CN104122560B - Electric transmission line wide area ice condition monitoring method - Google Patents
Electric transmission line wide area ice condition monitoring method Download PDFInfo
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- CN104122560B CN104122560B CN201410328447.1A CN201410328447A CN104122560B CN 104122560 B CN104122560 B CN 104122560B CN 201410328447 A CN201410328447 A CN 201410328447A CN 104122560 B CN104122560 B CN 104122560B
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000005540 biological transmission Effects 0.000 title claims abstract description 32
- 238000012544 monitoring process Methods 0.000 title abstract description 8
- 239000011248 coating agent Substances 0.000 claims abstract description 96
- 238000000576 coating method Methods 0.000 claims abstract description 96
- 238000006073 displacement reaction Methods 0.000 claims abstract description 35
- 230000005611 electricity Effects 0.000 claims description 27
- 239000004020 conductor Substances 0.000 claims description 14
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000004069 differentiation Effects 0.000 claims 1
- 230000005570 vertical transmission Effects 0.000 claims 1
- 238000009826 distribution Methods 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 description 6
- 238000007689 inspection Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 239000012212 insulator Substances 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008014 freezing Effects 0.000 description 2
- 238000007710 freezing Methods 0.000 description 2
- 238000012502 risk assessment Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides an electric transmission line wide area ice condition monitoring method. The method includes the following steps that a laser radar device is used for collecting point cloud data of an ice coating guide wire; point space coordinates and ice coating thickness of the ice coating guide wire are determined; an equivalent ice coating thickness is calculated. According to the electric transmission line wide area ice condition monitoring method, the laser radar device is used for measuring displacement deformation and ice coating thickness of the ice coating guide wire, a finite element model is established, the equivalent ice coating thickness of the guide wire is calculated according to actual distribution of ice on the guide wire, and the ice trouble degree is evaluated.
Description
Technical field
The present invention relates to a kind of monitoring method is and in particular to a kind of transmission line of electricity wide area ice condition supervising method.
Background technology
Line ice coating, especially large area icing are one of key factors of impact electric power netting safe running.After wire icing,
The actual bearing load of hanging point increases；When ice covering thickness is larger, shaft tower load exceedes design load, easily causes tower, broken string
Accident.Mainly weighing measurement method clasp guideline ice covering thickness is taken by artificial line walking at present, and then it is thick to be scaled to equivalent icing
Degree is estimated to line ice coating risk, and accuracy is not high.And it is difficult in time under freezing rain and snow disaster weather condition on a large scale
Accurate evaluation analysis is carried out to transmission line of electricity wide area icing risk, and then takes specific aim prophylactico-therapeutic measuress.
At present, the detection of line ice coating is broadly divided into two big class: manual inspection and on-line monitoring.In early days, manual inspection
Method serves great effect to guarantee line security, still retains this kind of mode currently as supplementary meanss.For manually patrolling
On the one hand the region that inspection cannot complete, then set up and see ice station, realized by mimic buss detection method.But in partial high pressure line
The region of road distribution is with a varied topography, bad environments, brings very big difficulty to patrolling and examining work.And patrol and examine needs certain week
Phase, belong to regularly offline inspection, the appearance to disaster cannot be accomplished quickly to react.
In on-line monitoring method, for icing Cleaning Principle and analysis method, image method, weight method can be divided into, lead
Line inclination angle-sag method.Image method is the icing situation being shot using the high-performance photographic head being arranged on tower bar etc. on wire, leads to
Cross image processing techniquess, obtain the size characteristic of ice coating wire, then calculated by model, finally give equivalent ice covering thickness.
The method is simple, the transmission line of electricity in topoclimate complicated condition area can be intuitively detected.But photographic head can only
Obtain in-plant image, the quantity of information of collection is limited, and photographic head is possible to by snow and ice cover, lead to whole detecting system paralysis
Paralysis.Weight method is the quality measuring ice coating wire in a span using pulling force sensor, by exclusive method, finally gives icing
Quality, then the thickness being converted into icing.Inclination angle-sag method by parameters such as the wire collecting inclination angle, sags, in conjunction with power transmission line
Line state equation, line parameter circuit value and environment parament, calculate icing weight and the icing average thickness of wire.This scheme meter
The ice covering thickness calculating be in shelves meansigma methodss it is impossible to the reaction concrete distribution situation of icing, and in icing situation pockety
Under, using line status Equation for Calculating, error is larger.
Although above-mentioned three kinds of methods have been applied in practical work, broadly fall into a monitoring method it is impossible to big
Area freezing rain and snow disaster weather line ice coating is monitored and risk assessment.In view of this it is necessary to provide a kind of power transmission line
Road wide area ice condition supervising technology, carries laser radar apparatus on unmanned plane during flying platform, and wire icing distribution is measured,
And by finite element software calculate equivalent equivalence ice covering thickness method, realize to transmission line of electricity wide area ice condition supervising.
The basic functional principle of laser radar system (lidar, light detection and ranging): first pass through
Laser pulse signal launched by laser scanner, through reflecting prism laser pulse signal homed on its target, then passes through letter again
Number receiver detects and receives the signal that target reflection is returned, and then these signal records is got off again, finally changes into and can be counted
The data of calculation machine identification, then by these data inputs in the storage system of computer, realize scanning target using related software
Modeling.Laser radar is automatization's Fast measurement system that no cooperative target laser range finder is combined with angle measurement system,
At complicated scene and space, quick scanning survey is carried out to testee, directly obtain the body surface that laser spots are contacted
Horizontal direction, zenith distance, oblique distance and reflex strength, automatically store and calculate, and obtain cloud data.Cloud data is through computer
After process, quick reconfiguration can go out the locus of wire each point.
The patent of invention of Application No. 200910097184.7 provides a kind of ice coated on overhead transmission line conductor real-time monitoring
Method and system, the method comprises the steps: 1) inclination angle-device for detecting temperature is arranged on each shelves line conductor, it is used for
The hitch point inclination angle of measurement circuitry wire and conductor temperature in real time；2) deviation angle-angle of wind deflection monitoring device is arranged on each pendency
On insulator chain, for real-time measurement suspension insulator along wire direction deviation angle and vertical wires direction angle of wind deflection；Pass through
Measurement circuitry wire hitch point inclination angle, conductor temperature and suspension insulator deviation angle in real time, calculates line conductor icing in real time
Comprehensive load and ice covering thickness.In practical engineering application, the method only can be monitored to one or minority icing position, and
Need multiple devices are installed on the line, circuit can be run and impact.
Content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of transmission line of electricity wide area ice condition supervising method, profit
With laser radar apparatus, ice coating wire Displacement-deformation and ice covering thickness are measured, set up FEM (finite element) model, existed according to icing
Actual distribution on wire is calculated the equivalent equivalence ice covering thickness of wire, assesses ice trouble degree.
In order to realize foregoing invention purpose, the present invention adopts the following technical scheme that:
The present invention provides a kind of transmission line of electricity wide area ice condition supervising method, the method comprising the steps of:
Step 1: gather the cloud data of ice coating wire using laser radar apparatus；
Step 2: determine ice coating wire space of points coordinate and wire icing thickness；
Step 3: calculate equivalent equivalence ice covering thickness.
In described step 1, laser radar apparatus are mounted on unmanned plane, unmanned plane take off tailing edge ice coating wire direction flight
Patrol and examine, and using laser radar apparatus, ice coating wire is scanned, obtain its cloud data；Described cloud data includes space
Position coordinateses, spherical coordinate, volume reflection and intensity level.
Described step 2 comprises the following steps:
Step 2-1: extract impact point；
Step 2-2: determine ice coating wire space of points coordinate；
Step 2-3: calculate wire icing thickness.
Described step 2-1 comprises the following steps:
Step 2-1-1: according to the cloud data obtaining, determine point cloud minimum point, constitute TIN convex hull；
Step 2-1-2: according to the sparse degree setting gradient threshold value of cloud data, and choose sweeping in gradient threshold range
Described point forms icing target initial surface；
Step 2-1-3: selected seed point interpolation is TIN from the scanning element of icing target initial surface, and
Calculate the difference in height of remaining scanning element and TIN；
Step 2-1-4: decision height difference whether in gradient threshold range, in combination with the sparse degree area of cloud data
Divide the impact point in scanning element and non-targeted point, described impact point is ice coating wire point.
In described step 2-2, with shaft tower as initial point, with along ice coating wire direction as x-axis, vertical ice coating wire direction is as y
Transmission line of electricity coordinate system is set up for z-axis in axle, direction perpendicular to the ground, by the locus coordinate of ice coating wire point from laser thunder
Reach the device coordinate system that equipment position is initial point to be transformed in transmission line of electricity coordinate system, you can obtain the sky of ice coating wire point
Between coordinate.
In described step 2-3, set up elliptic equation in vertical ice coating wire direction, according to the space coordinatess of ice coating wire point
Calculate ellipse long and short shaft so that middle error is minimum；Oval cross section is ice coating wire section, and elliptical center is wire center, major axis
It is wire icing thickness with the half of short axle difference.
Described step 3 comprises the following steps:
Step 3-1: set up the FEM (finite element) model of ice coating wire catenary form；
Step 3-2: the average ice covering thickness of computing unit；
Step 3-3: determine actual ice concentration；
Step 3-4: determine equivalent equivalence ice covering thickness, realize transmission line of electricity wide area ice condition supervising.
In described FEM (finite element) model, it is taken as a unit along ice coating wire direction every 0.1m～5.0m, ice load is applied
It is added on unit；Calculate ice coating wire two ends tension force n1 and n2 simultaneously, and n1 ＞ n2, tension force is that the wire end position of n1 is designated as a.
In described step 3-2, by the equal principle of icing volume, average by the wire icing thickness calculation unit determining
Ice covering thickness.
Described step 3-3 comprises the following steps:
Step 3-3-1: set ice concentration initial value, ice load is applied on each unit, calculate ice coating wire each point displacement；
Step 3-3-2: compared with each point displacement that the ice coating wire calculating each point displacement is scanned with laser radar apparatus
Relatively, it is divided into situations below:
(1) when ice coating wire each point displacement is equal with each point displacement that laser radar apparatus scan, the ice concentration of setting
Initial value is actual ice concentration；
(2) when ice coating wire each point displacement is less than each point displacement of laser radar apparatus scanning, increase ice concentration, again
Calculate ice coating wire each point displacement, until the two is equal, you can obtain actual ice concentration；
(3) when ice coating wire each point displacement is more than each point displacement of laser radar apparatus scanning, reduce ice concentration, again
Calculate ice coating wire each point displacement, until the two is equal, you can obtain actual ice concentration.
Described step 3-4 comprises the following steps:
Step 3-4-1: according to determine actual ice concentration it is assumed that on ice coating wire all unit ice covering thickness equal, if
Determine ice covering thickness initial value；
Step 3-4-2: calculate the tension force n ' of conductor wire end a according to catenary equation, tension force n ' is compared with tension force n1, is divided into
Situations below:
(1) if n '=n1, now ice covering thickness is the equivalent equivalence ice covering thickness of this ice coating wire；
(2) if n ' is ＞ n1, reduce ice covering thickness, recalculate the tension force n ' of conductor wire end a, until n '=n1, you can
Equivalent equivalence ice covering thickness to ice coating wire；
(3) if n ' is ＜ n1, increase ice covering thickness, recalculate the tension force n ' of conductor wire end a, until n '=n1, you can
Equivalent equivalence ice covering thickness to ice coating wire.
Compared with prior art, the beneficial effects of the present invention is:
1. the present invention passes through UAV flight's laser radar apparatus, can rapidly icing circuit be scanned, and realizes to big
Area ice condition is monitored rapidly；
2. the present invention direct measurement can obtain the deformational displacement of ice coating wire, ice covering thickness actual distribution on transmission line of electricity；
3. the present invention can be calculated the equivalent equivalence ice covering thickness of ice coating wire, while simplifying engineering calculation, carries
High wide area line ice coating risk assessment accuracy.
Brief description
Fig. 1 is transmission line of electricity wide area ice condition supervising method flow diagram.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail.
As Fig. 1, a kind of present invention transmission line of electricity wide area ice condition supervising method of offer, the method comprising the steps of:
Step 1: gather the cloud data of ice coating wire using laser radar apparatus；
Step 2: determine ice coating wire space of points coordinate and wire icing thickness；
Step 3: calculate equivalent equivalence ice covering thickness.
In described step 1, laser radar apparatus are mounted on unmanned plane, unmanned plane take off tailing edge ice coating wire direction flight
Patrol and examine, and using laser radar apparatus, ice coating wire is scanned, obtain its cloud data；Described cloud data includes space
Position coordinateses, spherical coordinate, volume reflection and intensity level.
Described step 2 comprises the following steps:
Step 2-1: extract impact point；
Step 2-2: determine ice coating wire space of points coordinate；
Step 2-3: calculate wire icing thickness.
Described step 2-1 comprises the following steps:
Step 2-1-1: according to the cloud data obtaining, determine point cloud minimum point, constitute TIN convex hull；
Step 2-1-2: according to the sparse degree setting gradient threshold value of cloud data, and choose sweeping in gradient threshold range
Described point forms icing target initial surface；
Step 2-1-3: selected seed point interpolation is TIN from the scanning element of icing target initial surface, and
Calculate the difference in height of remaining scanning element and TIN；
Step 2-1-4: decision height difference whether in gradient threshold range, in combination with the sparse degree area of cloud data
Divide the impact point in scanning element and non-targeted point, described impact point is ice coating wire point.
In described step 2-2, with shaft tower as initial point, with along ice coating wire direction as x-axis, vertical ice coating wire direction is as y
Transmission line of electricity coordinate system is set up for z-axis in axle, direction perpendicular to the ground, by the locus coordinate of ice coating wire point from laser thunder
Reach the device coordinate system that equipment position is initial point to be transformed in transmission line of electricity coordinate system, you can obtain the sky of ice coating wire point
Between coordinate.
In described step 2-3, set up elliptic equation in vertical ice coating wire direction, according to the space coordinatess of ice coating wire point
Calculate ellipse long and short shaft so that middle error is minimum；Oval cross section is ice coating wire section, and elliptical center is wire center, major axis
It is wire icing thickness with the half of short axle difference.
Described step 3 comprises the following steps:
Step 3-1: set up the FEM (finite element) model of ice coating wire catenary form；
Step 3-2: the average ice covering thickness of computing unit；
Step 3-3: determine actual ice concentration；
Step 3-4: determine equivalent equivalence ice covering thickness, realize transmission line of electricity wide area ice condition supervising.
In described FEM (finite element) model, it is taken as a unit along ice coating wire direction every 0.1m～5.0m, ice load is applied
It is added on unit；Calculate ice coating wire two ends tension force n1 and n2 simultaneously, and n1 ＞ n2, tension force is that the wire end position of n1 is designated as a.
In described step 3-2, by the equal principle of icing volume, average by the wire icing thickness calculation unit determining
Ice covering thickness.
Described step 3-3 comprises the following steps:
Step 3-3-1: set ice concentration initial value, ice load is applied on each unit, calculate ice coating wire each point displacement；
Step 3-3-2: compared with each point displacement that the ice coating wire calculating each point displacement is scanned with laser radar apparatus
Relatively, it is divided into situations below:
(1) when ice coating wire each point displacement is equal with each point displacement that laser radar apparatus scan, the ice concentration of setting
Initial value is actual ice concentration；
(2) when ice coating wire each point displacement is less than each point displacement of laser radar apparatus scanning, increase ice concentration, again
Calculate ice coating wire each point displacement, until the two is equal, you can obtain actual ice concentration；
(3) when ice coating wire each point displacement is more than each point displacement of laser radar apparatus scanning, reduce ice concentration, again
Calculate ice coating wire each point displacement, until the two is equal, you can obtain actual ice concentration.
Described step 3-4 comprises the following steps:
Step 3-4-1: according to determine actual ice concentration it is assumed that on ice coating wire all unit ice covering thickness equal, if
Determine ice covering thickness initial value；
Step 3-4-2: calculate the tension force n ' of conductor wire end a according to catenary equation, tension force n ' is compared with tension force n1, is divided into
Situations below:
(1) if n '=n1, now ice covering thickness is the equivalent equivalence ice covering thickness of this ice coating wire；
(2) if n ' is ＞ n1, reduce ice covering thickness, recalculate the tension force n ' of conductor wire end a, until n '=n1, you can
Equivalent equivalence ice covering thickness to ice coating wire；
(3) if n ' is ＜ n1, increase ice covering thickness, recalculate the tension force n ' of conductor wire end a, until n '=n1, you can
Equivalent equivalence ice covering thickness to ice coating wire.
Finally it should be noted that: above example is only not intended to limit in order to technical scheme to be described, institute
The those of ordinary skill in genus field still the specific embodiment of the present invention can be modified with reference to above-described embodiment or
Equivalent, these are all applying for pending this without departing from any modification of spirit and scope of the invention or equivalent
Within bright claims.
Claims (8)
1. a kind of transmission line of electricity wide area ice condition supervising method it is characterised in that: the method comprising the steps of:
Step 1: gather the cloud data of ice coating wire using laser radar apparatus；
Step 2: determine ice coating wire space of points coordinate and wire icing thickness；
Step 3: calculate equivalent equivalence ice covering thickness；
Described step 3 comprises the following steps:
Step 3-1: set up the FEM (finite element) model of ice coating wire catenary form；
Step 3-2: the average ice covering thickness of computing unit；
Step 3-3: determine actual ice concentration；
Step 3-4: determine equivalent equivalence ice covering thickness, realize transmission line of electricity wide area ice condition supervising；
In described FEM (finite element) model, it is taken as a unit along ice coating wire direction every 0.1m～5.0m, ice load is applied to
On unit；Calculate ice coating wire two ends tension force n1 and n2 simultaneously, and n1 > n2, tension force is that the wire end position of n1 is designated as a；
Described step 3-4 comprises the following steps:
Step 3-4-1: according to the actual ice concentration determining it is assumed that all unit ice covering thickness are equal on ice coating wire, setting is covered
Ice thickness initial value；
Step 3-4-2: calculate the tension force n' of conductor wire end a according to catenary equation, tension force n' is compared with tension force n1, is divided into following
Situation:
(1) if n'=n1, now ice covering thickness is the equivalent equivalence ice covering thickness of this ice coating wire；
(2) if n' > n1, reduce ice covering thickness, recalculate the tension force n' of conductor wire end a, until n'=n1, you can obtain icing
The equivalent equivalence ice covering thickness of wire；
(3) if n' < n1, increase ice covering thickness, recalculate the tension force n' of conductor wire end a, until n'=n1, you can obtain icing
The equivalent equivalence ice covering thickness of wire.
2. transmission line of electricity wide area ice condition supervising method according to claim 1 it is characterised in that: in described step 1, laser
Radar equipment is mounted on unmanned plane, and unmanned plane tailing edge ice coating wire direction flight of taking off is patrolled and examined, and uses laser radar apparatus
Ice coating wire is scanned, obtains its cloud data；Described cloud data includes locus coordinate, spherical coordinate, reflection
Amount and intensity level.
3. transmission line of electricity wide area ice condition supervising method according to claim 1 it is characterised in that: described step 2 include with
Lower step:
Step 2-1: extract impact point；
Step 2-2: determine ice coating wire space of points coordinate；
Step 2-3: calculate wire icing thickness.
4. transmission line of electricity wide area ice condition supervising method according to claim 3 it is characterised in that: described step 2-1 includes
Following steps:
Step 2-1-1: according to the cloud data obtaining, determine point cloud minimum point, constitute TIN convex hull；
Step 2-1-2: according to the sparse degree setting gradient threshold value of cloud data, and choose the scanning element in gradient threshold range
Form icing target initial surface；
Step 2-1-3: selected seed point interpolation is TIN from the scanning element of icing target initial surface, and calculates
Remaining scanning element and the difference in height of TIN；
Step 2-1-4: decision height difference whether in gradient threshold range, sweep by the sparse degree differentiation in combination with cloud data
Impact point in described point and non-targeted point, described impact point is ice coating wire point.
5. transmission line of electricity wide area ice condition supervising method according to claim 4 it is characterised in that: in described step 2-2, with
Shaft tower is initial point, with along ice coating wire direction as x-axis, vertical ice coating wire direction direction as y-axis, perpendicular to the ground builds for z-axis
Vertical transmission line of electricity coordinate system, by the locus coordinate of ice coating wire point from setting with laser radar apparatus position as initial point
Standby coordinate system is transformed in transmission line of electricity coordinate system, you can obtain the space coordinatess of ice coating wire point.
6. transmission line of electricity wide area ice condition supervising method according to claim 3 it is characterised in that: in described step 2-3,
Elliptic equation is set up in vertical ice coating wire direction, and the spatial coordinates calculation ellipse long and short shaft according to ice coating wire point is so that middle mistake
Difference is minimum；Oval cross section is ice coating wire section, and elliptical center is wire center, and major axis is wire with the half of short axle difference
Ice covering thickness.
7. transmission line of electricity wide area ice condition supervising method according to claim 1 it is characterised in that: in described step 3-2, press
The equal principle of icing volume, by the average ice covering thickness of the wire icing thickness calculation unit determining.
8. transmission line of electricity wide area ice condition supervising method according to claim 1 it is characterised in that: described step 3-3 includes
Following steps:
Step 3-3-1: set ice concentration initial value, ice load is applied on each unit, calculate ice coating wire each point displacement；
Step 3-3-2: each point displacement that the ice coating wire calculating each point displacement is scanned with laser radar apparatus compares, point
For situations below:
(1) when ice coating wire each point displacement is equal with each point displacement that laser radar apparatus scan, the ice concentration initial value of setting
It is actual ice concentration；
(2) when ice coating wire each point displacement is less than each point displacement of laser radar apparatus scanning, increase ice concentration, recalculate
Ice coating wire each point displacement, until the two is equal, you can obtain actual ice concentration；
(3) when ice coating wire each point displacement is more than each point displacement of laser radar apparatus scanning, reduce ice concentration, recalculate
Ice coating wire each point displacement, until the two is equal, you can obtain actual ice concentration.
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| CA3044139C (en) | 2016-11-22 | 2022-07-19 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electricity transmission line |
| CN109297419A (en) * | 2018-11-13 | 2019-02-01 | 天津送变电工程有限公司 | It is a kind of based on the unmanned plane of image processing techniques in ice detection system and its working method |
| CN110472477B (en) * | 2019-06-25 | 2021-09-03 | 中国南方电网有限责任公司超高压输电公司昆明局 | Method for monitoring icing by carrying infrared camera by RTK unmanned aerial vehicle |
| CN110514157A (en) * | 2019-07-23 | 2019-11-29 | 贵州电网有限责任公司 | A kind of electric power line ice-covering thickness detection method based on Beidou high accuracy positioning |
| CN110686608B (en) * | 2019-11-11 | 2021-08-31 | 国网湖南省电力有限公司 | Portable icing thickness measuring device for power transmission line and measuring method thereof |
| CN112150495B (en) * | 2020-09-24 | 2023-03-14 | 西安工程大学 | Insulator ice flashover risk prediction method based on deduction rule |
| CA3116940A1 (en) | 2021-04-30 | 2022-10-30 | Hydro-Quebec | Drone with positioning system tool |
| CN113324489B (en) * | 2021-05-26 | 2023-01-24 | 贵州电网有限责任公司 | Equivalent icing thickness monitoring method based on accurate measurement of conductor sag change |
| CN113850977A (en) * | 2021-09-17 | 2021-12-28 | 国网江苏省电力有限公司盐城供电分公司 | Power transmission line icing detection early warning method |
| CN113945988B (en) * | 2021-10-15 | 2023-08-08 | 中国人民解放军国防科技大学 | Icing detection method, icing detection system and equipment based on radar measurement |
| CN115508806B (en) * | 2022-11-04 | 2023-03-14 | 广东安恒电力科技有限公司 | Power transmission line icing on-line monitoring method, medium and equipment based on laser radar |
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