CN118983737A - UAV transmission line deicing device and its digital control system - Google Patents
UAV transmission line deicing device and its digital control system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/29—UAVs specially adapted for particular uses or applications for manufacturing or servicing for cleaning
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Abstract
本发明公开了一种无人机输电线路覆冰除冰装置及其数据化控制系统，该装置采用无线电遥控设备并基于自备程序控制模块操纵无人机搭载负载，控制无人机快速移动带动挂载的撞击质量棒以符合内嵌数据表征模型计算结果的冲击力撞击覆冰线路进行输电线路覆冰的除冰作业；所述无线电遥控设备基于所述自备的程序控制模块优化飞行算法控制数据信源以进行完全地或间歇地自动化无人机除冰作业。本发明基于多方的联合技术研发，基于多变量线性数据过程及其数据系统的构建并考虑多指标表征参数实时变化影响，通过数据逐步迭代进化和补充构建拟合出了相对优越的优越数据表征架构，技术进步性十分显著，属于输电线覆冰除冰技术领域的开拓性创新。
The present invention discloses an unmanned aerial vehicle transmission line deicing device and its data-based control system. The device uses a radio remote control device and a self-contained program control module to control the unmanned aerial vehicle carrying a load, and controls the unmanned aerial vehicle to move quickly to drive the mounted impact mass rod to impact the ice-covered line with the impact force that meets the calculation result of the embedded data characterization model to perform deicing operations on the ice-covered transmission line; the radio remote control device optimizes the flight algorithm based on the self-contained program control module to control the data source to perform fully or intermittently automated unmanned aerial vehicle deicing operations. The present invention is based on joint technical research and development by multiple parties, based on the construction of a multivariate linear data process and its data system, and considering the real-time change influence of multi-index characterization parameters. Through the gradual iterative evolution and supplementary construction of data, a relatively superior data characterization architecture is fitted, and the technical progress is very significant. It is a pioneering innovation in the field of transmission line deicing technology.
Description
Technical Field
The invention relates to the technical field of power line deicing, in particular to a deicing system of a power transmission line impact vibration data model based on unmanned aerial vehicle control.
Background
Common icing types of power transmission and distribution lines include four types of rime, mixed rime, soft rime and white rime. Line icing presents a number of hazards, such as wire icing galloping or wire jumping caused by a section of icing falling off, both of which can easily cause impact loads. The impact load is better than sudden braking, collision, striking and the like which occur instantaneously in real life, the action time is short, the load change is severe, and the circuit is seriously damaged. In addition, the insulator string of the power transmission line is too much in icing or bridged by ice, so that the insulation performance is reduced, and the line can be broken down.
Currently, in the deicing operation of electric power lines, mechanical deicing schemes still take a dominant role. The current common mechanical deicing schemes are: firstly, a scheme requiring manual traction (equipment cannot move along a lead independently), such as deicing by using tools such as a long insulating rod, a moistureproof insulating rope, a pulley-mounted deicing device and the like, and vibration deicing of an insulating bucket arm vehicle short rod operation to remove ice coating and an empty ladle bomb. This traditional technique is relatively late and has a number of significant drawbacks including: the method has the advantages of discontinuous pole-crossing operation, limited applicable scene, accurate operation requirement, larger limit by terrain, frequent vehicle movement, high efficiency and safety risk (electric shock, falling and the like), low efficiency, possibility of damaging wires and insulators, inapplicability to severe ice coating, re-hanging of insulating ropes in commutation operation and the like. Secondly, various robot devices that can walk independently along the wire deicing mainly have at present through artifical tower hanging, unmanned aerial vehicle hoist and mount, unmanned aerial vehicle/insulator spindle + haulage rope three kinds of schemes install deicing robot on the wire, personnel pass through the remote controller control on ground, and the robot can march along the wire and deicing in first grade circuit. The deicing modes mainly comprise tremble, rotary blade stripping, sharp object chiseling, crushing and crushing ice, asymmetric crushing and crushing ice and the like. The prior art has the defect that under the condition of not modifying a pole tower, the machine needs to be re-mounted in gear shifting and phase changing operation.
Meanwhile, with the maturation and popularization of technology, the technology for icing and deicing the electric wire based on unmanned aerial vehicle has entered the implementation and application stage. In the power grid company, for example, the units such as the Sichuan power transmission and transformation company of the national network, the Hubei power company of the national network and the like adopt carrying unmanned aerial vehicles to carry out line deicing work in a plurality of places, and unmanned aerial vehicles are deployed for autonomous inspection in key areas such as mountain areas, lake areas and forest areas.
However, there are still a number of disadvantages to unmanned aerial vehicle deicing technology introduced by power grid companies. For example, the deicing effect is not durable enough (the deicing device is mainly an unmanned aerial vehicle deicing device, a heating method is adopted to melt an ice coating layer, water formed after the ice melting is adhered to the surface of a circuit to form ice coating again, so that the deicing effect is poor), the safety risk is high (electric shock, falling and the like), the efficiency is low, and wires and insulators can be damaged.
However, in technical direction, the most important problems are that the unmanned aerial vehicle technology body applied to grid deicing is relatively primary, the degree of data and intelligence is not high, the control operation of the unmanned aerial vehicle is more complex than that of a general ground robot, the operation accuracy is difficult to ensure, the technical requirements of operators are high, and the like, which are not in line with the state of the art and the requirements of the national grid on the intelligent and informative construction of the grid. Therefore, developing and constructing corresponding intelligent control systems is an important technical development direction of many power grid departments at present. Based on the current development situation and the technical deficiency of the unmanned aerial vehicle deicing technology, the technical team of the invention performs special technical development based on the research and development stand of the power grid company and in combination with multiparty expert technical resources, and improves the data and intelligent control level of unmanned aerial vehicle deicing operation based on the construction of a deep data control model.
Disclosure of Invention
The invention aims to solve the technical problems and overcome the defects in the prior art, and provides a data-driven transmission line icing deicing multi-index data control model and an impact vibration data model thereof, and also comprises a data execution process and a data execution method thereof; the data control model is simultaneously suitable for carrying out ice coating and deicing operations of the power line in a control system embedded in the unmanned aerial vehicle device.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
The device adopts radio remote control equipment and controls the carrying load of the unmanned aerial vehicle based on a self-provided program control module, and controls the unmanned aerial vehicle to rapidly move to drive a mounted impact quality rod to impact the ice-covered line by impact force conforming to the calculation result of the embedded data characterization model so as to carry out ice-removing operation of the ice-covered line; the radio remote control device optimizes a flight algorithm control data source based on the self-contained program control module to fully or intermittently automate unmanned aerial vehicle deicing operations.
As a preferred technical solution of the present invention, the impact quality stick that unmanned aerial vehicle carried is used for colliding transmission line in order to break the ice sheet and make the circuit vibrate is insulating order gram stick.
As a preferable technical scheme of the invention, the data control system is constructed as a leading control system of a program control module of the icing and deicing device of the power transmission line of the unmanned aerial vehicle; the method comprises the steps of controlling an unmanned aerial vehicle to carry a load, controlling the unmanned aerial vehicle to rapidly move to drive a mounted insulating rod to impact an icing line with impact force conforming to a calculation result of an embedded collision detection quadtree data model, and carrying out icing deicing operation of the power transmission line.
As a preferred technical scheme of the invention, the data control system is also compatible with optimizing the flight algorithm control data information source simultaneously to carry out fully or intermittently automatic unmanned aerial vehicle deicing operation, determining the impact strength of the insulating rod according to the parameters of the power transmission line, the icing parameters and the damping influence, minimizing the number of pauses and intermittent periods of human intervention.
As a preferable technical scheme of the invention, a physical path frame for data modeling in the data control system is that an unmanned aerial vehicle acquires instantaneous negative acceleration before an ice-covered cable and impacts based on inertia of an insulating rod.
As a preferable technical solution of the present invention, on the basis of the above physical path framework, a data signal control path of the data control system is constructed as follows: and embedding a project proportional normal form, a differentiation differential normal form and an integration integral normal form as required on the basis of a discrete signal control framework to control signals, acquiring data according to a PID algorithm before taking off, and detecting and adjusting parameters by superposing input operation results.
As a preferable technical scheme of the present invention, on the basis of the physical path frame, an initialization path of the data coordinates is: modeling the energy of the system by a Lagrangian method, constructing a data program based on translation and rotation parameters of the six-degree-of-freedom system, and using generalized coordinate vectors on data expression; the data output of the data program is guided as follows: the speed brake is activated before the power cable so that the mass rod impacts the line.
As a preferred technical solution of the present invention, the insulating rod impacts the icing line with impact force conforming to the calculation result of the embedded collision detection quadtree data representation model, wherein the core, the data representation model of the impact force conforming to the calculation result of the embedded collision detection quadtree data model adopts a discretization model by integral thinking, a strength estimation algorithm thereof carries out data representation evolution and further iterative fitting on a multi-index data fitting representation configuration through Taylor series expansion, and the data steps comprise:
S1: dimension construction: ① The length L of the transmission line; ② The radiation range of an insulated insulating rod impact transmission line of the load carried by the unmanned aerial vehicle is l about each time; ③ L/2L is the stroke frequency ordered data capacity; ④ Insulating rod mass M1; ⑤ A transmission line mass M2; ⑥ Unmanned aerial vehicle quality M3; ⑦ Unmanned plane acceleration dimension LT-2;
S2: matching supplement and standard construction are further carried out on the iteration fitting model elements: unmanned plane acceleration a, transmission line amplitude omega after collision, damping position omega 0, and i=1, 2,3, … every i unit lengths
S3: impact f0=m1a, the actual effective force is named F due to the strong dissipation of the completely inelastic impact;
S4: further loading damping effect, fitting the amplitude of the transmission line to a trigonometric function wave pattern, cable after power transmission line is impacted by insulating rod the restoring force is calculated in a taylor series expansion, the amplitude function is f (x);
S5: data cutting basic process: the restoring force F is cut into the difference between the maximum restoring force at each unit of the power transmission line and the restoring force of the basic normal model, and the ' subset A1 ' of the restoring force is obtained by Hooke's law and is cut into F=kx=f (x) -F (x 0); the data evolution cutting process is obtained by iterating data basic cutting step by step, the next stage cutting process is established on the cutting process of the subset A1, and the database obtained by the stage cutting process is established to be named as the subset A2 corresponding to the cut discrete data group; the method comprises the steps that valuable data of a Taylor series expansion analysis tool are selected, and the characteristic condition of an ordered discrete data set cut by a subset A2 is f (x) -f (x 0) =k1Δ1+k2Δ2+k3Δ3+ …, and i=1, 2,3 and … ki is the reciprocal of the elastic coefficient of a unit length line under the influence of factors such as gravity, wire tension and the like; Δi is the amplitude of the transmission line from the element position (the element position is the collision position of the insulating rod and the transmission line) under the influence of different restoring forces of the ith unit length due to damping influence, and is obtained by dissipating F;
S6: the data set architecture is further improved: characterizing the minimum amplitude of the initial dynamic data element even if the icing falls as delta 0, wherein the maximum restoring force is f (x 1) at a corresponding position x1 of a distance element position measurement l1 by taking the element position as a reference on a corresponding power transmission line of the initial dynamic data element;
s7: a data output level, a primary discretized data fitting representation configuration, a multi-index data fitting representation configuration f=m1a= ΣkiΔi, i=1, 2,3, …, F' = (m1+m2) a, and determining the real-time data parameters and the operation algorithm according to the cable measurement dimension L and the variable parameters, and controlling the sizes of the unmanned aerial vehicle and the insulating rod LT-2 so as to achieve the effects of small impact and efficient deicing.
As a preferable technical scheme, taking the parameters of the power transmission line, the icing parameters and the damping influence into consideration, wherein the damping influence A in the data model also comprises the weather parameter time conditions such as zeta 1 wind resistance, zeta 2 weight, zeta 3 insulating skin, zeta 4 wire tension, zeta 5 ice layer tension, zeta 6 gravity, zeta 7 power transmission line position, zeta 8 fog and the like and zeta 9 magnetic field data parameters; the parameters of the B power transmission line and the icing parameters comprise a wire vertical load zeta 10, a wire wind pressure load zeta 11, a wire comprehensive load theory zeta 12 and an icing thickness zeta 13, and zeta 1-11 can be recorded in real time by visual multimedia monitoring equipment carried by an unmanned plane and imported into an embedded data control system of the device; then, respectively fitting random variable sequences xi 1, xi 2, xi 3, xi 4, xi 5, xi 6, xi 7, xi 8, xi 9, xi 10, xi 11, xi 12 and xi 13 by an empirical model, and leading the random variable sequences into a data control system;
if the fitting variances of the random variables xi are all bounded after calculation, and the fitting variances conform to the law of large numbers and the data paradigm of the law of large numbers It may be determined that the operation can be performed and a n is imported as export data into the ki related database as described in step S5 of claim 6, i.e. a multi-index parameter dynamic coefficient library is built in matrix mode, and the application operation data ki is corrected and adjusted through the scheduling prediction and the scheduling prediction data affected by the data parameters.
As a preferred embodiment of the present invention, the method further comprises the following data model: in the method, a discrete data model under the construction of Taylor series expansion calculation is adopted, a continuous data model can be constructed to tightly couple data through further normalized fitting data operation through a continuous calculus data path, and the deicing device is accurate and efficient in operation through perfecting a data system.
As a preferable technical scheme of the invention, the wire position before the first deicing operation is the datum point x10, f0=0n at this time, and the successive operations are x 20,x3 0, … in sequence; parameters were corrected in real time before each run.
The invention further comprises the application of the data control system, and the data control system is singly or loaded on a universal unmanned aerial vehicle control platform and is used for carrying out icing and deicing operations of the power transmission line by the unmanned aerial vehicle mounted load.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in:
1. The invention belongs to the innovation in the technical field of icing and deicing of a power transmission line, and the data method and the data control system provided by the invention have wide applicability, namely, the invention can provide data information and parameter reference for a plurality of devices and deicing methods for deicing by adopting unmanned aerial vehicles in the vibration or process of the power transmission line. The invention not only has great innovation, but also has development potential.
2. According to the invention, the visual detection equipment is combined with aerodynamic calculation data to carry out cruising inspection and monitoring on the power transmission line through the unmanned aerial vehicle, so that the influence of adverse factors such as extreme weather, high-altitude topography, low-temperature operation, topographic influence and the like on the inspection operation is reduced. The optimization scheme adopts a large-sized loading unmanned aerial vehicle and a small-sized multi-rotor unmanned aerial vehicle matched deicing method, namely the small-sized unmanned aerial vehicle is carried with visual multi-angle monitoring and detecting equipment to monitor data, an observation visual angle and a fine inspection are provided, the large-sized unmanned aerial vehicle is responsible for hanging rod impact to execute an ice collision task, the operation accuracy and the detection sensitivity are improved, the deicing operation execution force is stronger, the deicing operation efficiency is improved, the deicing quality is improved, and compared with the traditional deicing method, precious resources such as deicing timeliness, effectiveness, time saving, manpower, material resources, electric power, nature and the like can be improved, the icing growth speed is effectively restrained at the initial stage of icing, and the safety of a power transmission line is ensured. Compared with the traditional deicing method, the deicing method has the advantages that the deicing timeliness and effectiveness can be improved, time, manpower, material resources, electric power, nature and other precious resources can be saved, the growth speed of the icing can be effectively restrained in the early icing stage, and the safety of the power transmission line can be guaranteed. Meanwhile, the deicing difficulty and the dangerous degree are greatly reduced through the non-contact operation of manpower and the deicing of the power transmission line, and the life safety of electric power personnel is protected.
3. Based on the construction of a multivariable linear data process and a data system thereof, the invention considers the real-time change influence of multi-index characterization parameters by combining a vibration data model, comprehensively considers the regularity, the variability, the relative invariance and the like of data, and fits a relatively superior data characterization framework from two aspects of discretization and serialization through the gradual iterative evolution and the supplementary construction of data. Compared with a single-index fitting representation conclusion of a discrete data index base of data parameters such as time, examples, impulse and the like, the Taylor series expansion representation fitting result based on mathematical analysis can improve the data estimation precision through linear extension of a data model, reduce the data offset angle and improve the operation precision.
4. The data matrix and the data system are formed by the data acquisition points updated in real time, the coefficient parameter deviation angle is optimized and adjusted by combining real-time parameters on the basis of experience data, the operation data are adjusted to be more proper operation data, reasonable ki values are output according to the operation data, each delta i value is determined according to the operation data, the operation data are output by the data system through standardized data processing, and the purpose of improving the operation effectiveness is achieved in the process.
The technical effects of the present invention in more detail can be seen in the following examples.
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Fig. 1 is a system frame diagram of the present invention.
Detailed Description
The following examples illustrate the application in detail. In the following description of embodiments, for purposes of explanation and not limitation, specific details are set forth, such as particular system architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance. Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Example 1
The impact vibration data model and the method for the multi-index data-based scheduling operation system applicable to the icing deicing application of the unmanned aerial vehicle transmission line comprise the following data processes: a. the radio remote control device controls the data source based on human or vehicle-mounted computer optimized flight algorithm via kalman filtering, PID control, etc. for full or intermittent autonomous operation. And selecting impact strength according to the power transmission line parameters and the icing parameters. b. The device adopts a wireless remote control device and a self-provided program control device to control the unmanned plane and unmanned plane to carry a load, and the control device rapidly moves to drive a mounted impact quality rod to impact an ice-covered line according with the impact force of the calculation result of a data representation model such as a collision detection quadtree and the like.
For a, the data parameters are required to be accurately acquired, the acquisition angles are various, and for the practical application of the existing data technology, the algorithm can be continuously optimized according to the practice, and the application effect is improved.
And b, the required data parameters are reasonably fitted, the estimated data deviation angle is as small as possible, the actual deviation data can be dynamically adjusted, and the method is flexibly combined with actual operation and application. The core advantage is that the taylor series characterizes the discretized nature of the fit and the quasi-continuity in the calculus context: the unit element of the previous item i has larger specific gravity because of stronger influence due to the proximity to the position of the vibration element, and the actual value of i can be selected according to the icing condition (the thickness of an ice layer, the adhesion strength and the like) in the actual operation process, so that the actual value of i is based on the multidimensional linear representation parameters and the image condition formed by fitting data.
Example 2
In a, grouping the interaction databases processed by the interaction discrete data module through cloud data operation or manual input method, and processing the data of the interaction database group. The collision detection calculation result is controlled according to discrete signals, and on the basis of the physical path framework, a data signal control path of the data control system is constructed as follows: and embedding a project proportional normal form, a differentiation differential normal form and an integration integral normal form as required on the basis of a discrete signal control framework to control signals, acquiring data according to a PID algorithm before taking off, and detecting and adjusting parameters by superposing input operation results.
Example 3
When the actual condition is complicated, under the condition that one equipment is unfavorable for completing the task, can adopt large-scale load unmanned aerial vehicle, small-size many rotor unmanned aerial vehicle cooperation deicing method, small-size unmanned aerial vehicle carries on visual multi-angle monitoring check out test set and is responsible for monitoring data, provides and observes the visual angle and patrol with meticulously, and large-scale unmanned aerial vehicle is responsible for hanging excellent and assaults, carries out and hits ice task.
Example 4
In b, a brand new data model is built and put into use through joint development of a plurality of operation departments and data experts: the data representation model of impact force conforming to the calculation results of the data representation models of collision detection quadtree and the like adopts a discretization model by integral thinking, and a strength estimation algorithm carries out data representation evolution further iteration fitting on multi-index data fitting representation configuration through Taylor series expansion: data cutting basic process: the restoring force F is cut as the difference between the maximum restoring force at each unit cell of the transmission line and the restoring force of the basic paradigm model, and the "subset a" of the restoring force is obtained by hooke's law and is cut by f=kx=f (x) -F (x 0). The data evolution cutting process is obtained by iterating the data base cutting step by step, the next cutting process is established on the cutting process of the subset A, and the database obtained by the cutting process is constructed to be named as the subset B corresponding to the ordered discrete data of the cut discrete data group. The characteristic condition of the ordered discrete data group cut by the subset B based on the valuable data selection of the Taylor series expansion analysis tool is f (x) -f (x 0) =k1Δ1+k2Δ2+k3Δ3+ …, and i=1, 2,3, … ki is the reciprocal of the elastic coefficient of the line in unit length under the influence of gravity, wire tension and other factors. Δi is the amplitude of the transmission line from the element position (the element position is the collision position of the insulating rod and the transmission line) under the influence of restoring force, which is different from the ith unit length due to damping influence, and is obtained by dissipating F. The data set architecture is further improved: the minimum amplitude of the initial dynamic data element even if the icing falls is represented as delta 0, and the maximum restoring force is f (x 1) at a corresponding position x1 on the transmission line corresponding to the initial dynamic data element, which is relative to the element position and is measured by the element position l 1. Then, the primary discretization data fitting representation configuration is utilized to represent the multi-index data fitting representation configuration F=M1a= ΣkiΔi, i=1, 2,3, …, F' = (M1+M2) a, and according to the cable measure dimension L and the influence factors such as various damping and the like, and determining the real-time data parameters and the operation algorithm, and controlling the sizes of the unmanned aerial vehicle and the insulating rod LT-2 to achieve the effect of small amount of impact and efficient deicing.
The A damping influence in the data model also comprises a meteorological parameter time condition such as a zeta 1 wind resistance, a zeta 2 weight, a zeta 3 insulating skin, a zeta 4 wire tension, a zeta 5 ice layer tension, a zeta 6 gravity, a zeta 7 power transmission line position, a zeta 8 big fog and the like and a zeta 9 magnetic field data parameter; the parameters of the transmission line B and the icing parameters comprise a vertical load zeta 10 of the wire, a wind pressure load zeta 11 of the wire, a theoretical zeta 12 of the comprehensive load of the wire and an icing thickness zeta 13, and zeta 1-11 can be recorded in real time by visual multimedia monitoring equipment carried by an unmanned plane and imported into an embedded data control system of the device; then, respectively fitting random variable sequences xi 1, xi 2, xi 3, xi 4, xi 5, xi 6, xi 7, xi 8, xi 9, xi 10, xi 11, xi 12 and xi 13 by an empirical model, and leading the random variable sequences into a data control system;
if the fitting variances of the random variables xi are all bounded after calculation, and the fitting variances conform to the law of large numbers and the data paradigm of the law of large numbers It may be determined that the operation can be performed and a n is imported as export data into the ki related database as described in step S5 of claim 6, i.e. a multi-index parameter dynamic coefficient library is built in a matrix mode, and the application operation data ki is corrected and adjusted through the scheduling prediction and the scheduling prediction data affected by the data parameters.
Example 5
Furthermore, the data parameter correction can generally aim to improve the precision and the titer of the invariant through visual inspection equipment optimization, coefficient refinement selection, empirical parameter addition or other data means, so as to realize the optimization adjustment of real-time operation data.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments. In various embodiments, the hardware implementation of the technology may directly employ existing smart devices, including but not limited to, drones, remote sensing devices, communication devices, handheld standalone devices, visualization devices, insulation devices, vehicle-mounted computers, and the like. The operation device preferably adopts an operation pull rod, the data storage and calculation module adopts the existing memory, calculator and controller, the internal communication module adopts the existing communication port and protocol, and the remote communication adopts the existing gprs network, the universal Internet and the like.
Example 6
The quality stick that unmanned aerial vehicle carried is used for colliding transmission line in order to break the ice sheet and make the circuit vibrate is the insulation order gram stick. The current practical quality data parameter is 23kg, and in practice, real-time adjustment is needed based on the data parameters in the database established in the process of the step b.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
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