阅读说明：本技术 用于输电线路的便携式覆冰厚度测量装置及其测量方法 (Portable icing thickness measuring device for power transmission line and measuring method thereof ) 是由 陆佳政 何立夫 李波 章国勇 徐勋建 罗晶 于 2019-11-11 设计创作，主要内容包括：本发明公开了一种用于输电线路的便携式覆冰厚度测量装置及其测量方法,该装置包括：激光发射模块、激光接收模块和控制模块；激光发射模块用于向待测物发射呈单列条状扇形的激光点云；激光接收模块用于接收待测物反射回来的激光点云；控制模块用于记录激光发射模块发射每一点激光点云的发射时间,和激光接收模块接收待测物反射回来的每一点激光点云的接收时间,根据接收时间和发射时间计算导线到测量装置的距离,并根据接收的激光点云生成激光点云图像；还用于根据未覆冰的激光点云图像和覆冰时的激光点云图像,计算导线覆冰厚度。本发明采用非接触方式即可实现导线的冰厚测量。(The invention discloses a portable icing thickness measuring device for a power transmission line and a measuring method thereof, wherein the device comprises: the device comprises a laser emitting module, a laser receiving module and a control module; the laser emission module is used for emitting single-row strip-shaped fan-shaped laser point clouds to an object to be detected; the laser receiving module is used for receiving laser point clouds reflected by the object to be detected; the control module is used for recording the emission time of the laser emission module for emitting the laser point clouds of each point, the receiving time of the laser receiving module for receiving the laser point clouds of each point reflected by the object to be measured, calculating the distance from the wire to the measuring device according to the receiving time and the emission time, and generating a laser point cloud image according to the received laser point clouds; and the method is also used for calculating the icing thickness of the wire according to the laser point cloud image without icing and the laser point cloud image during icing. The invention can realize the ice thickness measurement of the lead in a non-contact mode.)

1. A portable icing thickness measurement device for a power transmission line, comprising: the device comprises a laser emitting module, a laser receiving module and a control module;

the laser emission module is used for emitting single-row strip-shaped fan-shaped laser point clouds to an object to be detected;

the laser receiving module is used for receiving laser point clouds reflected by the object to be detected;

the control module is used for recording the emission time of the laser emitting module for emitting the laser point clouds of each point and the receiving time of the laser receiving module for receiving the laser point clouds of each point reflected by the object to be measured, calculating the distance from the wire to the measuring device according to the receiving time and the emission time, and generating a laser point cloud image according to the received laser point clouds; and the method is also used for calculating the icing thickness of the wire according to the laser point cloud image without icing and the laser point cloud image during icing.

2. The portable icing thickness measuring device for the power transmission line according to claim 1, wherein the control module is further configured to calculate the number of laser points reflected by the wire according to the laser point cloud image.

3. The portable icing thickness measuring device for the power transmission line according to claim 1, further comprising a display module for displaying the laser point cloud image.

4. The portable icing thickness measuring device for the power transmission line according to claim 1 or 2, wherein the control module calculates the wire icing thickness D according to the laser point cloud image without icing and the laser point cloud image during icing in the following calculation mode:

wherein C is an intermediate parameter, and:

wherein a and b are respectively the distances from the middle laser point in the non-icing image and the icing image to the measuring device; r is_b、r_lRespectively the radius of the lead when the lead is not coated with ice and the radius of the lead and the lead with the ice coating layer when the lead is coated with ice; n is_b、n_lThe number of laser points for emitting laser point clouds by the wires in the non-icing image and the icing image is different.

5. The portable ice thickness measurement device for transmission lines of claim 4, wherein the radius of the wire when not covered with ice and the radius r of the wire and the covered layer of ice when covered with ice_bAnd r_lRespectively as follows:

wherein α and β are the actual size represented by each laser point in the non-icing image and the icing image respectively, and the actual size represented by each laser point in the non-icing image and the icing image satisfies the following relationship:

6. a method for measuring the thickness of ice on a conductor wire using the portable ice thickness measuring device for an electric power transmission line according to any one of claims 1 to 5, comprising the steps of:

the method comprises the following steps: before ice coating, aligning a device to a lead for irradiation, and enabling the emitted strip-shaped point cloud to be vertical to a power transmission lead;

step two: the device receives laser point clouds emitted by a wire, generates non-icing laser point cloud images and stores the non-icing laser point cloud images as the non-icing images;

step three: when icing is carried out, the same device is used for aiming at the guide line of icing for irradiation, so that the emitted strip-shaped point cloud is vertical to the power transmission guide line;

step four: the device receives laser point clouds emitted by a wire, generates a laser point cloud image during icing, and stores the laser point cloud image as an icing image;

step five: respectively calculating the number of laser points reflected by the wires in the non-icing image and the icing image, and calculating the distance between the point on the wire corresponding to each point and the measuring device;

step six: and calculating the ice coating thickness of the lead according to the number of the laser points and the distance between the point on the lead and the measuring device.

Technical Field

The invention relates to the technical field of power grid protection, in particular to a portable icing thickness measuring device for a power transmission line and a measuring method thereof.

Background

The ice coating of the power grid can cause the disconnection and tower collapse of the power transmission line, and is the demon of safe and stable operation of the power grid. In 2008, the power grid in southern province of China suffers from severe ice disasters, more than 70 foundations fall over the tower, 250 billion yuan of direct property loss is caused, 1 hundred million of people have power failure, and the Jingguang railway stops running for 7 days, so that huge economic loss is caused, and the normal operation of the society is seriously influenced.

The icing thickness of the power transmission line is an important characteristic parameter of the icing degree of the power grid, and the prior art for acquiring the icing thickness mainly comprises the following steps: simulating manual ice measurement of a wire, image or on-line monitoring of a tension sensor and the like. The simulation wire can not really simulate the icing condition of the wire with current in the high altitude, the calculation model through the image or the tension sensor is complex, the calculated equivalent icing thickness has larger error, and the accurate judgment of the power transmission line icing condition by the power grid operation and maintenance personnel is influenced.

Disclosure of Invention

The invention provides a portable icing thickness measuring device for a power transmission line and a measuring method thereof, which are used for solving the technical problem.

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

a portable icing thickness measurement apparatus for a power transmission line, comprising: the device comprises a laser emitting module, a laser receiving module and a control module;

the laser emission module is used for emitting single-row strip-shaped fan-shaped laser point clouds to an object to be detected;

the laser receiving module is used for receiving laser point clouds reflected by the object to be detected;

the control module is used for recording the emission time of the laser emitting module for emitting the laser point clouds of each point and the receiving time of the laser receiving module for receiving the laser point clouds of each point reflected by the object to be measured, calculating the distance from the wire to the measuring device according to the receiving time and the emission time, and generating a laser point cloud image according to the received laser point clouds; and the method is also used for calculating the icing thickness of the wire according to the laser point cloud image without icing and the laser point cloud image during icing.

Preferably, the control module is further configured to calculate the number of laser points reflected by the wire according to the laser point cloud image.

Preferably, the laser point cloud processing device further comprises a display module for displaying the laser point cloud image.

Preferably, the control module calculates the wire icing thickness D according to the laser point cloud image without icing and the laser point cloud image during icing in the following calculation mode:

wherein C is an intermediate parameter, and:

wherein a and b are respectively the distances from the middle laser point in the non-icing image and the icing image to the measuring device; r is_b、r_lRespectively the radius of the lead when the lead is not coated with ice and the radius of the lead and the lead with the ice coating layer when the lead is coated with ice; n is_b、n_lThe number of laser points for emitting laser point clouds by the wires in the non-icing image and the icing image is different.

Preferably, the radius of the conductor when not covered with ice and the radius r of the conductor and the conductor with the ice coating layer when covered with ice_bAnd r_lRespectively as follows:

wherein α and β are the actual size represented by each laser point in the non-icing image and the icing image respectively, and the actual size represented by each laser point in the non-icing image and the icing image satisfies the following relationship:

the invention also provides a method for measuring the wire icing thickness by using the portable icing thickness measuring device for the power transmission line, which comprises the following steps of:

the method comprises the following steps: before ice coating, aligning a device to a lead for irradiation, and enabling the emitted strip-shaped point cloud to be vertical to a power transmission lead;

step two: the device receives laser point clouds emitted by a wire, generates non-icing laser point cloud images and stores the non-icing laser point cloud images as the non-icing images;

step three: when icing is carried out, the same device is used for aiming at the guide line of icing for irradiation, so that the emitted strip-shaped point cloud is vertical to the power transmission guide line;

step four: the device receives laser point clouds emitted by a wire, generates a laser point cloud image during icing, and stores the laser point cloud image as an icing image;

step five: respectively calculating the number of laser points reflected by the wires in the non-icing image and the icing image, and calculating the distance between the point on the wire corresponding to each point and the measuring device;

step six: and calculating the ice coating thickness of the wire according to the number of the laser points and the distance between the point on the wire and the measuring device.

The invention has the following beneficial effects:

1. the portable icing thickness measuring device for the power transmission line can realize the ice thickness measurement of the lead in a non-contact mode. The device is small in size, light in weight, convenient to carry, capable of being used for measuring the sizes of objects in other fields, and wide in application scene.

2. The measuring method only needs to measure the radius of the wire once during normal line patrol, the radius is stored as laser point cloud information when ice is not coated, and the radius of the wire is measured again when ice is coated, so that the ice coating thickness of the wire can be obtained. The method is not harsh on the measurement conditions, and has high measurement precision and good stability.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural view of a portable icing thickness measuring device for a power transmission line according to a preferred embodiment of the present invention;

fig. 2 is a flowchart illustrating a method for measuring an ice thickness on a wire of a portable ice thickness measuring device for a power transmission line according to a preferred embodiment of the present invention. Not described

The reference numerals in the figures denote:

1. an icing thickness measuring device; 2. a laser beam; 3. a power transmission conductor; 4. and (5) laser point cloud images.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.

Referring to fig. 1, the portable icing thickness measuring device for a power transmission line of the present invention includes: the device comprises a laser emitting module, a laser receiving module, a control module and a display module;

the laser emission module is used for emitting single-row strip-shaped fan-shaped laser point clouds to an object to be detected;

the laser receiving module is used for receiving laser point clouds reflected by the object to be detected;

the control module is used for recording the emission time of the laser emitting module for emitting the laser point clouds of each point and the receiving time of the laser receiving module for receiving the laser point clouds of each point reflected by the object to be measured, calculating the distance from the wire to the measuring device according to the receiving time and the emission time, and generating a laser point cloud image according to the received laser point clouds; the method is also used for calculating the number of laser points reflected by the wire according to the laser point cloud image without ice coating and the laser point cloud image during ice coating and calculating the ice coating thickness of the wire.

And the display module is used for displaying the laser point cloud image.

The actual size represented by each laser spot in the non-iced image and the iced image satisfies the following relationship:

wherein a and b are respectively the distances from the middle laser point in the non-icing image and the icing image to the measuring device; alpha, beta are the actual sizes represented by each laser spot in the non-iced image and iced image, r_b、r_lRespectively, the radius of the wire when the wire is not coated with ice and the radius of the wire and the wire with the ice coating layer when the wire is coated with ice:

wherein n is_b、n_lThe number of laser points for emitting laser point clouds by the wires in the non-icing image and the icing image is different.

Therefore, the control module of the present embodiment calculates the wire icing thickness D in the following manner:

where C is an intermediate parameter (the intermediate parameter C is used as a substitute element between formulas due to the complexity of the calculation formula), and:

for example: calculating the number n of the laser point clouds in the non-icing image_b10, the distance a from the middle point to the measuring device is 10 meters; number n of points of laser point cloud in icing image_l15, the distance b from the middle point to the measuring device is 10.5 meters; the radius r of the lead is known according to the type of the lead_b0.01 m; the calculated ice coating thickness D of the wire was 0.0058 m.

Referring to fig. 2, the present embodiment further provides a method for measuring an ice thickness on a wire of the portable ice thickness measuring device for a power transmission line, including the following steps:

the method comprises the following steps: before ice coating, aligning a device to a lead for irradiation, and enabling the emitted strip-shaped point cloud to be vertical to a power transmission lead;

step two: the device receives laser point clouds emitted by a wire, generates non-icing laser point cloud images and stores the non-icing laser point cloud images as the non-icing images;

step three: when icing is carried out, the same device is used for aiming at the guide line of icing for irradiation, so that the emitted strip-shaped point cloud is vertical to the power transmission guide line;

step four: the device receives laser point clouds emitted by a wire, generates a laser point cloud image during icing, and stores the laser point cloud image as an icing image;

step five: respectively calculating the number of laser points reflected by the wires in the non-icing image and the icing image, and calculating the distance between the point on the wire corresponding to each point and the measuring device;

step six: and calculating the ice coating thickness of the wire according to the number of the laser points and the distance between the point on the wire and the measuring device.

In conclusion, the ice thickness measurement of the lead can be realized in a non-contact mode. The device is small in size, light in weight, convenient to carry, capable of being used for measuring the sizes of objects in other fields, and wide in application scene. When the device is applied, the radius of the wire is measured once only during line patrol at ordinary times, the radius is stored as laser point cloud information when ice is not coated, and the ice coating thickness of the wire can be obtained by measuring the radius of the wire again when ice is coated. The method is not harsh on the measurement conditions, and has high measurement precision and good stability.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.