1. A method for measuring the sag of a conducting wire of a power transmission line based on an unmanned aerial vehicle is characterized by comprising the following steps:

selecting one-gear or multi-gear lead of the power transmission line;

measuring the vertical distance of the first hanging point;

step (3) searching for a sag point between the first hanging point and the second hanging point, and measuring the vertical distance and the horizontal distance of the sag point;

measuring the vertical distance of the second hanging point;

and (5) calculating the conductor sag of the power transmission line based on the results of the steps (2) to (4).

2. The method of claim 1, wherein the measuring of the first hanging point vertical distance, the measuring of the sag point vertical distance, and the measuring of the second hanging point vertical distance are performed using a digital barometer onboard the drone.

3. The method of claim 1, wherein the measurement of the horizontal distance of the sag point is achieved by using unmanned aerial vehicle satellite positioning and visual obstacle avoidance functions.

4. The method of claim 1, wherein the span exceeds 500 m.

5. The method according to claim 1, wherein calculating the transmission line conductor sag is performed according to the following method:

f=H3-H2-BC；

（L-L1）/L=BC/（H3-H1）；AB=L-L1；DE=（H3-H1）

AB/L=BC/DE；

wherein:

h3 is the vertical distance of the second suspension point, H2 is the vertical distance of the sag, H1 is the vertical distance of the first suspension point, L1 is the horizontal distance of the sag, and L is the span; DE indicates the height difference between two hanging points.

Background

Factors such as severe weather, old deterioration, load change and the like can bring certain potential safety hazards to the sag of the conducting wire of the power transmission line, even lead to the conditions of wire breakage, insufficient safety distance between the conducting wire and a spanning object and the like, and seriously affect the reliable operation of a power grid. Therefore, the sag of the conducting wire of the power transmission line needs to be measured in time.

At present, the conventional observation of the sag of the conducting wire of the power transmission line mainly depends on periodic inspection and artificial observation, which are very necessary safety protection means, but the limitation is too large, and the omnibearing and timely observation cannot be realized. Especially, some parameters are easy to measure wrongly during manual measurement, and the problems are not easy to find out in time, so that the requirement of measuring the sag of the wire cannot be met. Therefore, the measurement of the conductor sag of the power transmission line is imperative.

The digital barometer, satellite positioning and vision that unmanned aerial vehicle carried on keep away the barrier system and can realize fast for the measurement of flying spot height and horizontal distance, the reading is convenient. And unmanned aerial vehicle convenient to carry, operation are swift, can high-efficiently realize the measurement that transmission line wire arc hangs down.

For such a situation, it is particularly important to realize the rapid measurement of the sag of the wire of the power transmission line.

Disclosure of Invention

In order to solve the problems, the invention provides a method for measuring the sag of a wire of a power transmission line based on an unmanned aerial vehicle, and the invention uses a digital barometer carried by the unmanned aerial vehicle to realize the measurement of the vertical distance of a hanging point 1, the measurement of the vertical distance of a sag point and the measurement of the vertical distance of a hanging point 2 by establishing the method for measuring the sag of the wire of the power transmission line based on the unmanned aerial vehicle; the measurement of the horizontal distance of the sag point is realized by applying unmanned aerial vehicle satellite positioning and visual obstacle avoidance technologies, and the measurement of the sag of the conducting wire of the power transmission line is finally realized through calculation. Has the characteristics of high efficiency, large range and easy operation.

In order to achieve the purpose, the invention adopts the technical scheme that:

a method for measuring the sag of a wire of a power transmission line based on an unmanned aerial vehicle comprises the following steps:

selecting one-gear or multi-gear lead of the power transmission line;

measuring the vertical distance of the first hanging point;

step (3) searching for a sag point between the first hanging point and the second hanging point, and measuring the vertical distance and the horizontal distance of the sag point;

measuring the vertical distance of the second hanging point;

and (5) calculating the conductor sag of the power transmission line based on the results of the steps (2) to (4).

Furthermore, the measurement of the vertical distance of the first hanging point, the measurement of the vertical distance of the sag point and the measurement of the vertical distance of the second hanging point are realized by utilizing a digital barometer carried by the unmanned aerial vehicle.

Further, the horizontal distance of the sag point is measured by utilizing the functions of unmanned aerial vehicle satellite positioning and visual obstacle avoidance.

Further, the span exceeds 500 m.

Further, calculating the conductor sag of the power transmission line is specifically carried out as follows:

f=H3-H2-BC；

（L-L1）/L=BC/（H3-H1）；AB=L-L1；DE=（H3-H1）

AB/L=BC/DE；

wherein:

h3 is the vertical distance of the second suspension point, H2 is the vertical distance of the sag, H1 is the vertical distance of the first suspension point, L1 is the horizontal distance of the sag, and L is the span; DE indicates the height difference between two hanging points.

Compared with the prior art, the invention has the following beneficial effects:

the method for measuring the conductor sag of the power transmission line based on the unmanned aerial vehicle digital barometer, satellite positioning and visual obstacle avoidance technology can effectively solve the problems of low manual measurement efficiency, high error probability and the like.

The arc sag of the conducting wire of the power transmission line can be rapidly measured through a digital barometer and a satellite positioning and visual obstacle avoidance system carried by the unmanned aerial vehicle; in addition, unmanned aerial vehicle convenient to carry, the simple operation can improve work efficiency by a wide margin.

Specifically, the satellite positioning and visual obstacle avoidance technology carried by the unmanned aerial vehicle is used for measuring the horizontal distance of the sag point, and the digital barometer carried by the unmanned aerial vehicle is used for measuring the vertical distance of the first hanging point, the vertical distance of the sag point and the vertical distance of the second hanging point. And finally realizing the measurement of the sag of the conducting wire of the power transmission line through simple data processing.

Drawings

Fig. 1 is a schematic diagram of a method for measuring a power transmission line conductor sag based on an unmanned aerial vehicle visual obstacle avoidance technology.

Detailed Description

The technical solutions in the embodiments will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples without making any creative effort, shall fall within the protection scope of the present invention.

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, the method for measuring the sag of the power transmission line conductor based on the unmanned aerial vehicle of the embodiment is performed as follows:

the method comprises the following steps of (1) selecting one-gear or multi-gear conducting wires of the power transmission line, and setting a flight route from a first hanging point to a second hanging point.

And (2) measuring 5m towards the outer side of the vertical line by using a tape under the measured wire hanging point 1, placing the unmanned aerial vehicle at the position, measuring the vertical distance of the hanging point 1 by using a digital barometer carried by the unmanned aerial vehicle, and recording a numerical value H1 to realize the measurement of the vertical distance of the hanging point 1.

Step (3) flying along the line direction, after finding the sag point, slowly approaching the unmanned aerial vehicle to the wire by using the visual obstacle avoidance system, and recording the horizontal distance L1 and the vertical distance H2 when the obstacle avoidance system displays a distance of 5m, so as to realize measurement of the vertical distance of the sag point and measurement of the horizontal distance of the sag point;

and (4) flying to the hanging point 2 along the line direction, and measuring the vertical distance H3 by using a digital barometer carried by the unmanned aerial vehicle to realize the measurement of the vertical distance of the hanging point 2.

The step (5) of checking the lever position list shows that the gear span is L, AB = L-L1, and AB/AD = BC/DE according to Δ ABC- Δ ADE, so that (L-L1)/L = BC/(H3-H1) BC can be calculated.

And (4) sag f = H3-H2-BC, so that the sag of the tested lead can be solved, and the measurement of the sag of the lead of the power transmission line is realized.

Wherein:

h3 is the vertical distance of the second suspension point, H2 is the vertical distance of the sag, H1 is the vertical distance of the first suspension point, L1 is the horizontal distance of the sag, and L is the span; DE indicates the height difference between two hanging points.

In this embodiment, one or more wires (generally, a large span with a span exceeding 500 m) of the power transmission line are selected, and the measurement of the vertical distance of the engagement point 1, the measurement of the vertical distance of the sag point, and the measurement of the vertical distance of the engagement point 2 are realized by using a digital barometer carried by an unmanned aerial vehicle. And the horizontal distance of the sag point is measured by using unmanned aerial vehicle satellite positioning and visual obstacle avoidance technologies. And calculating the sag of the wire on the basis of the measured vertical distance of the hanging point 1, the vertical distance of the sag point, the vertical distance of the hanging point 2, the horizontal distance of the sag point and the measured span.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.