CN108844467A - Arc sag based on laser three-D reconstruct monitors system and method - Google Patents
Arc sag based on laser three-D reconstruct monitors system and method Download PDFInfo
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- CN108844467A CN108844467A CN201810373695.6A CN201810373695A CN108844467A CN 108844467 A CN108844467 A CN 108844467A CN 201810373695 A CN201810373695 A CN 201810373695A CN 108844467 A CN108844467 A CN 108844467A
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- conducting wire
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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Abstract
The invention discloses a kind of arc sags based on laser three-D reconstruct to monitor system and method, including solar recharging module, laser sensor, holder module and host, laser sensor are mounted in holder module, and host is connect with holder module；Laser sensor is for being scanned setting regions；Holder module is used to plan the setting regions according to rotation path and obtains laser sensor scan data and PTZ level rotational angle θ；Host calculates conducting wire sag according to rotation path and scan data for controlling the rotation path and obtaining laser sensor scan data.The present invention by laser distance measuring principle with can bidirectional rotation holder combine realization to conducting wire carry out sector scanning, the motion profile of conducting wire is reconstructed in conjunction with trigonometric function and the parameters such as parabola principle and tower height, holder module mounting location, line span, and then calculate conducting wire sag and changing value, cable guide arc sag suitable for any area measures, and is not influenced by weather, environment.
Description
Technical field
The present invention relates to a kind of arc sags based on laser three-D reconstruct to monitor system and method, belongs to electric system and supervises online
Survey technology field.
Background technique
Arc sag of wire of power transmission line parameter is one of the important indicator reacting route and whether being safely operated, especially new stringing
Lu Hou, conducting wire can generate different degrees of sagging；It is electronic in strong wind or when failure if arc sag of wire of power transmission line parameter is excessive
Under the action of power, conducting wire may occur significantly to swing to cause short circuit so as to cause swinging cross；Road below conducting wire, building simultaneously
Because distance is inadequate accident occurs for object；If arc sag of wire of power transmission line parameter is too small, conducting wire is because of excessive easy lead that meet with stresses
The accident of line broken string.Therefore, the real-time monitoring of arc sag of wire of power transmission line is seemed very necessary.
Currently, including that 1, inclination angle is sent out to conducting wire sag parameter monitoring method：By measuring transmission pressure hitch point inclination angle
Calculate conducting wire sag；2, temperature method：By measure transmission pressure temperature computation temperature and the stress of conductor between relationship to
Calculate conducting wire sag；3, image method：Conducting wire sag is calculated by the High Precision Traverses arc sag image of processing analysis shooting；4,
GPS method：Coordinate by GPS geo-location system location and installation in conducting wire sag point calculates conducting wire sag；Side in above 4
Method can be measured conducting wire sag, but each there are some problems：Image method survey conducting wire sag must select it is fine and
Conducting wire have no occluder is not suitable for mountain area area and there is very big error；Tilt-angle method, temperature method and GPS method require
Monitoring device is installed on conducting wire, there are problems that power supply, communication and strong electromagnetic, and is mounted on the monitoring device on conducting wire such as
Fruit is broken down, maintenance get up it is also highly difficult, require just to can be carried out maintenance under power-off condition substantially.
Summary of the invention
It is an object of the invention to it is a kind of suitable for it is any area based on laser three-D reconstruct arc sag monitoring system and
Method.
It is an object of the invention to provide based on laser three-D reconstruct arc sag monitoring system include solar recharging module, swash
Optical sensor, holder module and host, solar recharging module are connect with laser sensor, holder module and host, laser
Sensor is mounted in holder module, and host is connect with holder module；
Solar recharging module is for providing power supply needed for system；
Laser sensor is for being scanned setting regions；
Holder module is used to plan the setting regions according to rotation path and obtains laser sensor scan data and cloud
Platform horizontally rotates angle, θ；
Host is for controlling the rotation path and obtaining laser sensor scan data, according to rotation path and scanning number
According to calculating conducting wire sag；
Wherein, the rotation path includes pitch angle β and the laser sensor scanning direction of laser sensor, scans number
According to for the distance between holder and conducting wire d, by pitch angle β, angle, θ is horizontally rotated and distance d calculates conducting wire coordinate points,
Conducting wire sag is calculated again according to conducting wire coordinate points.
Further, the solar recharging module includes sequentially connected solar panel, charge controller and storage
Battery.
Further, obliquity sensor is installed at the holder module level rotation, for obtaining PTZ level rotation
Angle, θ.
Further, the laser sensor is that conducting wire stopping scanning being arrived in scanning to setting regions scanning.
Further, the laser sensor scanning direction, which refers to, prolongs according to perpendicular to vertical direction both perpendicular to conducting wire
The direction stretched.
Further, the host and holder module are installed in the middle and lower part of steel tower.
It is an object of the invention to provide based on laser three-D reconstruct arc sag monitoring method include the following steps：
(1) three-dimensional cartesian coordinate system is established：Three-dimensional cartesian coordinate system (X, Y, Z) is established by coordinate origin of holder module,
Using conducting wire extending direction as X-axis, using vertical direction perpendicular to fair line direction as Y-axis, perpendicular to fair line direction be Z with horizontal direction
Axis；
(2) laser beam scan path is planned：The rotation path of holder module is controlled by host to plan laser sensor
Setting regions, the rotation path include the pitch angle β and holder module level rotation direction of laser sensor；
(3) it scans and obtains data：Laser sensor is scanned according to setting regions until scanning the institute until conducting wire
State the water of the cloud platform rotation of the distance between holder and the conducting wire that data include laser sensor scanning d and obliquity sensor detection
Flat angle, θ；
(4) conducting wire coordinate points are obtained：Bring the distance between holder and conducting wire d, level angle θ and pitch angle β into three
The specific coordinate points of conducting wire are calculated in angle function；
(5) conducting wire sag is obtained：Conducting wire coordinate points are brought in parabolic formula to the motion profile for simulating conducting wire into, in turn
Calculate conducting wire sag.
Further, step (2) and step (3) are at least repeated 3 times, and can obtain three groups of coordinate points.
Further, the laser sensor scanning direction is along Z-direction.
The present invention has following tool beneficial effect：
(1) using electric energy needed for solar panel offer system, has the advantages that energy conservation and environmental protection；
(2) laser sensor is driven to sweep conductor area using the holder module that can be horizontally rotated and vertically rotate
It retouches, structure is simple, at low cost；
(3) by laser distance measuring principle with can bidirectional rotation holder combine realization to conducting wire carry out sector scanning, in conjunction with
Trigonometric function and the parameters such as parabola principle and tower height, holder module mounting location, line span reconstruct the movement of conducting wire
Track, and then calculate conducting wire sag and changing value, suitable for the cable guide arc sag measurement in any area, and not by weather,
The influence of environment；
(4) holder module and footprint are mounted on to the middle and lower part of steel tower, keep system installation, debugging and maintenance all very convenient,
And precision of laser ranging is high anti-interference strong.
Detailed description of the invention
Fig. 1 is mounting structure schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of present system.
Fig. 3 is the structural schematic diagram of the method for the present invention.
It is marked in figure：1, laser sensor；2, holder module；3, host；4, conducting wire；5, steel tower.
Specific embodiment
Embodiment 1
As shown in Figure 1 and Figure 2, the arc sag monitoring system provided in this embodiment based on laser three-D reconstruct is used to control cloud
Platform module 2 carries out the detection of 4 arc sag of conducting wire to setting regions；It includes solar recharging module, laser sensor 1, holder module 2
With host 3, solar recharging module is connect with laser sensor 1, holder module 2 and host 3, and laser sensor 1 is mounted on cloud
In platform module 2, host 3 is connect with holder module 2.
The solar recharging module for providing power supply needed for system, it include sequentially connected solar panel,
Charge controller and battery, solar panel for absorbing luminous energy and converting light energy into electric energy, use by charge controller
In the charge and discharge that will control battery, battery passes through solar panel for storing electric energy while providing a system to electric energy
Electric energy is provided, has the advantages that energy conservation and environmental protection.
The laser sensor 1 obtains scan data for being scanned to setting regions, and the scan data is cloud
Linear distance d between platform module 2 and conducting wire 4；Using the model ZHD-1200- of Chengdu mechanical & electrical corporation research and development in the present embodiment
The laser sensor 1 of RS485 measures the linear distance d between holder module 2 and conducting wire 4 using the principle of laser ranging；Laser
Sensor 1 is mounted in holder module 2, and holder module 2 can control the pitch angle of laser sensor 1 and horizontally rotate direction
And angle.
The holder module 2, which is used to plan the setting regions according to rotation path and obtains laser sensor 1, scans number
According to PTZ level rotational angle θ.The holder module 2 uses Huiyuan Optical Communication Co Ltd, Sichuan's model HY-MZ17-
The straight-tooth holder of 01A, it includes pedestal, horizontal rotating shaft, vertical rotation axis, horizontal motor, motor vertical, obliquity sensor and control
Plate, the laser sensor 1 are mounted on vertical rotation axis, and vertical rotation axis is mounted on horizontal rotating shaft, and horizontal rotating shaft is mounted on bottom
On seat, horizontal motor is connect with horizontal rotating shaft, controlled level rotation, and obliquity sensor is equipped on horizontal rotating shaft, is used for
Detection level shaft horizontally rotates angle, θ；The motor vertical is connect with vertical rotation axis, for controlling the pitching of vertical rotation axis
Angle, and then control the pitch angle β of laser sensor 1；The control panel and obliquity sensor, laser sensor 1, motor vertical
It is all connected with horizontal motor, for obtaining the holder for horizontally rotating angle, θ and laser sensor 1 and scanning of obliquity sensor detection
Linear distance d between module 2 and conducting wire 4, and motor vertical and horizontal motor are controlled, to realize the rule to setting regions
It draws；The control panel is equipped with communication module, and the data for obtaining obliquity sensor and laser sensor 1 are sent to described
Host 3, while the rotation path that receiving host 3 is set realize the control to setting regions, to control motor vertical and water
Flat telegram machine.
For accurate pitch angle β further；It also is provided with obliquity sensor in the vertical rotation axis, it can real-time monitoring
The pitch angle β of laser sensor 1.
The host 3 for controlling the rotation path and obtaining 1 scan data of laser sensor, according to rotation path and
Scan data calculates 4 arc sag of conducting wire；It includes communication module, for receiving scan data, the pitch angle of the transmission of holder module 2
It spends β and horizontally rotates angle, θ and send control rotation path signal to holder module 2, what the reception holder module 2 was sent sweeps
Retouching data, pitch angle β and horizontally rotating angle, θ is data when conducting wire 4 is arrived in the scanning of laser sensor 1, so laser sensing
The scanning of device 1 stops the rotation of holder module 2 when arriving data, that is, completes the scanning of one group of rotation path, can carry out next group of rotation
Path；The rotation path includes 1 scanning direction pitch angle β and laser sensor of laser sensor 1, for subsequent calculating
4 conducting wire sag data of conducting wire it is required, need to set at least 3 groups of rotation paths, set 3 groups of rotation paths in the present embodiment,
The pitch angle β of middle laser sensor 1 is respectively 70 °, 60 °, 50 °；1 scanning direction of laser sensor is both perpendicular to perpendicular
Histogram is to the direction extended with conducting wire 4；Main control module, for controlling the rotation path of holder module 2 and in real time obtaining holder
The linear distance d and pitch angle β of module 2 horizontally rotated between angle, θ, holder module 2 and conducting wire 4；Algoritic module is used
According to the linear distance d's horizontally rotated between angle, θ, holder module 2 and conducting wire 4 and pitch angle β obtained in real time
Data calculate the coordinate points of conducting wire 4, three-dimensional coordinate point (Xa, Ya, Za)=(dsin β cos θ, dsin β, dsin β sin θ), root
It can get 3 coordinate points according to the three groups of rotation paths set before, bring 3 coordinate points into parabolic formula y=ax2+bx+c
In, parabolic equation of the conducting wire 4 in x/y plane is calculated, in conjunction with tower height, 2 installation site of holder module, line span
Etc. parameters reconstruct the motion profile of conducting wire 4, and then calculate 4 arc sag of conducting wire and changing value.
The host 3 and holder module 2 are installed in the middle and lower part of steel tower 5, are not only convenient for installing and repair, can also subtract
The interference of few electromagnetic field.
Embodiment 2
As shown in figure 3, the arc sag monitoring method provided in this embodiment based on laser three-D reconstruct includes the following steps：
(1) three-dimensional cartesian coordinate system is established：With holder module 2 be coordinate origin O establish three-dimensional cartesian coordinate system (X, Y,
Z), using 4 extending direction of conducting wire as X-axis, using vertical direction perpendicular to 4 extending direction of conducting wire as Y-axis, with horizontal direction perpendicular to leading
4 extending direction of line is Z axis；
(2) laser beam scan path is planned：The rotation path of holder module 2 is controlled by host 3 to plan laser sensor 1
Setting regions, the rotation path includes that the pitch angle β of laser sensor 1 and holder module 2 horizontally rotate direction；
(3) it scans and obtains data：Laser sensor 1 is scanned according to setting regions until scanning until conducting wire 4,
The data include the holder of the linear distance d and obliquity sensor detection between holder and conducting wire 4 that laser sensor 1 scans
The level angle θ and pitch angle β of rotation；
(4) rotation path is reset：It repeats step (2) and (3)；3 groups of rotation paths are at least set, are set in the present embodiment
Fixed 3 groups of rotation paths, wherein the pitch angle β of laser sensor 1 is respectively 70 °, 60 °, 50 °；1 scanning direction of laser sensor
It is along Z-direction；
(5) 4 coordinate points of conducting wire are obtained：The distance between holder and conducting wire 4 d, level angle θ and pitch angle β are brought into
The specific coordinate points of conducting wire 4 are calculated in trigonometric function；Angle, θ, holder module 2 and conducting wire are horizontally rotated according to what is obtained in real time
The data of linear distance d and pitch angle β between 4 calculate the coordinate points of conducting wire 4, and three-dimensional coordinate point (Xa, Ya, Za)=
(dsin β cos θ, dsin β, dsin β sin θ) can get 3 coordinate points according to the three groups of rotation paths set before；
(6) 4 arc sag of conducting wire is obtained：4 coordinate points of conducting wire are brought into parabolic formula to the motion profile for simulating conducting wire 4,
And then calculate 4 arc sag of conducting wire；3 coordinate points are brought into parabolic formula y=ax2+bx+c, conducting wire 4 is calculated in xy
Parabolic equation in plane reconstructs the fortune of conducting wire 4 in conjunction with parameters such as tower height, 2 installation site of holder module, line spans
Dynamic rail mark, and then calculate 4 arc sag of conducting wire and changing value.
The above is only the preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, any
The transformation and replacement carried out based on technical solution provided by the present invention and inventive concept should all be covered in protection model of the invention
In enclosing.
Claims (9)
1. a kind of arc sag based on laser three-D reconstruct monitors system, it is characterised in that：Including solar recharging module, laser
Sensor, holder module and host, solar recharging module are connect with laser sensor, holder module and host, laser sensor
It is mounted in holder module, host is connect with holder module；
Solar recharging module is for providing power supply needed for system；
Laser sensor is for being scanned setting regions；
Holder module is used to plan the setting regions according to rotation path and obtains laser sensor scan data and holder water
Angle, θ is moved in flat turn；
Host is for controlling the rotation path and obtaining laser sensor scan data, according to rotation path and scan data meter
Calculate conducting wire sag；
Wherein, the rotation path includes the pitch angle β of laser sensor and laser sensor scanning direction, scan data are
The distance between holder and conducting wire d by pitch angle β, horizontally rotate angle, θ and distance d calculates conducting wire coordinate points, according to
Conducting wire coordinate points calculate conducting wire sag again.
2. the arc sag according to claim 1 based on laser three-D reconstruct monitors system, it is characterised in that：The solar energy
Charging module includes sequentially connected solar panel, charge controller and battery.
3. the arc sag according to claim 1 based on laser three-D reconstruct monitors system, it is characterised in that：The holder mould
Block horizontally rotates place and is equipped with obliquity sensor, for obtaining PTZ level rotational angle θ.
4. the arc sag according to claim 1 based on laser three-D reconstruct monitors system, it is characterised in that：The laser
Sensor is that conducting wire stopping scanning being arrived in scanning to setting regions scanning.
5. the arc sag according to claim 1 based on laser three-D reconstruct monitors system, it is characterised in that：The laser
Sensor scanning direction refers to according to the direction extended perpendicular to vertical direction both perpendicular to conducting wire.
6. the arc sag according to claim 1 based on laser three-D reconstruct monitors system, it is characterised in that：The host and
Holder module is installed in the middle and lower part of steel tower.
7. a kind of arc sag monitoring method based on laser three-D reconstruct, it is characterised in that include the following steps：
(1) three-dimensional cartesian coordinate system is established：Three-dimensional cartesian coordinate system (X, Y, Z) is established by coordinate origin of holder module, to lead
Line extending direction be X-axis, using vertical direction perpendicular to fair line direction as Y-axis, using horizontal direction perpendicular to fair line direction as Z axis；
(2) laser beam scan path is planned：The rotation path of holder module is controlled by host to plan the setting of laser sensor
Region, the rotation path include pitch angle β and the laser sensor scanning direction of laser sensor；
(3) it scans and obtains data：Laser sensor is scanned according to setting regions until scanning the number until conducting wire
According to the horizontal angle of the distance between the holder and conducting wire for including laser sensor scanning d and the cloud platform rotation of obliquity sensor detection
Spend θ；
(4) conducting wire coordinate points are obtained：Bring the distance between holder and conducting wire d, level angle θ and pitch angle β into triangle letter
The specific coordinate points of conducting wire are calculated in number；
(5) conducting wire sag is obtained：Conducting wire coordinate points are brought into parabolic formula to the motion profile for simulating conducting wire, and then are calculated
Conducting wire sag out.
8. the arc sag monitoring method according to claim 7 based on laser three-D reconstruct, it is characterised in that：Step (2) and
Step (3) is at least repeated 3 times, and can obtain at least three groups of coordinate points.
9. the arc sag monitoring method according to claim 7 based on laser three-D reconstruct, it is characterised in that：The laser
Sensor scanning direction is along Z-direction.
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| CN201810373695.6A CN108844467A (en) | 2018-04-24 | 2018-04-24 | Arc sag based on laser three-D reconstruct monitors system and method |
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| CN201810373695.6A CN108844467A (en) | 2018-04-24 | 2018-04-24 | Arc sag based on laser three-D reconstruct monitors system and method |
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Cited By (5)
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| CN109712179A (en) * | 2018-11-30 | 2019-05-03 | 北京拓维思科技有限公司 | A kind of transmission line of electricity wire jumper electric clearance determines method and device |
| CN110030956A (en) * | 2019-05-22 | 2019-07-19 | 福建工程学院 | A kind of contactless building roughness measurement method |
| CN110967701A (en) * | 2019-10-15 | 2020-04-07 | 广西电网有限责任公司贵港供电局 | Method and system for measuring sag based on unmanned aerial vehicle |
| CN111156946A (en) * | 2020-03-26 | 2020-05-15 | 郑州工程技术学院 | Accurate measuring device for cable sag |
| CN117589069A (en) * | 2024-01-19 | 2024-02-23 | 智洋创新科技股份有限公司 | Power transmission line operation detection method based on data analysis and laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110967701A (en) * | 2019-10-15 | 2020-04-07 | 广西电网有限责任公司贵港供电局 | Method and system for measuring sag based on unmanned aerial vehicle |
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| CN117589069B (en) * | 2024-01-19 | 2024-05-10 | 智洋创新科技股份有限公司 | Power transmission line operation detection method based on data analysis and laser radar |
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