CN117249792B - Drainage wire length calculating device and method - Google Patents
Drainage wire length calculating device and method Download PDFInfo
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- CN117249792B CN117249792B CN202311541166.XA CN202311541166A CN117249792B CN 117249792 B CN117249792 B CN 117249792B CN 202311541166 A CN202311541166 A CN 202311541166A CN 117249792 B CN117249792 B CN 117249792B
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- G—PHYSICS
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- 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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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- 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
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Abstract
The invention relates to the technical field of power transmission and distribution, and discloses a drainage wire length calculating device and method, wherein the device comprises the following components: a base; the locator is positioned on the machine base and used for measuring longitude and latitude high coordinates of the position of the locator; the direction device is positioned on the base and used for determining the direction of the direction device and the positioner; a binocular camera located on the base; the binocular camera is used for measuring the height from a wiring target point on a bus to the projection plane; the handheld RTK component is used for measuring longitude and latitude high coordinates of the lead points of the drainage wire; the locator, the direction device and the handheld RTK all transmit information through electric signals. The beneficial effects of the invention are as follows: the length of required drainage line can be calculated automatically, measurement accuracy is high, and the workman need not to touch electrified wire and can work, reduces the security risk.
Description
Technical Field
The invention relates to the technical field of power transmission and distribution, in particular to a drainage wire length calculating device and method.
Background
In live line fire connection operation of carrying out electric power transmission and distribution, need overlap joint drainage line on the generating line, among the prior art, for determining the overlap joint length of drainage line, always wear insulating clothes, carry insulating operation instrument by the skilled worker who is trained strictly, take the generating line through manual with the drainage line and roughly confirm drainage line length, later measure drainage line length through manual measuring tool volume, consuming time and consuming effort measuring error is big, the drainage line rate of tension after the final wiring is accomplished changes greatly, break easily, in addition, the operating personnel direct contact live line wire operates, the security risk is high.
Disclosure of Invention
The purpose of the invention is that: the length calculation device and the method for the drainage wire can automatically measure the length of the drainage wire without putting the drainage wire on a bus, the measurement accuracy is high, workers can work without touching an electrified wire, and the safety risk is reduced.
In order to achieve the above object, the present invention provides a drainage wire length calculating method, comprising the steps of:
s1, measuring longitude and latitude high coordinates of a drainage wire lead point through a handheld RTK assembly;
s2, measuring longitude and latitude high coordinates of the wiring target point through a positioner, a direction indicator, a binocular camera and a linear motion unit; the output end of the linear motion unit is provided with a projection plane, and the binocular camera is used for measuring the height from a wiring target point on a bus to the projection plane;
the step S2 includes:
s21, moving the machine base, wherein the linear motion unit acts to enable the projection plane to be located right below the wiring target point, so that a projection point of the wiring target point on the projection plane is obtained;
s22, measuring the height H from the projection point to the wiring target point through the binocular camera;
s23, calculating the longitude and latitude high coordinates of the projection point according to the longitude and latitude high coordinates of the lead point and the height H, and further obtaining the longitude and latitude high coordinates of the wiring target position point;
the step S23 includes:
s231, calculating the distance h1 from the lead point to the projection point on the same plane through the lead point and the longitude and latitude high coordinates of the projection point;
s232, calculating azimuth angles of the projection points relative to the lead points in a longitude and latitude high coordinate system through the lead points and longitude and latitude high coordinates of the projection points;
s233, calculating a three-dimensional vector of a preset length value W of the drainage line according to the azimuth angle, and determining the relative coordinates of the wiring target point;
s3, establishing a coordinate system by taking longitude and latitude high coordinates of the lead points as original points, and obtaining relative coordinates of the wiring target points;
and S4, training the relative coordinates in a three-layer neural network to obtain a registration model, and obtaining the theoretical length L of the drainage wire from the lead point to the terminal point.
Still further, step S5 is further included:
and a drainage line cutoff reference point is arranged on the machine base, and the distance L between the lead point and the cutoff reference point is obtained through the lead point and the longitude and latitude high coordinates of the cutoff reference point, so that the drainage line length delta L=L-L from the cutoff reference point to the wiring target point is obtained.
The invention also provides a calculating device based on any one of the drainage wire length calculating methods, which comprises:
a base;
the locator is positioned on the machine base and used for measuring longitude and latitude high coordinates of the position of the locator;
the direction device is positioned on the base and used for determining the direction of the direction device and the positioner;
a binocular camera located on the base;
the binocular camera is used for measuring the height from a wiring target point on a bus to the projection plane;
the handheld RTK component is used for measuring longitude and latitude high coordinates of the lead points of the drainage wire; the locator, the direction device and the handheld RTK all transmit information through electric signals.
Still further, handheld RTK subassembly includes connecting rod, terminal box, RKT antenna, the one end of connecting rod with the terminal box is fixed, be equipped with battery and circuit board in the terminal box, the battery the circuit board with RTK antenna electricity is connected, the RTK antenna is fixed on the terminal box.
Still further, the connecting rod tip is equipped with first adapter and second adapter, first adapter one end cover is established on the connecting rod, the other end with second adapter threaded connection, the second adapter with the terminal box passes through the screw fixation.
Furthermore, a wire clamping port for limiting the cut-off reference of the drainage wire is arranged on the base.
Compared with the prior art, the device and the method for calculating the length of the drainage wire have the beneficial effects that: measuring longitude and latitude high coordinates of a drainage wire lead point through a handheld RTK assembly; the longitude and latitude high coordinates of the wiring target point are measured through the locator, the director, the binocular camera and the linear motion unit, the length of the required drainage wire is automatically calculated, the measuring precision is high, workers can work without touching an electrified wire, and the safety risk is reduced.
Drawings
FIG. 1 is a schematic view of a machine base of a drainage wire length calculating device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a handheld RTK assembly of a drain wire length calculation device according to an embodiment of the present invention;
FIG. 3 is an exploded view of a hand-held RTK of a drain wire length calculation device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the operation of the device for calculating the length of the drainage wire according to the embodiment of the invention;
FIG. 5 is a schematic measurement diagram of a drainage wire length calculation device according to an embodiment of the present invention;
FIG. 6 is a top view of the lead points and proxels of FIG. 5;
FIG. 7 is a schematic diagram of measuring the distance between a lead point and a projection point in a plane using longitude and latitude coordinates;
FIG. 8 is a schematic diagram of calculating the angle between the lead point and the projection point using the longitude and latitude high coordinates;
FIG. 9 is a schematic diagram of coordinate transformation of proxels;
fig. 10 is a schematic structural diagram of a neural network according to an embodiment of the present invention.
In the figure, 1, a stand; 11. a wire clamping port; 2. a positioner; 3. a direction device; 4. a binocular camera; 5. a linear motion unit 51, a projection plane; 6. a handheld RTK assembly; 61. a connecting rod, 62, junction box, 63, RKT antenna; 64. a first adapter; 65. the second adapter comprises a, a telegraph pole, b, a bus, c and a drainage wire; A. a lead point; B. a wiring target point; m, projection points; F. the reference point is truncated.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "inner", "outer", etc. in the present invention are based on the positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices and elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be understood that the terms "first", "second", etc. are used in the description of various information, but the information should not be limited to these terms, which are only used to distinguish the same type of information from each other. For example, a "first" message may also be referred to as a "second" message, and similarly, a "second" message may also be referred to as a "first" message, without departing from the scope of the invention.
Referring to fig. 1 to 9, a drainage wire length calculating device according to a preferred embodiment of the present invention, which can automatically measure a length of a lead wire by using a high-precision RTK positioning technology of a beidou satellite, includes a stand, a positioner, a director, a binocular camera, a linear motion unit, and a handheld RTK assembly; the machine base is used as an installation carrier and used for installing parts except the handheld RTK assembly, the locator and the direction device comprise RTK antennas and are used for being positioned on the machine base, the locator can measure the longitude and latitude high coordinates of a C point at the position of the locator and is used as a calculation base point of the machine base, meanwhile, the position of the direction device, the binocular camera and the linear motion unit on the machine base is fixed, the position of the direction device is a D point, the direction of the D point relative to the C point can be determined, and the longitude and latitude high coordinates of any point on the machine base can be determined through the longitude and latitude high coordinates of the C point and the direction of the D point relative to the C point. The handheld RTK component is used for measuring longitude and latitude high coordinates of the lead points of the drainage wire; the localizer, the direction device and the hand-held RTK all transmit information through electric signals.
The working principle of the drainage wire length calculating device according to the embodiment of the invention is described below with reference to fig. 4 to 9, the length of the drainage wire, that is, the distance from the lead point of the drainage wire to the wiring target point needs to be measured is described with reference to fig. 4 and 5, a is a telegraph pole, B is a busbar, C is the drainage wire, the lead point of the drainage wire is led out from the root of the drainage wire, the longitude and latitude high coordinates of the lead point are directly measured by the handheld RTK component, thus, when the measurement is performed, the longitude and latitude high coordinates of the wiring target point need to be obtained.
Further, the handheld RTK subassembly includes connecting rod, terminal box, RTK antenna, and the one end and the terminal box of connecting rod are fixed, are equipped with battery and circuit board in the terminal box, and battery, circuit board and RTK antenna electricity are connected, and the RTK antenna is fixed on the terminal box. When the measurement is carried out, the end part of the connecting rod is held by hand, the RTK antenna is tightly attached to the root part of the drainage wire, and the longitude and latitude height coordinates of the lead point can be measured.
For the convenience of connection between connecting rod and the terminal box, be equipped with first adapter and second adapter at the connecting rod tip, first adapter one end cover is established on the connecting rod, the other end and second adapter threaded connection, and second adapter and terminal box pass through the fix with screw. In order to facilitate the measurement of workers when cutting the drainage line, a line clamping opening for cutting off the reference limit of the drainage line is arranged on the machine base.
Based on the drainage wire length calculating device, the invention also provides a drainage wire length calculating method, which comprises the following steps:
s1, measuring longitude and latitude high coordinates of a lead point through a handheld RTK assembly;
s2, measuring longitude and latitude high coordinates of the wiring target point through a positioner, a direction indicator, a binocular camera and a linear motion unit;
the step S2 specifically comprises the following steps: s21, moving the machine base, and enabling the linear motion unit to act so that the projection plane is positioned right below the wiring target point, so as to obtain a projection point of the wiring target point on the projection plane;
s22, measuring the height H from the projection point to the wiring target point through a binocular camera;
s23, calculating the longitude and latitude high coordinates of the projection point according to the longitude and latitude high coordinates and the height H of the lead point, and further obtaining the longitude and latitude high coordinates of the wiring target point.
S3, establishing a coordinate system by taking longitude and latitude high coordinates of the lead points as original points, and obtaining relative coordinates of the wiring target points;
s4, training the relative coordinate in the three-layer neural network to obtain a registration model, and obtaining the theoretical length L of the drainage wire from the lead point to the wiring target point.
Further, after the theoretical length of the drainage wire is measured to be L, the theoretical length L from the drainage point of the drainage wire to the wiring target point needs to be measured, and because the position of the machine base may be far away from the drainage point, the measurement is inconvenient, in order to further improve the measurement efficiency, referring to fig. 1 and 4, a wire clamping opening for cutting off the drainage wire and referencing and limiting is arranged on the machine base, the position of the wire clamping opening is set as a cutting-off reference point F, and the longitude and latitude height coordinates of the point F can be obtained in the same way according to the longitude and latitude height measurement scheme of the point M, so that the distance L between the lead point and the cutting-off reference point is obtained, and the length Δl=l-L of the drainage wire from the cutting-off reference point to the wiring target point is obtained. The length delta L can be measured from the wire clamping port on the machine base directly by the staff, so that the staff can cut off the machine, and the measuring workload of the staff is reduced.
Still further, step S23 includes:
s231, calculating the distance h1 from the lead point to the projection point on the same plane through the lead point and the longitude and latitude high coordinates of the projection point;
s232, calculating azimuth angles of the projection points relative to the lead points in a longitude and latitude high coordinate system through the lead points and longitude and latitude high coordinates of the projection points;
s233, calculating a three-dimensional vector of a preset length value W of the drainage line according to the azimuth angle, and determining the relative coordinates of the wiring target point.
Referring to fig. 4 to 9, the details of the process of calculating the theoretical length L of the drainage wire will be described in detail, and in step S231, the distance h1 from the lead point to the projection point on the same plane is calculated by using the longitude and latitude coordinates of the lead point and the projection point, and referring to fig. 7, the earth is regarded as a sphere, and the coordinates of the point a and the point M on the earth are known, so that the shortest distance between the AM points is the circular arc of the circle passing through the two points AM. The large circle is an inscribed circle of the earth, and the radius and the center point are the same as those of the earth. Using the point A coordinate as%,/>) M point coordinates (++>,/>) For example, wherein->Namely, the latitude of the point AValue of->Is longitude value of A point,/->For the latitude value of M point->The longitude value of M points, h1 is the shortest distance between two points of AM, R is the earth radius, specifically 6371 and km, and the following formula is adopted:
；
replacement ofH1, A ()>,/>),M（/>,/>) Substitution can be obtained:
；
。
in step S232, the azimuth angle of the projection point in the longitude and latitude high coordinate system relative to the lead point is calculated from the longitude and latitude high coordinates of the lead point and the projection point. Referring to FIG. 8, the known point A #,/>),M（/>,/>），/>Namely, the latitude value of the point A is +.>Is longitude value of A point,/->For the latitude value of M point->For the longitude value of M points, there is +.AOP =>，∠MOV =/>，∠POV =/>-/>We now require the azimuth of point M relative to point a, equivalent to solving for dihedral angle NAM:
firstly, solving an AOM, and obtaining by a three-face angle cosine theorem:
；
from the half-octave formula sin ζ2 (< AOM/2) = (1-cos (< AOM))/2:
sin^2(∠AOM/2)=sin^2((-/>)/2)+ cos(/>)cos(/>)sin^2((/>-/>) / 2)；
then, from sin (++AOM) =sqrt (1-cos++2 (++AOM)) and the spherical sine formula:
sin(∠NAM) = sin(∠MON)sin(A-ON-M) / sin(∠AOM)；
this can be achieved by:
∠NAM = arcsin(sin(∠MON)sin(A-ON-M) / sin(∠AOM) )。
step S233, calculating a three-dimensional vector of a preset length value W of the drainage line according to the azimuth angle, and determining the relative coordinates of the wiring target point. Because the machine base needs to be arranged in parallel with the bus when measuring, namely the projection plane is parallel with the length direction of the bus, the length direction of the bus is taken as the x axis, a plane coordinate system is established on the horizontal plane, and the direction perpendicular to the x axis is taken as the y axis, and referring to fig. 9, the clockwise included angle D between the length direction of the bus and the north direction can be obtained through the direction finder.
According to the x-axis direction and NAM angle, the AM length can be divided into two vectorsAnd->：
= AM/>；
= AM/>；
AM=h1；
The three-dimensional vectors of the preset length W of the drainage wire can be obtained respectively、/>Is->Wherein the vertical vector->=-/>Wherein->Is the height of the B point in the longitude and latitude high coordinate system, < >>The height of the point A in the longitude and latitude high coordinate system is set up by taking the longitude and latitude high coordinate of the lead point A as an origin, a coordinate system is established, and the relative coordinate of the wiring target point is obtained and is marked as (x, y, z).
Since the neural network can effectively fit the nonlinear model, and perform inference according to input, referring to fig. 10, in this embodiment, three layers of neural networks are used for fitting, the input layer is a preset length value coordinate (x, y, z) of the drainage wire, the first hidden layer has 8 neurons, the second hidden layer has 4 neurons, the output layer is a theoretical length L of the drainage wire, and the network structure is shown in fig. 10.
In summary, the embodiment of the invention provides a device and a method for calculating the length of a drainage wire, which are used for measuring longitude and latitude high coordinates of a lead point of the drainage wire through a handheld RTK assembly; the longitude and latitude high coordinates of the wiring target point are measured through the locator, the director, the binocular camera and the linear motion unit, the length of the required drainage wire is automatically calculated, the measuring precision is high, workers can work without touching an electrified wire, and the safety risk is reduced.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (6)
1. The drainage wire length calculating method is characterized by comprising the following steps of:
s1, measuring longitude and latitude high coordinates of a drainage wire lead point through a handheld RTK assembly;
s2, measuring longitude and latitude high coordinates of the wiring target point through a positioner, a direction indicator, a binocular camera and a linear motion unit; the output end of the linear motion unit is provided with a projection plane, and the binocular camera is used for measuring the height from a wiring target point on a bus to the projection plane;
the step S2 includes:
s21, moving the machine base, wherein the linear motion unit acts to enable the projection plane to be located right below the wiring target point, so that a projection point of the wiring target point on the projection plane is obtained;
s22, measuring the height H from the projection point to the wiring target point through the binocular camera;
s23, calculating the longitude and latitude high coordinates of the projection point according to the longitude and latitude high coordinates of the lead point and the height H, and further obtaining the longitude and latitude high coordinates of the wiring target point;
the step S23 includes:
s231, calculating the distance h1 from the lead point to the projection point on the same plane through the lead point and the longitude and latitude high coordinates of the projection point;
s232, calculating azimuth angles of the projection points relative to the lead points in a longitude and latitude high coordinate system through the lead points and longitude and latitude high coordinates of the projection points;
s233, calculating a three-dimensional vector of a preset length value W of the drainage line according to the azimuth angle, and determining the relative coordinates of the wiring target point;
s3, establishing a coordinate system by taking longitude and latitude high coordinates of the lead points as original points, and obtaining relative coordinates of the wiring target points;
and S4, training the relative coordinates in a three-layer neural network to obtain a registration model, and obtaining the theoretical length L of the drainage wire from the lead point to the terminal point.
2. The drainage wire length calculation method of claim 1, further comprising step S5:
and a drainage line cutoff reference point is arranged on the machine base, and the distance L between the lead point and the cutoff reference point is obtained through the lead point and the longitude and latitude high coordinates of the cutoff reference point, so that the drainage line length delta L=L-L from the cutoff reference point to the wiring target point is obtained.
3. A computing device based on the drainage wire length computing method of any one of claims 1 to 2, comprising:
a base;
the locator is positioned on the machine base and used for measuring longitude and latitude high coordinates of the position of the locator;
the direction device is positioned on the base and used for determining the direction of the direction device and the positioner;
a binocular camera located on the base;
the binocular camera is used for measuring the height from a wiring target point on a bus to the projection plane;
the handheld RTK component is used for measuring longitude and latitude high coordinates of the lead points of the drainage wire; the locator, the direction device and the handheld RTK component all transmit information through electric signals.
4. A computing device as recited in claim 3, wherein: the handheld RTK subassembly includes connecting rod, terminal box, RTK antenna, the one end of connecting rod with the terminal box is fixed, be equipped with battery and circuit board in the terminal box, the battery the circuit board with the RTK antenna electricity is connected, the RTK antenna is fixed on the terminal box.
5. The computing device of claim 4, wherein: the connecting rod tip is equipped with first adapter and second adapter, first adapter one end cover is established on the connecting rod, the other end with second adapter threaded connection, the second adapter with the terminal box passes through the fix with screw.
6. A computing device as recited in claim 3, wherein: and a wire clamping port for limiting the cut-off reference of the drainage wire is arranged on the base.
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