CN115655212B - Overhead line sag measurement method based on Beidou positioning and laser ranging fusion - Google Patents
Overhead line sag measurement method based on Beidou positioning and laser ranging fusion Download PDFInfo
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Abstract
本发明涉及一种基于北斗定位与激光测距融合的架空线路弧垂测量方法，该方法基于弧垂智能测控装置进行弧垂测量，方法包括：将弧垂智能测控装置放置于架空线路的正下方，根据万向倾角传感器的探测数据，调整可调节式支撑装置的位姿；通过旋转平台机构带动激光测距模块变换角度进行模糊测量，当获取激光反馈信号时，进行位置记录；在每个记录位置上，进行精细测量，当获取激光反馈信号后，得到此时坐标点的位置，获取弧垂的现实测量值；从而构建架空线路的实际曲线，并与架空线路的标准曲线对比，实现架空线路弧垂的监测。与现有技术相比，本发明能够提高弧垂检测的质量，提升工程中张紧线施工的作业效率，降低施工人员的劳动成本。
The present invention relates to an overhead line sag measurement method based on the integration of Beidou positioning and laser ranging. The method performs sag measurement based on a sag intelligent measurement and control device. The method comprises: placing the sag intelligent measurement and control device directly below the overhead line, adjusting the position of the adjustable support device according to the detection data of the universal tilt sensor; driving the laser ranging module to change the angle for fuzzy measurement through a rotating platform mechanism, and recording the position when the laser feedback signal is obtained; performing fine measurement at each recording position, obtaining the position of the coordinate point at this time after the laser feedback signal is obtained, and obtaining the actual measurement value of the sag; thereby constructing the actual curve of the overhead line, and comparing it with the standard curve of the overhead line, and realizing the monitoring of the sag of the overhead line. Compared with the prior art, the present invention can improve the quality of sag detection, improve the operating efficiency of tensioning line construction in the project, and reduce the labor cost of construction personnel.
Description
Technical Field
The invention relates to the technical field of overhead line measurement, in particular to an overhead line sag measurement method based on Beidou positioning and laser ranging fusion.
Background
The transmission line wires sag between adjacent towers to form an arc-shaped curve, and the sagging amplitude is called sag. The sag is related to the span, height difference, wire length, wire weight, stress on the wire, and natural factors such as air temperature, wind, ice and snow also affect the wire. In order to ensure that the ultra-high voltage and ultra-high voltage power transmission overhead line can safely run and the distance between a power transmission wire and the ground and the distance between the power transmission wire and a crossed object meet the requirements of 110-750 KV overhead power transmission line construction and acceptance inspection standards under severe weather conditions, the sag of the power transmission overhead line needs to be accurately controlled during overhead line construction, and particularly one of the core problems that the project progress and quality are restricted in mountain areas, water networks and the like is that artificial sag observation is affected by the environment and efficiency is limited. At present, the sag observation mode is mainly judged by manual observation, which has higher requirements on experience and professional literacy of observers, and the problems of high manual labor intensity and personal safety when the observers go on the tower for observation exist.
The artificial sag observation has the main defects that (1) the detection efficiency is low, the sag observation cannot be carried out under the conditions of high environmental requirements and poor visibility, (2) the experience requirements of observers are high, a certain professional experience is required, and (3) the sag data of the artificial observation lacks objectivity and consistency. Therefore, the research of an efficient and high-precision sag measurement and control method has great significance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the overhead line sag measurement method based on the combination of Beidou positioning and laser ranging, so that the intelligent and digital high-precision detection of the sag of the target wire is realized, the sag detection quality is improved, the construction operation efficiency of the tensioning wire in engineering is improved, and the labor cost of constructors is reduced.
The aim of the invention can be achieved by the following technical scheme:
The sag measurement method of the overhead line based on the combination of Beidou positioning and laser ranging is characterized in that sag measurement is carried out based on a sag intelligent measurement and control device, the sag intelligent measurement and control device comprises an adjustable supporting device, a supporting platform, a Beidou positioning device, a laser ranging module and a rotating platform mechanism, wherein the Beidou positioning device, the laser ranging module and the rotating platform mechanism are arranged on the supporting platform;
The method comprises the following steps:
Positioning, namely placing the sag intelligent measurement and control device under an overhead line, expanding the adjustable supporting device, and adjusting the pose of the adjustable supporting device according to the detection data of the universal inclination sensor so that the supporting platform is in a horizontal state;
The fuzzy measurement step is that the rotating platform mechanism drives the laser ranging module to change angles in a preset initial angle range to measure, when a laser feedback signal is obtained, position recording is carried out, and the laser dotting angle range of the current feedback position is determined;
The fine measurement step comprises the steps of driving the laser ranging module to change angles in a corresponding laser dotting angle range through the rotary platform mechanism to measure at each feedback position, and carrying out repeated measurement confirmation after a laser feedback signal is acquired to obtain the position of a coordinate point at the moment;
and a monitoring step, namely constructing an actual curve of the overhead line according to the actual measurement value of the sag, comparing the actual curve with a standard curve of the overhead line, and calculating the tightening quantity data of the current overhead line.
Further, the monitoring step specifically comprises the steps of establishing an sag coordinate system according to the acquired actual measurement values of a plurality of sags, and performing curve fitting under the sag coordinate system to obtain an actual curve of the overhead line; and comparing the actual curve of the overhead line with the standard curve of the overhead line, so as to calculate and obtain the tightening quantity data of the current overhead line.
Further, the establishing process of the sag coordinate system comprises the following steps:
firstly, a sag coordinate system is established by taking a measured value of a certain position of an overhead line as a coordinate origin, and the acquired measured position information is circularly subjected to two-by-two coordinate calculation to obtain coordinate positions of all measured positions under the sag coordinate system;
the two-by-two coordinate calculation is specifically to obtain two measurement points of the overhead line, wherein one of the two measurement points is a known point, the other measurement point is a measured point, and the two measurement points are measured according to the pitching angle information of the laser ranging module and the distance information of the laser point corresponding to the two measurement points and the triangular relation;
According to the two measuring points, the distance between the two measuring points is calculated according to the transformation angle of the laser ranging module, and according to the height values of the two measuring points, the relative coordinate distance of the abscissa of each point can be calculated according to the European theorem, so that the abscissa information and the ordinate information of the measured point under the sag coordinate system are obtained.
Further, the fitting equation of the curve fitting is:
wherein A, B and C are both coefficients, x is the abscissa and y is the ordinate.
Further, the line tightening quantity data of the current overhead line is obtained through calculation of the comparative sag value, and the calculation process of the sag value comprises the following steps:
And (3) obtaining two suspension points of an actual curve of the overhead line, connecting the two suspension points, obtaining a tangent line of the actual curve and the two suspension point connection lines, and taking a vertical distance between a tangent point corresponding to the tangent line and the two suspension point connection lines as a sag value.
Further, the calculation expression of the tightening quantity is:
Wherein l is Zhang Duanchang, l d is the representative span, l c is the observation span, f co is the measured sag, f c is the standard sag, For the height difference angle of the two suspension points, deltal is the length of the tight line.
Further, the rotary platform mechanism comprises a cradle type rotary platform and a hollow rotary platform, the cradle type rotary platform is connected to one side of the hollow rotary platform, and the laser ranging module is fixed on the cradle type rotary platform;
in the fuzzy measurement step, the cradle type rotary platform and the hollow rotary platform are driven to rotate respectively, so that the laser ranging module is driven to change angles in the horizontal direction and the vertical direction for measurement;
In the fine measurement step, in the fuzzy range, the cradle type rotary platform is fixed, so that the horizontal angle is not changed any more, and the hollow rotary platform is driven to drive the laser ranging module to change the angle in the vertical direction for measurement.
Further, in the measuring process, according to the angles of the cradle type rotary platform and the hollow rotary platform, horizontal coordinates and vertical coordinates of the laser points are obtained, and according to the distance between the laser points obtained by the laser ranging module, coordinate transformation is carried out, so that coordinate information of the laser points relative to the laser ranging module is obtained.
Further, the hollow rotary platform comprises a vertical bearing, a first motor, a horizontal mounting plate and a first shell for supporting the whole hollow rotary platform, wherein the vertical bearing is driven by the first motor, and the vertical bearing and the cradle type rotary platform are both connected with the horizontal mounting plate and used for driving the cradle type rotary platform to rotate in the horizontal direction.
Further, the cradle type rotary platform comprises a transverse bearing, a second motor, a ranging module mounting plate and a second shell for supporting the whole cradle type rotary platform, wherein the transverse shaft is driven by the second motor, one end of the ranging module mounting plate is rotatably connected with the second shell, the other end of the ranging module mounting plate is rotatably connected with the transverse bearing, and the laser ranging module is fixed on the ranging module mounting plate and used for being driven by the second motor to rotate in the vertical direction and driven by the first motor to rotate in the horizontal direction.
Further, the first motor and the second motor are servo motors.
Further, a vibration isolation displacement platform is arranged between the rotary platform mechanism and the supporting platform, the vibration isolation displacement platform comprises a vibration isolation displacement platform main body and a plurality of piezoelectric ceramic controllers, each piezoelectric ceramic controller is fixed on the supporting platform, the output end of each piezoelectric ceramic controller is connected with the vibration isolation displacement platform main body, and the vibration isolation displacement platform main body carries out horizontal pose adjustment under the control of each piezoelectric ceramic controller;
In the positioning step, horizontal pose adjustment control is performed on each piezoelectric ceramic controller according to detection data of the universal inclination sensor.
Further, the sag intelligent measurement and control device further comprises a portable toolbox, wherein the toolbox comprises an industrial touch integrated machine, a mobile power supply and a toolbox main body, and the toolbox main body comprises a plurality of placement areas and is used for placing the industrial touch integrated machine, the mobile power supply, a laser ranging module, a rotary platform mechanism and a vibration isolation displacement platform.
Further, the industrial touch integrated machine is in communication connection with the universal inclination sensor and is used for displaying pose data of the device, and the adjustable supporting device comprises a plurality of triangular supports which are detachably connected with each other and is used for adjusting the triangular supports according to the pose data of the device.
Compared with the prior art, the invention has the following advantages:
(1) The overhead line sag measurement method based on the Beidou positioning and laser ranging fusion realizes the intelligent, digital and automatic high-precision detection of the sag of the target wire, can improve the sag detection quality, improve the working efficiency of tensioning line construction in engineering, reduce the labor cost of constructors, reduce the delay problem caused by the line construction period in a real environment, and promote the development and popularization of an intelligent system of a power grid.
(2) The laser ranging module is fixed in position by the fixture, and has the advantages of convenience, detachability and portability. When the coordinates of the overhead transmission line are acquired, the acquired coordinate point precision has a direct relation with the observation span, and the corresponding distance and precision can be adjusted by changing the laser ranging module according to different spans and the precision required to be measured, so that the aim of completing the test is fulfilled, the problem of overlarge cost burden caused by replacing the whole equipment is avoided, and the method has certain flexibility and economical practicability
(3) The vibration isolation displacement platform realizes the state of automatic leveling of the pose by the piezoelectric ceramic controller, ensures the high-precision pose state of equipment, avoids the inclination condition of the device caused by the unevenness of the field operation ground, realizes intelligent and automatic real-time adjustment, and is convenient for the development of automatic measurement.
(4) The Beidou positioning module has a high-precision positioning function, can acquire and apply real-time position coordinates, and can accurately calculate and position laser point coordinates by matching with the laser ranging module.
(5) The sag measurement device has the characteristics of intelligence, light weight and visualization, and is convenient to move and carry. The device can autonomously identify and measure the wire targets, replace people to perform construction operation in the related field, can also present a two-dimensional schematic diagram of the wire, intuitively reflect the state of the measured overhead transmission line, and is convenient for improving the field construction efficiency and quality.
Drawings
Fig. 1 is a schematic flow chart of an overhead line sag measurement method based on Beidou positioning and laser ranging fusion, which is provided by the embodiment of the invention;
FIG. 2 is a schematic diagram of the overall structure of an intelligent sag measurement and control device according to an embodiment of the present invention;
FIG. 3 is a schematic side view of an intelligent measurement and control device for sag according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a top view structure of an intelligent sag measurement and control device according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a rotary platform mechanism of an intelligent sag measurement and control device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a vibration isolation displacement platform of an intelligent sag measurement and control device provided in an embodiment of the invention;
FIG. 7 is a schematic diagram of a portable tool box of an intelligent sag measurement and control device according to an embodiment of the present invention;
FIG. 8 is a schematic view of a sag provided in an embodiment of the present invention;
Fig. 9 is a first schematic diagram of an overhead line three-dimensional space provided in an embodiment of the present invention;
fig. 10 is a second schematic diagram of an overhead line three-dimensional space provided in an embodiment of the present invention;
In the figure, 1, laser ranging module, 2, frock clamp, 3, cradle type rotary platform, 301, second motor, 302, ranging module mounting panel, 4, adjustable strutting arrangement, 5, portable toolbox, 6, industrial touch all-in-one, 7, portable power source, 8, big dipper positioner, 9, cavity rotary platform, 901, first motor, 902, horizontal mounting panel, 10, piezoceramics controller, 11, universal inclination sensor, 12, supporting platform, 13, vibration isolation displacement platform, 131, vibration isolation displacement platform main part.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.
It should be noted that the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
Example 1
The embodiment provides an overhead line sag measurement method based on Beidou positioning and laser ranging fusion, which is based on sag measurement by an intelligent sag measurement and control device and is described in detail below.
1. Intelligent sag measurement and control device
As shown in fig. 2-4, the sag intelligent measurement and control device comprises a Beidou positioning device 8, a laser ranging module 1, a rotary platform mechanism, a vibration isolation displacement platform 13, a supporting platform 12 and an adjustable supporting device 4, wherein the laser ranging module 1 is fixed on the rotary platform mechanism through a tool clamp 2 and is driven by the rotary platform mechanism to rotate in the horizontal direction and the vertical direction;
The rotary platform mechanism is connected with the vibration isolation displacement platform 13, the vibration isolation displacement platform 13 is used for bearing and adjusting the horizontal pose, the vibration isolation displacement platform 13 is connected with the supporting platform 12, the supporting platform 12 is used for bearing, the supporting platform 12 is installed on the adjustable supporting device 4, the Beidou positioning device 8 is connected with the supporting platform 12, and the supporting platform 12 is further provided with a universal inclination sensor 11 for monitoring device pose data.
As shown in fig. 5, the rotary platform mechanism comprises a cradle type rotary platform 3 and a hollow rotary platform 9, the cradle type rotary platform 3 is connected to one side of the hollow rotary platform 9, and the laser ranging module 1 is fixed on the cradle type rotary platform 3 for rotation in a horizontal direction through the hollow rotary platform 9 and in a vertical direction through the cradle type rotary platform 3.
The hollow rotary platform 9 comprises a vertical bearing, a first motor 901, a horizontal mounting plate 902 and a first shell for supporting the whole hollow rotary platform 9, wherein the vertical bearing is driven by the first motor 901, and the vertical bearing and the cradle type rotary platform 3 are connected with the horizontal mounting plate 902 and used for driving the cradle type rotary platform 3 to rotate in the horizontal direction.
The cradle type rotary platform 3 comprises a transverse bearing, a second motor 301, a ranging module mounting plate 302 and a second shell for supporting the whole cradle type rotary platform 3, wherein the transverse shaft is driven by the second motor 301, one end of the ranging module mounting plate 302 is rotatably connected with the second shell, the other end of the ranging module mounting plate 302 is rotatably connected with the transverse bearing, the laser ranging module 1 is fixed on the ranging module mounting plate 302 and used for being driven by the second motor 301 to rotate in the vertical direction, and the laser ranging module 1 is driven by the first motor 901 to rotate in the horizontal direction. Preferably, the first motor 901 and the second motor 301 are servo motors, so as to realize fine control measurement.
The structure is realized in that the laser ranging module is fixed on the cradle type rotary platform through the fixture. The rotary platform mechanism consists of a cradle type rotary platform and a hollow rotary platform, wherein the cradle type rotary platform is driven by a servo motor to rotate around a transverse bearing in the vertical direction and perform fine control measurement of a high-precision vertical angle, the hollow rotary platform is driven by the servo motor to rotate around a vertical hollow bearing in the horizontal direction and perform fine control measurement of a high-precision horizontal angle, and the precise control and fine control measurement of the horizontal angle and the vertical angle can be realized through the mutual matching of the two platforms.
As shown in fig. 6, the vibration isolation displacement platform 13 includes a vibration isolation displacement platform main body 131 and a plurality of piezoelectric ceramic controllers 10, each piezoelectric ceramic controller 10 is fixed on the supporting platform 12, the output end of each piezoelectric ceramic controller 10 is connected with the vibration isolation displacement platform main body 131, and the vibration isolation displacement platform main body 131 performs horizontal pose adjustment under the control of each piezoelectric ceramic controller 10.
Equivalently, the whole rotary platform mechanism bears the laser ranging module and the tool clamp and is fixed on the vibration isolation displacement platform. The vibration isolation displacement platform has the functions of bearing the rotating platform mechanism, the tool clamp and the laser ranging module, and can reduce the vibration influence of the field environment on the machine. The vibration isolation displacement platform is intelligently and automatically adjusted in real time by the piezoelectric ceramic controller, so that a bearing mechanism is in a horizontal state in real time, and coordinate points are conveniently acquired and data measured.
The Beidou positioning device 8 is provided with an antenna module and a data transmission module, and the Beidou positioning device 8 is controlled by a single chip microcomputer and used for acquiring coordinates and elevation information of the device.
The Beidou positioning device is controlled by the singlechip and is fixed on the supporting platform by matching with the antenna module, the data transmission module and the like. The supporting platform bears all the mechanisms and is arranged on the adjustable supporting device, the supporting platform is provided with a universal inclination sensor, a Beidou positioning module and a piezoelectric ceramic controller, the universal inclination sensor monitors the position and the pose of the device, the manual adjustment of the adjustable supporting device is convenient, and the Beidou positioning is used for acquiring the coordinates and the elevation information of the device. The adjustable supporting device is composed of triangular supports, the supporting function of the whole mechanism is achieved, and the triangular supports can be conveniently detached and installed and can be suitable for construction sites in different environments and on operation floors.
As shown in fig. 7, as a preferred embodiment, the sag intelligent measurement and control device further includes a portable tool box 5 including an industrial touch integrated machine 6, a mobile power supply 7 and a tool box main body, wherein the tool box main body includes a plurality of placement areas for placing the industrial touch integrated machine 6, the mobile power supply 7, the laser ranging module 1, the rotary platform mechanism and the vibration isolation displacement platform 13.
The portable toolbox is made of anti-compression and anti-explosion high-strength materials, an industrial touch integrated machine and a mobile power supply are assembled in the toolbox, and the whole mechanism part above the laser ranging module and the supporting platform can be placed, so that portable carrying and moving can be realized, and meanwhile, each precise mechanism is prevented from being bumped in the carrying and carrying process, and a protection effect is realized for each mechanism.
The industrial touch integrated machine 6 is in communication connection with the universal inclination sensor 11 and is used for displaying device pose data, and the adjustable supporting device 4 comprises a plurality of triangular supports which are detachably connected with each other and is used for adjusting the triangular supports according to the device pose data.
2. Overhead line sag measurement method
As shown in fig. 1, the overhead line sag measurement method includes the steps of:
The positioning step S1, placing an intelligent sag measurement and control device under the side surface of a wire or a wire hanging point of an overhead line, expanding an adjustable supporting device 4, and adjusting the pose of the adjustable supporting device 4 according to detection data of a universal inclination sensor so that a supporting platform 12 is in a horizontal state;
Specifically, the horizontal posture adjustment control is performed on each of the piezoelectric ceramic controllers 10 based on the detection data of the universal tilt sensor.
Step S2 of fuzzy measurement, namely driving the laser ranging module 1 to change angles through a rotary platform mechanism to measure, and recording positions when a laser feedback signal is acquired;
A fine measurement step S3, namely driving the laser ranging module 1 to change angles to measure through a rotary platform mechanism at each recording position, and carrying out repeated measurement confirmation after obtaining a laser feedback signal to obtain the position of a coordinate point at the moment;
specifically, in the step of fuzzy measurement, the cradle type rotary platform 3 and the hollow rotary platform 9 are driven to rotate respectively to drive the laser ranging module 1 to change angles in the horizontal direction and the vertical direction for measurement;
In the fine measurement step, in the fuzzy range, the horizontal angle is not changed any more through the fixed cradle type rotary platform 3, and the hollow rotary platform 9 is driven to drive the laser ranging module 1 to change the angle in the vertical direction for measurement;
s4, an actual curve of the overhead line is constructed according to the actual measurement value of sag, and is compared with a standard curve of the overhead line, so that sag monitoring of the overhead line is realized;
in the measuring process, according to the angles of the cradle type rotary platform 3 and the hollow rotary platform 9, acquiring horizontal coordinates and vertical coordinates of a laser point, and according to the distance of the laser point obtained by the laser ranging module, carrying out coordinate transformation to obtain coordinate information of the laser point relative to the laser ranging module;
The monitoring step comprises the steps of establishing an sag coordinate system according to the acquired actual measurement values of a plurality of sags, performing curve fitting under the sag coordinate system to obtain an actual curve of the overhead line, and comparing the actual curve of the overhead line with a standard curve of the overhead line so as to calculate and obtain tightening line quantity data of the current overhead line.
The method comprises the following steps:
1. Positioning step S1
The sag of the overhead transmission line is measured with high precision by using the Beidou positioning and laser ranging technology, an intelligent and automatic measuring device is provided for technical departments such as on-site tension line construction, wire inspection, wire operation and maintenance and the like to observe the wires, the labor intensity and the cost of manual operation are reduced, the construction work efficiency and the quality are improved, and the sag is ensured to meet the standard sag requirement in the pay-off meter.
The field positioning process of the embodiment is as follows, the embodiment adopts a high-precision Beidou positioning module, the acquisition of three-dimensional coordinates and real-time data of elevation of the device can be realized by utilizing the built-in singlechip and the data transmission module as well as the antenna, and the relative position coordinates are acquired through RTK differential positioning. The position is selected firstly during measurement, and the principle of selection is that the whole device mechanism is placed on the side surface of the wire or under the wire hanging point, so that the visual field of the device is widened as much as possible, and the problem that the laser point coordinates caused by blocking and covering of trees and buildings cannot be obtained is solved. After the device position is selected, the adjustable triangular support frame is manually unfolded, the pose state of the universal inclination angle sensor real-time Bluetooth transmission device at the erection position is utilized to be displayed in the industrial touch integrated machine, and an operator can manually adjust the triangular support frame at any time to enable the supporting platform mechanism to be located in a qualified inclination angle range. And fixing the telescopic length of the triangular support frame, and after the sag measuring device is placed at a selected position, automatically adjusting the vibration isolation displacement platform to be in a standard horizontal state according to the piezoelectric ceramic controller by the device, and monitoring the pose state of the vibration isolation displacement platform in real time.
2. Measurement procedure
After the measuring position points of the sag measuring device are selected and erected, sag measurement of the overhead transmission line is performed;
According to the embodiment, the rotary platform mechanism formed by the cradle type rotary platform and the hollow rotary platform is matched with the laser ranging module to perform laser dotting on the overhead transmission line, the two servo motors respectively control the two rotary platforms, the control system performs angle calculation and speed reduction transmission in real time, and the control of the angle is accurate to 5 seconds in the process. In the high-precision rotation process of the rotary platform, the laser ranging module adjusts laser frequency to perform high-frequency laser dotting through the control system, the distance from the point on the wire to the ocular lens of the laser range finder, the horizontal angle and the vertical angle are acquired when the wire is aligned in the laser dotting process, data are calculated, two-dimensional coordinates corresponding to the measuring position can be obtained, the obtained data and the coordinates of the coordinate point are transmitted to a processor background through Bluetooth, storage and calculation are performed, and the measuring stage is divided into two parts.
S2 fuzzy measurement
The sag measurement device control system controls the rotating platform mechanism and the laser ranging module to carry out large-angle and high-frequency fuzzy measurement, so that the device can conveniently and rapidly find the fuzzy range of the overhead transmission line, the motor is controlled to drive through a fuzzy control strategy, and when a feedback signal is excited, position recording is carried out, thereby obtaining the fuzzy range of the overhead transmission line and improving the working efficiency.
S3 Fine measurement
After the fuzzy range of the overhead line is obtained, further fine measurement is needed to obtain the two-dimensional coordinates of each specific laser point, at the moment, a control system is needed to read position record information during fuzzy measurement, the frequencies of a rotating platform mechanism and a laser ranging module are adjusted to conduct high-precision measurement, after the laser angle is modulated to be near a record position, the control system finely adjusts the laser angle through a high-precision control and deceleration mechanism of a servo motor, at the moment, the horizontal angle is not changed, only the vertical angle is finely scanned, and after laser feedback information is obtained, the measurement is repeated for 3-5 times, and the position of the coordinate point at the moment is recorded. And transmitting the angle information of the device and the two-dimensional coordinates of the laser point to a processor through a Bluetooth module for calculation, and similarly, when the laser angle is regulated to be near the next recording position, repeating the operation by a control system, so that the high-precision measurement and storage of the laser point are realized. And calculating by using built-in software of the industrial touch integrated machine to obtain a real measurement value of sag. The measurement phase is thus completed.
3. Monitoring step
In the operation, the sag of the overhead transmission line in the actual situation is obtained, but the final purpose is to guide the tasks of construction, inspection, operation and maintenance of the field tensioning line. The industrial touch integrated machine in the portable tool box can present the calculated 3D effect diagram of the actual curve model of the overhead transmission line and the calculated 3D effect diagram of the standard overhead transmission line, and the coincidence ratio between the two curves can be intuitively seen. The measured sag value is compared with the standard sag value, so that a difference value between the measured sag value and the standard sag value can be obtained, the data of the tightening wire quantity required by the target overhead wire is obtained through software calculation of the device, and field construction staff is guided to perform corresponding tightening wire construction, so that the sag reaches the standard value. In the line tightening engineering, the rotary platform mechanism and the laser ranging module perform large-scale scanning through fuzzy measurement, and the tensioning line condition of the overhead transmission line is monitored through the change condition of the two-dimensional image of the overhead transmission line, so that the on-site recognition and judgment are facilitated.
Specifically, the establishing process of the sag coordinate system includes:
firstly, a sag coordinate system is established by taking a measured value of a certain position of an overhead line as a coordinate origin, and the acquired measured position information is circularly subjected to two-by-two coordinate calculation to obtain coordinate positions of all measured positions under the sag coordinate system;
the two-by-two coordinate calculation is specifically to obtain two measurement points of the overhead line, wherein one of the two measurement points is a known point, the other measurement point is a measured point, and the two measurement points are measured according to the pitching angle information of the laser ranging module and the distance information of the laser point corresponding to the two measurement points and the triangular relation;
According to the two measuring points, the distance between the two measuring points is calculated according to the transformation angle of the laser ranging module, and according to the height values of the two measuring points, the relative coordinate distance of the abscissa of each point can be calculated according to the European theorem, so that the abscissa information and the ordinate information of the measured point under the sag coordinate system are obtained.
The method comprises the steps of obtaining tightening line quantity data of a current overhead line through calculation of a comparison sag value, wherein the calculation process of the sag value comprises the following steps:
And (3) obtaining two suspension points of an actual curve of the overhead line, connecting the two suspension points, obtaining a tangent line of the actual curve and the two suspension point connection lines, and taking a vertical distance between a tangent point corresponding to the tangent line and the two suspension point connection lines as a sag value.
For sag, the vertical distance from any point on the wire's connection to the overhead conductor at the two suspension points A, B is defined as the sag, i.e., f in fig. 8. The standard sag given in the tight wire construction is the vertical distance f m,fm between the guide line AB and the overhead wire tangent line a 'B' parallel to the line connecting the two suspension points A, B of the wire, and is also called the observation block sag and the tangent point sag.
F m -the sag observation value (sag referring to the tangent point of the parallelogram) of the overhead conductor of the observation file, m;
f-the sag value of any point of the initial overhead conductor, m. m is a unit meter.
Overhead line sag measurement process:
Firstly, a position point with good visual field and convenient for laser measurement is selected to scan sag in an initial state, and the position of a laser range finder is taken as a base point O.
1. And identifying a target overhead line, continuously dotting and scanning the overhead transmission line within a certain angle range by using a laser range finder, feeding back a distance value when the overhead transmission line is landed, and repeating the operation for two to three times to determine the angle range of laser dotting.
2. Accurate ranging, after the angle range is confirmed, in order to solve the specific measuring of laser is which line, judge according to the size of distance value in proper order.
3. Initial curve fitting, (1) calculating vertical distance, namely height information y and y 1、y2 of each measuring point according to the corresponding relation between the vertical angle and the distance. (2) Each measuring point is located in the plane of the overhead line, and fig. 9 is a schematic diagram of the overhead line in three-dimensional space during measurement. First, the laser continuously strikes points from one end, the closer to the lowest point, the denser the points, and the less points can be struck at the position close to the hanging point. The height y 1、y2 corresponding to the measurement point S, S 1 is obtained by using a triangular relationship, that is, the values are used as the ordinate values of the catenary equation of the measurement point in the coordinate system.
4. The abscissa value of the measurement point can be obtained according to the coordinate system established in fig. 9 and 10, a coordinate system is established by taking a as the origin of coordinates, y 1、y2 and d are known, and the relative coordinate distance of each point x can be calculated by using the euclidean theorem. The x-coordinates of the measured points can thus be obtained separately. In addition, the accuracy of the x coordinate can be checked by using the relation between the distance measurement and the rotation angle.
5. And establishing a mathematical model through corresponding x and y coordinates, performing curve fitting, and obtaining a curve equation. The fitting equation is as follows:
And (3) bringing the height of the point A into the position of the point A in a curve equation, finding the point B in the curve equation according to the distance between the point AB on a drawing, connecting the points AB, finding the tangent line of the curve and the points AB by a geometric means, and obtaining the sag value from the tangent point to the connecting line of the points AB.
Tightening line amount calculation:
by using the formula provided by the embodiment, the actual measured sag and other parameters in the actual situation are substituted, so that a specific numerical value of the tightening quantity can be obtained. The formula of the tightening line quantity is as follows:
l-Zhang Duanchang, m;
l d -represents the span, m;
l c -the observation span, m;
f co -measuring sag, m;
f c -Standard sag (theoretical sag), m;
-the height difference angle of the two suspension points.
And (3) making a difference between the sag value and the standard sag, and inputting the sag change into the formula to obtain the length Vl of the tightening wire. The method is convenient for guiding the on-site construction line tightening process to be performed efficiently. The manual labor is saved, the risk of auxiliary observation of the tower is avoided, and contribution is made to digital construction of the power system.
In the embodiment, curve reconstruction is performed on tens of obtained coordinate points, and a real curve form of a measurement overhead line is displayed in an industrial touch integrated machine to be compared with a set standard curve form, so that deviation of the two curves is intuitively reflected. The specific and accurate numerical value of the tension wire operation needed by an operator in the wire construction operation process can be obtained through calculation by a series of formulas, after the construction is finished, the curve form after the operation is finished is obtained through laser dotting measurement again, and the accuracy of the measurement is verified through standard comparison.
The scheme provides an intelligent and automatic measuring device for on-site power line construction and post inspection and operation and maintenance, promotes the development and popularization of the intelligent power grid, intelligent inspection and operation and maintenance and other technologies, so that a system is supported by sound technology, and a traditional operation and maintenance mode is changed.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (6)
1. The method is characterized in that sag measurement is carried out based on a sag intelligent measurement and control device, the sag intelligent measurement and control device comprises an adjustable supporting device (4), a supporting platform (12), and a Beidou positioning device (8), a laser ranging module (1) and a rotating platform mechanism which are arranged on the supporting platform (12), the supporting platform (12) is arranged on the adjustable supporting device (4), the Beidou positioning device (8) is connected with the supporting platform (12), and the supporting platform (12) is also provided with a universal inclination sensor (11) for monitoring pose data of the device;
The method comprises the following steps:
Positioning, namely placing the sag intelligent measurement and control device under an overhead line, expanding the adjustable supporting device (4), and adjusting the pose of the adjustable supporting device (4) according to the detection data of the universal inclination sensor so as to enable the supporting platform (12) to be in a horizontal state;
The fuzzy measurement step comprises the steps that the rotary platform mechanism comprises a cradle type rotary platform (3) and a hollow rotary platform (9), the cradle type rotary platform (3) is connected to one side of the hollow rotary platform (9), and the laser ranging module (1) is fixed on the cradle type rotary platform (3);
The fine measurement step comprises the steps of driving the laser ranging module (1) to change angles in a corresponding laser dotting angle range to measure at each feedback position through the rotary platform mechanism, and carrying out repeated measurement confirmation after a laser feedback signal is acquired to obtain the position of a coordinate point at the moment;
The monitoring step is that an actual curve of the overhead line is constructed according to the actual measurement value of the sag, and is compared with a standard curve of the overhead line, and the tightening quantity data of the current overhead line is calculated;
The monitoring step comprises the steps of establishing an sag coordinate system according to the acquired actual measurement values of a plurality of sags, and performing curve fitting under the sag coordinate system to obtain an actual curve of the overhead line;
the establishment process of the sag coordinate system comprises the following steps:
firstly, a sag coordinate system is established by taking a measured value of a certain position of an overhead line as a coordinate origin, and the acquired measured position information is circularly subjected to two-by-two coordinate calculation to obtain coordinate positions of all measured positions under the sag coordinate system;
the two-by-two coordinate calculation is specifically to obtain two measurement points of the overhead line, wherein one of the two measurement points is a known point, the other measurement point is a measured point, and the two measurement points are measured according to the pitching angle information of the laser ranging module and the distance information of the laser point corresponding to the two measurement points and the triangular relation;
According to the two measuring points, the distance between the two measuring points is calculated according to the transformation angle of the laser ranging module, and according to the height values of the two measuring points, the relative coordinate distance of the abscissa of each point can be calculated according to the European theorem, so that the abscissa information and the ordinate information of the measured point under the sag coordinate system are obtained;
the calculation process of the tightening quantity data comprises the steps of obtaining two suspension points of an actual curve of an overhead line, connecting the two suspension points, obtaining a tangent line of the actual curve and the connection line of the two suspension points, and taking the vertical distance between the tangent point corresponding to the tangent line and the connection line of the two suspension points as a measurement sag;
The calculation expression of the line tightening quantity is as follows:
Wherein l is Zhang Duanchang, l d is the representative span, l c is the observation span, f co is the measured sag, f c is the standard sag, For the height difference angle of the two suspension points, deltal is the length of the tight line.
2. The overhead line sag measurement method based on Beidou positioning and laser ranging fusion according to claim 1, wherein a fitting equation of the curve fitting is as follows:
wherein A, B and C are both coefficients, x is the abscissa and y is the ordinate.
3. The overhead line sag measurement method based on Beidou positioning and laser ranging fusion according to claim 1 is characterized in that in the fuzzy measurement step, the cradle type rotary platform (3) and the hollow rotary platform (9) are driven to rotate respectively to drive the laser ranging module (1) to change angles in the horizontal direction and the vertical direction for measurement;
In the fine measurement step, in the laser dotting angle range, the cradle type rotary platform (3) is fixed, so that the horizontal angle is not changed any more, and the hollow rotary platform (9) is driven to drive the laser ranging module (1) to change the angle in the vertical direction for measurement.
4. The overhead line sag measurement method based on Beidou positioning and laser ranging fusion according to claim 3 is characterized in that in the measurement process, horizontal coordinates and vertical coordinates of laser points are obtained according to angles of the cradle type rotary platform (3) and the hollow rotary platform (9), and coordinate transformation is carried out according to the distance of the laser points obtained by the laser ranging module, so that coordinate information of the laser points relative to the laser ranging module is obtained.
5. The overhead line sag measurement method based on Beidou positioning and laser ranging fusion according to claim 4, wherein the hollow rotary platform (9) comprises a vertical bearing, a first motor (901), a horizontal mounting plate (902) and a first shell for supporting the whole hollow rotary platform (9), the vertical bearing is driven by the first motor (901), and the vertical bearing and the cradle type rotary platform (3) are connected with the horizontal mounting plate (902) and are used for driving the cradle type rotary platform (3) to rotate in the horizontal direction;
The cradle type rotary platform (3) comprises a transverse bearing, a second motor (301), a ranging module mounting plate (302) and a second shell for supporting the whole cradle type rotary platform (3), wherein the transverse shaft is driven by the second motor (301), one end of the ranging module mounting plate (302) is rotatably connected with the second shell, the other end of the ranging module mounting plate is rotatably connected with the transverse bearing, the laser ranging module (1) is fixed on the ranging module mounting plate (302) and is driven by the second motor (301) to rotate in the vertical direction, and the laser ranging module is driven by the first motor (901) to rotate in the horizontal direction.
6. The overhead line sag measurement method based on Beidou positioning and laser ranging fusion according to claim 1, wherein a vibration isolation displacement platform (13) is arranged between the rotary platform mechanism and the supporting platform (12), the vibration isolation displacement platform (13) comprises a vibration isolation displacement platform main body (131) and a plurality of piezoelectric ceramic controllers (10), each piezoelectric ceramic controller (10) is fixed on the supporting platform (12), the output end of each piezoelectric ceramic controller (10) is connected with the vibration isolation displacement platform main body (131), and the vibration isolation displacement platform main body (131) carries out horizontal pose adjustment under the control of each piezoelectric ceramic controller (10);
In the positioning step, according to the detection data of the universal inclination angle sensor, horizontal pose adjustment control is carried out on each piezoelectric ceramic controller (10).
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| CN116464862A (en) * | 2023-03-10 | 2023-07-21 | 国网上海市电力公司 | An adaptive and stable platform for sag measurement of overhead high-voltage transmission lines |
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