阅读说明：本技术 一种输、配电线路的杆塔姿态在线监测装置及方法 (Online monitoring device and method for tower postures of power transmission and distribution lines ) 是由 赵永强 汪溢 胡春潮 冯善强 尤毅 孙毅 何英发 王之纯 于 2021-09-18 设计创作，主要内容包括：本申请公开了一种输、配电线路的杆塔姿态在线监测装置及方法,其中装置包括：第一GNSS天线、第二GNSS天线、定位模组、MCU处理器、DTU模块、电源。首先通过定位模组处理GNSS天线接收的卫星信号得到杆塔的初始坐标相位,接着通过MCU处理器根据初始坐标相位与卫星数量等参数构建双差矩阵方程组,并利用粒子群算法求解得到杆塔的姿态信息,最后通过DTU模块传送至在线监测服务器。本申请的方案可以不间断地对输、配电杆塔进行监测,监测范围广；不会受传感器本身精度的影响,监测精度高。同时计算量小,不需要很复杂的模型即可解算出杆塔姿态。从而解决了现有技术易受传感器本身精度的影响,且监测范围有限的技术问题。(The application discloses online monitoring device and method for tower postures of power transmission and distribution lines, wherein the device comprises: the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU processor, a DTU module and a power supply. The method comprises the steps of firstly processing satellite signals received by a GNSS antenna through a positioning module to obtain an initial coordinate phase of a tower, then constructing a double-difference matrix equation set according to parameters such as the initial coordinate phase, the number of satellites and the like through an MCU (microprogrammed control Unit) processor, solving by utilizing a particle swarm algorithm to obtain attitude information of the tower, and finally transmitting the attitude information to an online monitoring server through a DTU (data transfer unit) module. The scheme of the application can uninterruptedly monitor the power transmission and distribution towers, and the monitoring range is wide; the influence of the precision of the sensor can not be generated, and the monitoring precision is high. Meanwhile, the calculation amount is small, and the tower posture can be solved without a complex model. Therefore, the technical problems that the prior art is easily influenced by the precision of the sensor and the monitoring range is limited are solved.)

1. The utility model provides a transmission and distribution lines's shaft tower gesture on-line monitoring device which characterized in that includes: the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU (microprogrammed control Unit) processor, a DTU (data transfer Unit) module and a power supply;

the first GNSS antenna and the second GNSS antenna are used for respectively receiving satellite signals of n satellites and transmitting the satellite signals to the positioning module, wherein n is not less than 3 and is an integer;

the positioning module is used for calculating and obtaining an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula after filtering the satellite signals;

the MCU processor is used for constructing a double-difference matrix equation set according to the initial coordinate phases and the number of satellites, solving attitude information of the tower through a particle swarm algorithm, and transmitting the attitude information to the DTU module;

the DTU module is used for sending the attitude information to an online monitoring server;

the power supply is used for supplying power to the first GNSS antenna, the second GNSS antenna, the positioning module, the MCU processor and the DTU module.

2. The device of claim 1, wherein the MCU processor is specifically configured to:

establishing a single difference matrix equation set according to the initial coordinate phase and the number of the satellites;

taking any one WeChat of n satellites as a reference satellite, and respectively comparing single difference measurement values of the rest n-1 satellites with the reference satellite to construct a double-difference matrix equation set;

resolving the double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of a base line;

and converting the three-dimensional attitude angle information into attitude information of the tower and then transmitting the attitude information to a DTU module.

3. The tower attitude online monitoring device of the power transmission and distribution line according to claim 1, further comprising: an encryption module;

and the encryption module is used for receiving the attitude information of the tower, encrypting the attitude information and transmitting the encrypted attitude information to the DTU module.

4. The tower attitude online monitoring device of the power transmission and distribution line according to claim 2, wherein the initial carrier phase formula is:

in the formula (I), the compound is shown in the specification,is a carrier phase observation value of a Beidou navigation signal, wherein lambda is a carrier wavelength, R is a distance between a satellite and a GNSS antenna receiver, and rho_ionFor ionospheric delay errors, p_tronFor tropospheric delay errors, p_ephFor satellite ephemeris error, p_mpFor multipath errors, N is the initial integer ambiguity, ε_aIs the satellite clock error, epsilon_bIs the receiver clock error.

5. The device for on-line monitoring of the tower postures of the power transmission and distribution line according to claim 2, wherein the homodyne matrix equation set is as follows:

in the formula (I), the compound is shown in the specification,the carrier phase signal of the first Beidou satellite is obtained by single difference processing of a first GNSS antenna and a second GNSS antenna,is the single difference carrier phase ambiguity from the first Beidou satellite to the first GNSS antenna and the second GNSS antenna,the clock error between the first GNSS antenna and the second GNSS antenna is shown, lambda is the carrier wave length, the vector b is a base line vector, and the vector I is a unit vector of the Beidou satellite.

6. The device for on-line monitoring of the tower postures of the power transmission and distribution line according to claim 2, wherein the double difference matrix equation set is as follows:

in the formula (I), the compound is shown in the specification,is the double-difference carrier phase between the jth Beidou satellite and the reference satellite,the ambiguity is the double-difference carrier phase ambiguity of the jth Beidou satellite, lambda is the carrier wavelength, the vector b is the baseline vector, and the vector I is the unit vector of the Beidou satellite.

7. The device for on-line monitoring of the tower postures of the power transmission and distribution line according to claim 1, wherein the DTU module is specifically configured to: and sending the attitude information to an online monitoring server through an APN private network.

8. The tower attitude online monitoring device of the power transmission and distribution line according to claim 1, wherein the power supply specifically comprises: the solar energy module, the power control module and the storage battery.

9. An on-line monitoring method for the tower postures of the power transmission and distribution lines is characterized by being applied to the on-line monitoring device for the tower postures of the power transmission and distribution lines in any one of claims 1 to 8, and the method comprises the following steps:

the first GNSS antenna and the second GNSS antenna respectively receive satellite signals of n satellites and transmit the satellite signals to the positioning module, wherein n is not less than 3 and is an integer;

after the positioning module filters the satellite signals, calculating to obtain an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula;

the MCU processor constructs a double-difference matrix equation set according to the initial coordinate phases and the number of satellites, obtains attitude information of the tower through particle swarm algorithm solution, and transmits the attitude information to the DTU module;

and the DTU module sends the attitude information to an online monitoring server.

10. The method according to claim 9, wherein the MCU processor constructs a double difference matrix equation set according to the initial coordinate phase and the number of satellites, obtains attitude information of the tower through a particle swarm algorithm, and transmits the attitude information to the DTU module, and specifically comprises:

the MCU processor establishes a single difference matrix equation set according to the initial coordinate phase and the number of the satellites; taking any one WeChat of n satellites as a reference satellite, and respectively comparing single difference measurement values of the rest n-1 satellites with the reference satellite to construct a double-difference matrix equation set; resolving the double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of a base line; and converting the three-dimensional attitude angle information into attitude information of the tower and then transmitting the attitude information to a DTU module.

Technical Field

The application relates to the technical field of electric power, in particular to a tower posture on-line monitoring device and method for a power transmission and distribution line.

Background

The distribution of transmission and distribution lines is wide-spread, people such as many open-air mountain areas smoke scarcely or unmanned area, the geological conditions of china are complicated changeable, statistical data shows, transmission and distribution lines subsides because of the basis that geological disasters such as mud-rock flow, soil erosion, bank protection slide caused, the heavy hidden danger such as slope, or be in the typhoon district because of shaft tower itself, heavy ice area, because of leading the uneven shaft tower slope that leads to the uneven power consumption of shaft tower atress that leads to of ground wire atress, the shaft tower takes place to incline or the column foot takes place to subside and all can become the great hidden danger that threatens transmission and distribution lines safe operation, cause the shaft tower to empty even when serious, equipment broken string.

At present, for monitoring geological disasters of a power transmission and distribution line, the traditional inclination angle sensor is mostly adopted to collect the inclination condition of a tower, the method is easily influenced by the precision of the sensor, and the monitoring range is limited.

Disclosure of Invention

The application provides a tower posture on-line monitoring device and method for a power transmission and distribution line, which are used for solving the technical problems that the prior art is easily influenced by the precision of a sensor and the monitoring range is limited.

In view of this, the first aspect of the present application provides an online tower attitude monitoring device for power transmission and distribution lines, the device including:

the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU (microprogrammed control Unit) processor, a DTU (data transfer Unit) module and a power supply;

the first GNSS antenna and the second GNSS antenna are used for respectively receiving satellite signals of n satellites and transmitting the satellite signals to the positioning module, wherein n is not less than 3 and is an integer;

the positioning module is used for calculating and obtaining an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula after filtering the satellite signals;

the MCU processor is used for constructing a double-difference matrix equation set according to the initial coordinate phases and the number of satellites, solving attitude information of the tower through a particle swarm algorithm, and transmitting the attitude information to the DTU module;

the DTU module is used for sending the attitude information to an online monitoring server;

the power supply is used for supplying power to the first GNSS antenna, the second GNSS antenna, the positioning module, the MCU processor and the DTU module.

Optionally, the MCU processor is specifically configured to:

establishing a single difference matrix equation set according to the initial coordinate phase and the number of the satellites;

taking any one WeChat of n satellites as a reference satellite, and respectively comparing single difference measurement values of the rest n-1 satellites with the reference satellite to construct a double-difference matrix equation set;

resolving the double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of a base line;

and converting the three-dimensional attitude angle information into attitude information of the tower and then transmitting the attitude information to a DTU module.

Optionally, the method further comprises: an encryption module;

and the encryption module is used for receiving the attitude information of the tower, encrypting the attitude information and transmitting the encrypted attitude information to the DTU module.

Optionally, the initial carrier phase formula is:

in the formula (I), the compound is shown in the specification,is a carrier phase observation value of a Beidou navigation signal, wherein lambda is a carrier wavelength, R is a distance between a satellite and a GNSS antenna receiver, and rho_ionFor ionospheric delay errors, p_tronFor tropospheric delay errors, p_ephFor satellite ephemeris error, p_mpFor multipath errors, N is the initial integer ambiguity, ε_aIs the satellite clock error, epsilon_bIs the receiver clock error.

Optionally, the single difference matrix equation system is:

in the formula (I), the compound is shown in the specification,the carrier phase signal of the first Beidou satellite is obtained by single difference processing of a first GNSS antenna and a second GNSS antenna,is the single difference carrier phase ambiguity from the first Beidou satellite to the first GNSS antenna and the second GNSS antenna,the clock error between the first GNSS antenna and the second GNSS antenna is shown, lambda is the carrier wave length, the vector b is a base line vector, and the vector I is a unit vector of the Beidou satellite.

Optionally, the double difference matrix equation system is:

in the formula (I), the compound is shown in the specification,is the double-difference carrier phase between the jth Beidou satellite and the reference satellite,the ambiguity is the double-difference carrier phase ambiguity of the jth Beidou satellite, lambda is the carrier wavelength, the vector b is the baseline vector, and the vector I is the unit vector of the Beidou satellite.

Optionally, the DTU module is specifically configured to: and sending the attitude information to an online monitoring server through an APN private network.

Optionally, the power supply specifically consists of: the solar energy module, the power control module and the storage battery.

The second aspect of the application provides a tower posture on-line monitoring device of a power transmission and distribution line, which is applied to the tower posture on-line monitoring device of the power transmission and distribution line of the first aspect, and the method comprises the following steps:

the first GNSS antenna and the second GNSS antenna respectively receive satellite signals of n satellites and transmit the satellite signals to the positioning module, wherein n is not less than 3 and is an integer;

after the positioning module filters the satellite signals, calculating to obtain an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula;

the MCU processor constructs a double-difference matrix equation set according to the initial coordinate phases and the number of satellites, obtains attitude information of the tower through particle swarm algorithm solution, and transmits the attitude information to the DTU module;

and the DTU module sends the attitude information to an online monitoring server.

Optionally, the MCU processor constructs a double-difference matrix equation set according to the initial coordinate phase and the number of satellites, obtains attitude information of the tower through a particle swarm algorithm, and transmits the attitude information to the DTU module, and the method specifically includes:

the MCU processor establishes a single difference matrix equation set according to the initial coordinate phase and the number of the satellites;

taking any one WeChat of n satellites as a reference satellite, and respectively comparing single difference measurement values of the rest n-1 satellites with the reference satellite to construct a double-difference matrix equation set; resolving the double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of a base line; and converting the three-dimensional attitude angle information into attitude information of the tower and then transmitting the attitude information to a DTU module.

According to the technical scheme, the method has the following advantages:

the application provides a transmission and distribution lines's shaft tower gesture on-line monitoring device, includes: the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU processor, a DTU module and a power supply. The method comprises the steps of firstly processing satellite signals received by a GNSS antenna through a positioning module to obtain an initial coordinate phase of a tower, then constructing a double-difference matrix equation set according to parameters such as the initial coordinate phase, the number of satellites and the like through an MCU (microprogrammed control Unit) processor, solving by utilizing a particle swarm algorithm to obtain attitude information of the tower, and finally transmitting the attitude information to an online monitoring server through a DTU (data transfer unit) module. The scheme of the application can uninterruptedly monitor the power transmission and distribution towers, and the monitoring range is wide; the differential calculation can be completed in a set of device without adding a traditional reference station, so that the influence of the precision of the sensor is avoided, and the monitoring precision is high; meanwhile, the calculation amount is small, and the tower posture can be solved without a complex model; and a virtual reference station provided by a satellite positioning service provider is not required to be used, and the condition of data extranet operation does not exist in the network security background. Therefore, the technical problems that the prior art is easily influenced by the precision of the sensor and the monitoring range is limited are solved.

Drawings

Fig. 1 is a schematic structural diagram of a tower posture online monitoring device for a power transmission and distribution line provided in an embodiment of the present application;

FIG. 2 is a schematic flow chart of a tower attitude online monitoring method for power transmission and distribution lines provided in the embodiment of the present application,

fig. 3 is a Beidou satellite positioning baseline measurement principle provided in the embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below 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 embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, an on-line tower attitude monitoring device for power transmission and distribution lines provided in an embodiment of the present application includes:

the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU processor, a DTU module and a power supply.

The first GNSS antenna and the second GNSS antenna are used for respectively receiving satellite signals of n satellites and transmitting the satellite signals to the positioning module, wherein n is not less than 3 and is an integer; the positioning module is used for calculating and obtaining an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula after filtering the satellite signals; the MCU processor is used for constructing a double-difference matrix equation set according to the initial coordinate phase and the number of satellites, solving the double-difference matrix equation set through a particle swarm algorithm to obtain attitude information of the tower, and transmitting the attitude information to the DTU module; the DTU module is used for sending the attitude information to the online monitoring server; and the power supply is used for supplying power to the first GNSS antenna, the second GNSS antenna, the positioning module, the MCU processor and the DTU module.

It should be noted that the GNSS antenna is a GPS/GLONASS compatible antenna, and is mainly used as a transmitting antenna for a co-frequency repeater system, and also used as a receiving antenna for a GPS navigation and positioning system. The antenna is in the form of a microstrip. The pattern achieves substantially hemispherical radiation. The antenna is composed of an antenna housing, a microstrip radiator, a bottom plate, a high-frequency output socket and the like, and is simple in structure, small in size and convenient to use by matching with a tripod. The RTC circuit, the storage circuit, the reset circuit and the JTAG circuit are peripheral hardware necessary for ensuring the MCU processor and related matched hardware to work normally.

1. Firstly, satellite signals of not less than 3 satellites are respectively received through two GNSS antennas, and after filtering, an initial coordinate phase of a tower is calculated by a positioning module according to the satellite signals based on an initial carrier phase formula.

The initial carrier phase formula of this embodiment is:

in the formula (I), the compound is shown in the specification,is a carrier phase observation value of a Beidou navigation signal, wherein lambda is a carrier wavelength, R is a distance between a satellite and a GNSS antenna receiver, and rho_ionFor ionospheric delay errors, p_tronFor tropospheric delay errors, p_ephFor satellite ephemeris error, p_mpFor multipath errors, N is the initial integer ambiguity, ε_aIs the satellite clock error, epsilon_bIs the receiver clock error.

2. And then establishing a single difference matrix equation system through the initial coordinate phases and the number of the satellites.

Wherein, the calculation process of the single difference observation equation is as follows:

the Beidou baseline measurement principle is as shown in FIG. 3, the GNSS antenna 1 and the GNSS antenna 2 receive signals sent by the Beidou satellite 1 and the Beidou satellite 2 at the same time, and since the two GNSS antennas are generally close to each other, a single-difference observation equation can be obtained according to the formula (1):

in the formula (I), the compound is shown in the specification,the carrier phase signal of the Beidou satellite 1 is obtained by single difference processing of GNSS1 and GNSS2,is the distance from the beidou satellite 1 to the GNSS1,the distance from the beidou satellite 1 to the GNSS2,is the single difference carrier phase ambiguity between the Beidou satellite 1 to the GNSS1 and the GNSS2,is the clock difference between GNSS1 and GNSS 2.

Wherein, the calculation process of the single difference observation matrix is as follows:

assuming that n satellites are observed simultaneously by GNSS1 and GNSS2, equation (2) can be converted into a matrix equation set:

in the formula (I), the compound is shown in the specification,the carrier phase signal of the first Beidou satellite is obtained by single difference processing of a first GNSS antenna and a second GNSS antenna,is the single difference carrier phase ambiguity from the first Beidou satellite to the first GNSS antenna and the second GNSS antenna,the clock error between the first GNSS antenna and the second GNSS antenna is shown, lambda is the carrier wave length, the vector b is a base line vector, and the vector I is a unit vector of the Beidou satellite.

3. Then any one WeChat in the n satellites is used as a reference satellite, single difference measurement values of the rest n-1 satellites are respectively compared with the reference satellite, and a double-difference matrix equation set is constructed.

The calculation process of the double difference matrix equation set is as follows:

if the Beidou satellite 1 is taken as a reference satellite, the single difference measurement values of other n-1 satellites are subtracted from the single difference measurement value of the reference satellite to obtain a double-difference observation equation set:

in the formula (I), the compound is shown in the specification,is the double-difference carrier phase between the jth Beidou satellite and the reference satellite,the ambiguity is the double-difference carrier phase ambiguity of the jth Beidou satellite, lambda is the carrier wavelength, the vector b is the baseline vector, and the vector I is the unit vector of the Beidou satellite.

4. And then resolving a double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of the base line.

It should be noted that, in the particle swarm optimization, a particle only has two attributes of a speed and a position, the speed represents the moving speed, and the position represents the moving direction; the optimal solution searched by each particle independently is called an individual extremum, and the optimal individual extremum in the particle swarm is used as the current global optimal solution; and continuously iterating, updating the speed and the position, and finally obtaining the optimal solution meeting the termination condition.

In the formula, v_iIs the current velocity of the particle, x_iIs the current position of the particle, rand () is a random number between (0,1), C₁、C₂Is the learning factor and ω is the inertial weight.

The key of fixing the ambiguity is to determine the ambiguity as a correct integer solution by using an ambiguity floating solution, solve a minimum integer vector by using an integer particle swarm algorithm, and take the minimum integer vector as an optimal candidate vector of the ambiguity, wherein an objective function of the method is defined as follows:

in the formula (I), the compound is shown in the specification,in order to be a floating-point ambiguity vector,is composed ofX is an integer space ZⁿThe integer vector of (2).

5. And finally, sending the attitude information to an online monitoring server through a DTU module.

The application provides a transmission and distribution lines's shaft tower gesture on-line monitoring device, includes: the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU processor, a DTU module and a power supply.

(1) Denoising, decomposing and calculating the satellite positioning signal through a third-generation Beidou satellite navigation technology, a Kalman filtering algorithm, a carrier phase difference technology and a ambiguity solving algorithm, and finally obtaining the attitude change of the tower, thereby achieving the purpose of measuring the attitude of the power transmission line tower; (2) the inclination, settlement and deviation conditions of the power transmission and distribution tower can be continuously monitored for 7 x 24h, the monitoring range is wide, the inclination and settlement values of the tower are quantitatively analyzed, the defect grade is determined according to the rule specification, and a treatment suggestion is provided. Therefore, the technical problems that the prior art is easily influenced by the precision of the sensor and the monitoring range is limited are solved.

In a specific embodiment, the MCU processor is specifically configured to:

establishing a single difference matrix equation set according to the initial coordinate phase and the number of the satellites; taking any one WeChat of n satellites as a reference satellite, and respectively comparing single difference measurement values of the rest n-1 satellites with the reference satellite to construct a double-difference matrix equation set; resolving a double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of a base line; and converting the three-dimensional attitude angle information into attitude information of the tower and then transmitting the attitude information to the DTU module.

In an optional embodiment, the online monitoring device of the present application further comprises: an encryption module;

and the encryption module is used for receiving the attitude information of the tower, encrypting the attitude information and transmitting the encrypted attitude information to the DTU module.

It should be noted that, in order to improve the security of the attitude information, when the MCU processor calculates the attitude information of the tower, the encryption module of the present embodiment encrypts the attitude information and transmits the encrypted attitude information to the DTU module. And then the DTU module transmits the data to an online monitoring server through an APN private network.

In a particular embodiment, the power supply is specifically composed of: the solar energy module, the power control module and the storage battery.

The solar module converts solar energy into electric energy, and the electric energy is stored in the storage battery; the power controller controls the electric energy output by the storage battery within a proper amplitude and frequency range, supplies power to the MCU module, the positioning module, the GNSS antenna and the like, and ensures that the device works normally.

The above is an embodiment of the device for online monitoring of the tower postures of the power transmission and distribution line provided by the application, and the following is an embodiment of the method for online monitoring of the tower postures of the power transmission and distribution line provided by the application.

Referring to fig. 2, an embodiment of the present application provides a method for online monitoring tower postures of power transmission and distribution lines, including:

in step 101, a first GNSS antenna and a second GNSS antenna respectively receive satellite signals of n satellites and transmit the satellite signals to a positioning module, where n is not less than 3 and is an integer.

102, filtering the satellite signals by a positioning module, and calculating to obtain an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula;

103, the MCU processor constructs a double-difference matrix equation set according to the initial coordinate phase and the number of satellites, obtains attitude information of the tower through particle swarm optimization, and transmits the attitude information to the DTU module;

and step 104, the DTU module sends the attitude information to an online monitoring server.

According to the pole tower attitude online monitoring method for the power transmission and distribution line, invalid information is filtered through satellite data such as a Beidou navigation system and the like received by a GNSS antenna; positioning the phase of the current initial coordinate; establishing a single difference matrix equation set according to the number N of the received satellites; taking a certain satellite as a reference satellite, and comparing single difference measurement values of other N-1 satellites with the reference satellite to obtain a double-difference matrix equation set; and resolving the carrier phase ambiguity by utilizing a particle swarm algorithm to obtain the three-dimensional attitude angle information of the base line. The monitoring method can uninterruptedly monitor the power transmission and distribution towers, and has a wide monitoring range; the sensor can not be influenced by the precision of the sensor, and the monitoring precision is high, so that the technical problems that the prior art is easily influenced by the precision of the sensor and the monitoring range is limited are solved.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the method described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.