring and calculating method for remotely positioning a connecting point of a power wire and a tower, which is characterized by comprising the following steps of: the method comprises the following steps: a, sampling a space coordinate of a lead by using a walking robot mounted on the lead and combining a satellite positioning technology; b, fitting a linear equation under the overhead projection of the lead and a catenary equation under the orthographic projection of the lead according to the sampling coordinates; step c, searching an auxiliary sampling point P which forms a vertical line with the connecting point P on the front projection surface of the tower s And obtaining an auxiliary sampling point P s And latitude and longitude coordinates of, and fitting PP s A linear overlook projection equation; and d, obtaining the space coordinate of the connecting point P through simultaneous equations and solving. According to the invention, the geographic space coordinate of the connecting point of the wire of the cross arm of the tower can be obtained without climbing to the connecting position of the tower and the wire, so that the safety of electric power operation is ensured, the working difficulty is reduced, and the work is lightenedAmount of the compound (A).
Description
Technical Field
The invention relates to the field of operation of power transmission and distribution networks, in particular to a measuring and calculating method for remotely positioning a connecting point of a power wire and a tower.
Background
In many power operation scenes, if the walking robot mounted on the lead is prevented from touching the tower, the space coordinates of the connecting point of the tower and the lead need to be acquired.
In the prior art, an operator mainly climbs to a connecting point of a pole tower and a wire, satellite positioning is carried out at high altitude, then the space coordinates of a collecting point are obtained, and the problems of low efficiency and high danger exist. Therefore, a method for conveniently collecting coordinates of a connection point between a wire and a tower is needed in the prior art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a measuring and calculating method for remotely positioning a connecting point of a power wire and a tower, so that the geographic space coordinates of the connecting point of the tower and the wire can be obtained without climbing to the connecting position of the tower and the wire, the safety of power operation is ensured, the working difficulty is reduced, and the workload is reduced.
In order to realize the purpose, the invention provides the following technical scheme:
a measuring and calculating method for remotely positioning a connecting point of a power wire and a tower is characterized by comprising the following steps: the method comprises the following steps:
a, sampling a space coordinate of a lead by using a walking robot mounted on the lead and combining a satellite positioning technology;
b, fitting a linear equation under the overhead projection of the lead and a catenary equation under the orthographic projection of the lead according to the sampling coordinates;
step c, searching an auxiliary sampling point P which forms a vertical line with the connecting point P on the front projection surface of the tower s And obtaining an auxiliary sampling point P s Latitude and longitude coordinates of, and fitting PP s Linear equations under linear overlooking projection;
and d, obtaining the space coordinate of the connecting point P through simultaneous equations and solution.
Preferably, in the step a, the worker mounts the walking robot on the wire, controls the walking robot to move from one end of the wire to the other end of the wire, and passes through a navigation satellite in the walking processPositioning, collecting space coordinates of the wire, and obtaining the coordinate P of the lowest point of the wire 0 (x 0 ,y 0 ,z 0 )。
Preferably, in step b, the linear equation of the overhead projection of the wire is:
a 1 x+b 1 y+c 1 ＝0；
the catenary equation of the wire in orthographic projection is as follows:
obtaining optimal a by utilizing sampling coordinate calculation 1 ，b 1 ，c 1 ，a 3 。
Preferably, in step c,
roughly finding out auxiliary sampling point P by means of visual inspection s Approximate point P of s ', let approximate point P s ' an auxiliary vertical line is formed on the front projection plane with the connecting point P;
at an approximate point P s ' finding an auxiliary sample point P by the device s And collecting the auxiliary sampling point P s Latitude and longitude coordinate x s ,y s ；
Due to the PP s The straight line in the linear overlooking projection is perpendicular to the straight line in the wire overlooking projection, so that PP s The linear equation under the linear overlook projection is as follows:
b 1 x-a 1 y+c 2 =0, substituting x s ,y s The following can be obtained:
c 2 ＝a 1 y s -b 1 x s 。
preferably, in step d, the step of,
the overlooking projection point of the connection point P is a straight line and PP under the overlooking projection of the lead s The intersection point of the straight lines under the straight line overlooking projection can be combined with the following equation set:
and solving to obtain the longitude and latitude x of the point P, wherein y is as follows:
and substituting the longitude and latitude x and y of the connecting point P into a catenary equation of the lead on the orthographic projection to obtain the z coordinate of the connecting point P.
The invention has the advantages that:
1. the geographical space coordinates of the connecting points of the pole tower and the wire can be obtained without climbing to the connecting position of the pole tower and the wire, so that the safety requirement of electric power operation is ensured, the working difficulty is reduced, and the workload is reduced.
2. The measurement is allowed to be carried out within a certain range from the front face of the tower on the ground, the measurement work can be smoothly carried out in the scene that the tower is inconvenient to approach, such as the occurrence of depression in the base of the tower or the blockage of obstacles, and the like, and the flexibility is high.
Drawings
Fig. 1 is a top view of the connection between the conductor and the tower provided in this embodiment;
fig. 2 is a front view of the connection between the conductor and the tower provided in this embodiment;
fig. 3 is a schematic diagram of a cross coordinate of the mobile phone provided in this embodiment.
Detailed Description
The measuring and calculating method for remotely locating the connection point of the power line conductor and the tower according to the present invention will be further described with reference to fig. 1 to 3.
A measuring and calculating method for remotely positioning a connecting point of a power wire and a tower is characterized by comprising the following steps: the method comprises the following steps:
a, sampling a space coordinate of a lead 2, namely a sampling coordinate, by using a walking robot 3 mounted on the lead 2 and combining a satellite positioning technology;
b, fitting a linear equation under the overhead projection of the lead 2 and a catenary equation under the orthographic projection of the lead 2 according to the sampling coordinates;
in the step c, the step of mixing the raw materials,searching an auxiliary sampling point P forming a vertical line with the connecting point P on the front projection plane of the tower 1 s And obtaining an auxiliary sampling point P s And latitude and longitude coordinates of, and fitting PP s A straight line equation under the straight line overlooking projection is adopted, and a connection point P is a connection point between the power conductor 2 and the tower 1;
and d, obtaining the space coordinate of the connecting point P through simultaneous equations and solution.
Specifically, the method comprises the following steps:
in step a:
staff's accessible climbing shaft tower 1, lifting means, unmanned aerial vehicle or other modes will walk on robot 3 carries to wire 2, then control walking robot 3 removes to the other end from the one end of wire 2, and the walking in-process is through navigation satellite positioning, gathers the space coordinate of wire 2 to obtain the coordinate P of 2 the lowest points of wire 0 (x 0 ,y 0 ,z 0 )。
In step b:
only the longitude and latitude values of the sampling coordinates are considered, that is, the elevation is not considered, the sampling coordinates are projected to a plane formed by the longitude and latitude to form a straight line, and a straight line equation under the overhead projection of the lead 2 can be obtained as follows:
a 1 x+b 1 y+c 1 ＝0；
meanwhile, the catenary equation of the lead 2 in the orthographic projection is as follows:
the optimal a can be calculated by using the sampling coordinates 1 ，b 1 ，c 1 ，a 3 。
Substituting the sampling coordinate into an equation to calculate the optimal a 1 ，b 1 ，c 1 ，a 3 For the prior art, the embodiment of the specific calculation process will not be described in detail.
In step c:
roughly finding out auxiliary sampling point P by means of visual inspection s Approximate point P of s ', let approximate point P s ' and a connecting point P form an auxiliary vertical line on a front projection plane;
finding an approximate point P s ' in time, T is constructed on both front and rear sides or the same side of the tower 1 1 、T 2 Identification point, T 1 、T 2 The mark point is positioned at the central intersection point in the left-right direction and forms an auxiliary vertical line with the connection point P under the orthographic projection, and the measurer is positioned at the approximate point P s When looking to the tower 1, the auxiliary vertical line is just opposite. When T is 1 、T 2 T when the identification points are on the same side of the tower 1 1 The two points T2 can not be on a vertical straight line;
at an approximate point P s ' finding an auxiliary sample point P by a device s And collecting the auxiliary sampling point P s Latitude and longitude coordinate x s ,y s The process is as follows:
1. at an approximate point P s A triangular support is erected, and a support holder is adjusted to be horizontal by using a level meter;
2. a monocular telescope with a cross coordinate is placed on the holder, and the camera of the mobile phone 4 is connected with the eyepiece of the monocular telescope, so that a picture with the cross coordinate 41 can be seen on the mobile phone 4;
3. adjusting the position of the support and the angle of the monocular to T 1 、T 2 Are all located on the longitudinal axis 411 of the cross coordinate 41;
4. keeping the position of the bracket, and replacing the mobile phone with a coordinate positioning instrument;
5. acquiring the coordinates of a position finder through a navigation satellite to obtain an auxiliary sampling point P s Latitude and longitude coordinate x s ,y s 。
Due to the PP s The straight line in the linear top view projection is perpendicular to the straight line in the wire 2 top view projection, so PP s The linear equation under the linear overlook projection is as follows:
b 1 x-a 1 y+c 2 =0, substituting x s ,y s The following can be obtained:
c 2 ＝a 1 y s -b 1 x s 。
in step d:
the overlook projection point of the connection point P is a straight line and PP under the overlook projection of the lead 2 s The intersection point of the straight lines under the straight line overlooking projection can be combined with the following equation set:
and solving to obtain the longitude and latitude x of the connection point P, wherein y is as follows:
and substituting the longitude and latitude x and y of the connection point P into a catenary equation of the lead 2 on the orthographic projection to obtain a z coordinate of the connection point P.
In the way, the space coordinate of the connecting point P of the lead 2 and the tower 1 can be obtained, and in the process, an operator does not need to ascend to the connecting position of the tower 1 and the lead 2, so that the safety requirement of electric power operation is guaranteed; the measurement is allowed to be carried out within the range that the distance between the ground and the side face of the tower 1 is less than or equal to 100 meters, the measurement work can be smoothly carried out in the scenes that the ground is not close to the tower 1, such as the bottom of the tower 1 appears in a depression or is blocked by an obstacle, and the like, and the flexibility is high.
Unless otherwise specified, in the present invention, if the terms "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore the terms describing the orientation or positional relationship in the present invention are only used for exemplary illustration and are not to be construed as limiting the present patent, and those skilled in the art can understand the specific meaning of the above terms according to the specific situation by combining the drawings.
Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are used broadly and encompass, for example, being fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiments, and all technical solutions that belong to the idea of the present invention belong to the scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (5)
1. A measuring and calculating method for remotely positioning a connecting point of a power wire and a tower is characterized by comprising the following steps: the method comprises the following steps:
a, sampling a space coordinate of a lead by using a walking robot mounted on the lead and combining a satellite positioning technology;
b, fitting a linear equation under the overhead projection of the lead and a catenary equation under the orthographic projection of the lead according to the sampling coordinates;
step c, searching an auxiliary sampling point P which forms a vertical line with the connecting point P on the front projection surface of the tower s And obtaining an auxiliary sampling point P s And latitude and longitude coordinates of, and fitting PP s A linear equation under the linear overlooking projection;
and d, obtaining the space coordinate of the connecting point P through simultaneous equations and solving.
2. The method of claim 1 for measuring and calculating the remote location of a point of connection between a power conductor and a tower, wherein: in the step a, a worker mounts the walking robot on a guide wire and controlsThe walking robot moves from one end of the wire to the other end, is positioned by a navigation satellite in the walking process, collects the space coordinate of the wire and obtains the coordinate P of the lowest point of the wire 0 (x 0 ,y 0 ,z 0 )。
3. A method of measuring and calculating a remotely located power conductor and tower connection point as claimed in claim 2, wherein: in step b, the linear equation of the overhead projection of the wire is:
a 1 x+b 1 y+c 1 ＝0；
the catenary equation of the wire in orthographic projection is as follows:
obtaining optimal a by utilizing sampling coordinate calculation 1 ，b 1 ，c 1， a 3 。
4. A method of measuring and calculating a remotely located power conductor and tower connection point as claimed in claim 3, wherein: in the step c, the process is carried out,
roughly finding out auxiliary sampling point P by means of visual inspection s Approximate point P of s ', let approximate point P s ' an auxiliary vertical line is formed on the front projection plane with the connecting point P;
at an approximate point P s ' finding an auxiliary sample point P by the device s And collecting the auxiliary sampling point P s Latitude and longitude coordinate x s ,y s ；
Due to the PP s The straight line in the linear overlooking projection is perpendicular to the straight line in the wire overlooking projection, so that PP s The linear equation under the linear overlook projection is as follows:
b 1 x-a 1 y+c 2 =0, substituting x s ,y s The following can be obtained:
c 2 ＝a 1 y s -b 1 x s 。
5. the method of claim 4, wherein the step of measuring and calculating the distance between the connection point of the power line conductor and the tower comprises the steps of: in the step d, the first step is carried out,
the overlooking projection point of the connection point P is a straight line and PP under the overlooking projection of the lead s The intersection point of the straight lines under the straight line overlooking projection can be combined with the following equation set:
and solving to obtain the longitude and latitude x of the point P, wherein y is as follows:
and substituting the longitude and latitude x and y of the connecting point P into a catenary equation of the lead on the orthographic projection to obtain the z coordinate of the connecting point P.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211141186.3A CN115598685A (en) | 2022-09-20 | 2022-09-20 | Measuring and calculating method for remotely positioning connecting point of power wire and tower |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211141186.3A CN115598685A (en) | 2022-09-20 | 2022-09-20 | Measuring and calculating method for remotely positioning connecting point of power wire and tower |
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| CN115598685A true CN115598685A (en) | 2023-01-13 |
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| CN202211141186.3A Pending CN115598685A (en) | 2022-09-20 | 2022-09-20 | Measuring and calculating method for remotely positioning connecting point of power wire and tower |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116878379A (en) * | 2023-06-30 | 2023-10-13 | 海南电网有限责任公司建设分公司 | Passive monitoring method for board position in tension and pay-off |
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2022
- 2022-09-20 CN CN202211141186.3A patent/CN115598685A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116878379A (en) * | 2023-06-30 | 2023-10-13 | 海南电网有限责任公司建设分公司 | Passive monitoring method for board position in tension and pay-off |
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