CN113740665A - Method, device and system for measuring limited distance of power line and computer equipment - Google Patents

Method, device and system for measuring limited distance of power line and computer equipment Download PDF

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Publication number
CN113740665A
CN113740665A CN202110990435.5A CN202110990435A CN113740665A CN 113740665 A CN113740665 A CN 113740665A CN 202110990435 A CN202110990435 A CN 202110990435A CN 113740665 A CN113740665 A CN 113740665A
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China
Prior art keywords
power line
positioning information
distance
mobile station
station
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CN202110990435.5A
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Inventor
汤杰
张富春
郑武略
赵航航
李伟性
林翔
王刘飞
方博
贺敏恒
罗凯
焦海龙
黄华勇
涂志勤
梅文琪
李仁滔
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Guangzhou Bureau of Extra High Voltage Power Transmission Co
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Guangzhou Bureau of Extra High Voltage Power Transmission Co
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Priority to CN202110990435.5A priority Critical patent/CN113740665A/en
Publication of CN113740665A publication Critical patent/CN113740665A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/08—Locating faults in cables, transmission lines, or networks
    • G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
    • G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/08—Locating faults in cables, transmission lines, or networks
    • G01R31/088—Aspects of digital computing
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application relates to a method, a device and a system for measuring a limited distance of a power line and computer equipment. The method comprises the following steps: the mobile station receives a first moving instruction of the control equipment, moves to the power line to be tested according to the first moving instruction, and determines the initial position of the power line to be tested according to the received wireless positioning signal; the reference station determines the positioning information of the reference station according to the received wireless positioning signal, determines differential positioning information according to the obtained positioning information and the reference positioning information of the reference station, and sends the differential positioning information to the mobile station; the mobile station receives differential positioning information sent by a plurality of reference stations in the power line distance measurement system, determines positioning information of the power line to be measured according to the initial position and the differential positioning information sent by the reference stations, and determines the limiting distance of the power line to be measured according to the positioning information of the power line to be measured. By adopting the method, the calculation efficiency and the calculation precision of the limiting distance of the power line can be improved.

Description

Method, device and system for measuring limited distance of power line and computer equipment
Technical Field
The present application relates to the field of power technologies, and in particular, to a method, an apparatus, a system, and a computer device for measuring a distance limit of a power line.
Background
In an electric power system, if an electric power line is close to or in contact with objects such as trees and erected bridges, the electric power line may form a loop with the objects and the ground, which causes a leakage risk, and causes a serious safety risk to pedestrians and also causes interference to communication equipment near the erection position of the electric power line. Therefore, from the aspects of safety, interference, transmission and the like, a minimum safety distance, namely a distance limit, must be arranged between the power line and between the power line and other objects. The power line can generate three-dimensional motion under the influence of a plurality of external factors such as unstable aerodynamic force and bad natural conditions, and the motion can be called as the waving of the power line. The terrain conditions and the meteorological conditions of the power line erection area are complex and changeable and are influenced by weather, so that the power line easily breaks through the distance limit in the movement process, and the surrounding objects or equipment are greatly influenced. Therefore, it is necessary to enhance the monitoring work for the power line pitch.
In the traditional technology, theodolites are mainly erected around a power line and an obstacle to be measured manually, the power line and the obstacle are observed from various angles, and then the measurement result is subjected to complex formula calculation to obtain the limit distance of the power line.
Therefore, in order to obtain enough data to calculate the distance limit, the theodolite needs to be erected at different positions for multiple times, and the power line and the obstacle are observed from various angles, so that the time consumption is long and the operation is complex; the observation data of the theodolite is obtained by manually reading the numerical value of the dial, the limit distance is manually calculated according to the data observed by the theodolite through a formula, and an empirical formula is used in the calculation process, so that the accumulated error is large, and the calculation result of the limit distance is not accurate enough.
Disclosure of Invention
The application provides a power line distance limiting measurement method and device based on a post differential positioning technology, a computer device and a storage medium, so that convenience of distance limiting measurement is greatly improved, accuracy of distance limiting calculation of a power line can be improved, and automatic measurement and calculation can be realized.
In a first aspect, there is provided a power line distance measurement system, the system comprising: a control device, a mobile station, and a plurality of reference stations. The mobile station is used for receiving a first moving instruction of the control equipment, moving to the power line to be detected according to the first moving instruction, and determining the initial position of the power line to be detected according to the received wireless positioning signal; the base station is used for determining the positioning information of the base station according to the received wireless positioning signal, determining differential positioning information according to the obtained positioning information and the reference positioning information of the base station, and sending the differential positioning information to the mobile station; and the mobile station is used for receiving the differential positioning information sent by the plurality of reference stations in the power line distance measurement system, determining the positioning information of the power line to be measured according to the initial position and the differential positioning information sent by the plurality of reference stations, and determining the limited distance of the power line to be measured according to the positioning information of the power line to be measured.
With reference to the first aspect, in a possible implementation manner of the first aspect, the mobile station is configured to correct the initial position according to the differential positioning information sent by each reference station, so as to obtain multiple pieces of reference positioning information; and carrying out error data filtering processing on the plurality of reference positioning information to obtain the positioning information of the power line to be measured.
With reference to the first aspect, in a possible implementation manner of the first aspect, the mobile station is configured to obtain location information of an obstacle in an erection environment of the power line to be tested, and determine a limiting distance between the power line to be tested and the obstacle according to the location information of the power line to be tested and the location information of the obstacle.
With reference to the third aspect, in a possible implementation manner of the third aspect, the mobile station is configured to receive a second movement instruction sent by the control device, and move to the obstacle according to the second movement instruction; the location information of the obstacle is determined from the wireless location signal received at the obstacle.
With reference to the first aspect, in a possible implementation manner of the first aspect, the mobile station is configured to detect meteorological data of an environment where the power line to be detected is erected, and correct the limited distance according to the meteorological data.
With reference to the fifth aspect, in a possible implementation manner of the fifth aspect, the mobile station is configured to determine an influence factor of an environment where the power line to be tested is erected according to the meteorological data; the influence factor is used for representing the offset distance of the power line to be tested in the preset direction under the influence of the erection environment; and determining the offset distance of the power line to be measured in the direction of the obstacle according to the influence factor, and correcting the limit distance according to the offset distance in the direction of the obstacle.
With reference to the first aspect, in a possible implementation manner of the first aspect, the receivers of the mobile station and the reference station are dual-frequency dual-system receivers, and the receivers are connected to the receiving antenna of the wireless positioning signal through a coaxial cable.
In a second aspect, there is provided an electric power line distance measuring apparatus, the apparatus comprising: the communication module is used for receiving a first movement instruction of the control equipment;
the response module is used for moving to the power line to be detected according to the first moving instruction and determining the initial position of the power line to be detected according to the received wireless positioning signal;
the communication module is used for receiving differential positioning information sent by a plurality of reference stations in the power line distance-limited measurement system; the differential positioning information is determined by the reference station according to the positioning information of the reference station and the reference positioning information of the reference station, and the positioning information of the reference station is determined according to the wireless positioning signal received by the reference station;
and the determining module is used for determining the positioning information of the electric power circuit to be detected according to the initial position and the differential positioning information sent by the plurality of reference stations, and determining the limiting distance of the electric power circuit to be detected according to the positioning information of the electric power circuit to be detected.
In a third aspect, a method for limiting distance measurement of an electric power line is provided, the method comprising: receiving a first moving instruction of a control device in the power line distance limiting measurement system, moving to a power line to be measured according to the first moving instruction, and determining the initial position of the power line to be measured according to a received wireless positioning signal; receiving differential positioning information sent by a plurality of reference stations in a power line distance measurement system, determining positioning information of a power line to be measured according to the initial position and the differential positioning information sent by the plurality of reference stations, and determining the limiting distance of the power line to be measured according to the positioning information of the power line to be measured; the differential positioning information is determined by the reference station according to the positioning information of the reference station and the reference positioning information of the reference station, and the positioning information of the reference station is determined according to the wireless positioning signal received by the reference station.
In a fourth aspect, a computer device is provided that includes a memory storing a computer program and a processor. The steps of the method in the first aspect or any one of the possible implementations of the first aspect described above are implemented when a processor executes a computer program.
In a fifth aspect, a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
The application provides a method, a device and a system for measuring a limited distance of a power line and computer equipment, which can receive a first moving instruction of control equipment, move to the power line to be measured according to the first moving instruction, and determine the initial position of the power line to be measured according to a received wireless positioning signal; and then receiving a second movement instruction of the control equipment in the power line distance limiting measurement system, moving to the obstacle according to the second movement instruction, and determining the initial position of the obstacle according to the received wireless positioning signal. And then determining the positioning information of the power line to be detected and the obstacle according to the initial positions of the power line to be detected and the obstacle and the differential positioning information sent by the plurality of reference stations. And finally, determining the limit distance of the power line to be tested according to the positioning information of the power line to be tested and the obstacle. Therefore, the mobile station can automatically calculate the limited distance of the power line through the algorithm based on the measured and corrected high-precision positioning information (for example, the positioning information obtained based on the wireless positioning signal), and the problems that the accumulated error is large and the calculation result is inaccurate due to the fact that the limit distance is manually calculated through a complex formula by manually reading data on a dial of the theodolite in the prior art are solved. In addition, the mobile station is controlled to move to the power line to be measured and the position of the obstacle to obtain data based on the control command, the limiting distance of the power line is automatically calculated by utilizing an algorithm, measuring equipment does not need to be manually erected to obtain the data, complicated formula calculation is carried out, the whole process is simple to operate, the consumed time is short, and the obtained limiting distance result accuracy of the power line is higher.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of a power line distance measurement method;
FIG. 2 is a schematic flow chart of a method for limiting distance measurement of a power line according to an embodiment;
FIG. 3 is a schematic flow chart of a method for limiting distance measurement of a power line according to an embodiment;
FIG. 4 is an interaction diagram of a power line distance limit measurement method according to an embodiment;
FIG. 5 is a block diagram showing the structure of a device for measuring a limited distance of a power line according to an embodiment;
FIG. 6 is a schematic diagram of a weather information detection module according to one embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for measuring the limited distance of the power line provided by the embodiment can be applied to the application environment as shown in fig. 1. Referring to fig. 1, the application environment includes a control device 10, a reference station 20, a mobile station 30, and a backend device 40. The mobile station 30 may move according to the instruction sent by the control device, and the mobile station may also receive the positioning result of the reference station, and analyze and process the received positioning result. The backend device 40 may communicate with the mobile station 30 and receive and display data transmitted by the mobile station 30.
It should be noted that the backend device 30 may be, but is not limited to, various mobile phones, personal computers, notebook computers, and the like. The mobile station may be located in a drone or other mobile device. The reference station may be a ground-based fixed observation station capable of continuously observing satellite navigation signals for long periods of time. The control device can be a remote control device or a personal terminal device.
The reference station 20 and the mobile station 30, and the mobile station 30 and the backend device 40 may communicate in a 5G wireless manner, which is not limited in the embodiment of the present application.
At present, the measurement of the limited distance of the power line is mainly to manually calculate the observation data of the theodolite to obtain the limited distance of the power line to be measured. The method specifically comprises the steps of manually operating a theodolite to observe a power line to be detected and an obstacle, reading data on a theodolite dial, substituting the observed data into a complex formula for calculation, and obtaining the limiting distance of the power line to be detected. The whole process of the method needs manual operation and calculation, the error of the calculation result is large, the automation and intelligence degree is low, and the method is tedious and low in efficiency. Therefore, the problems of large measurement error and low efficiency of the limited distance of the power line exist at present.
Based on this, the embodiment of the application provides a method for measuring the limited distance of the power line, which can improve the efficiency and the accuracy of the measurement of the limited distance of the power line. Fig. 2 is a schematic flow chart of the method for measuring a limited distance of a power line according to the present embodiment, and is suitable for the system shown in fig. 1. As shown in fig. 2, the method comprises the steps of:
step 201, a mobile station receives a first moving instruction of a control device in a power line distance limiting measurement system, moves to a power line to be measured according to the first moving instruction, and determines an initial position of the power line to be measured according to a received wireless positioning signal;
in order to realize accurate measurement of the limited distance of the power line, a high-precision positioning result of the power line needs to be obtained first. In a possible implementation manner, a positioning sub-network may be disposed around the power line to be measured, where the positioning sub-network includes a mobile station and a reference station, and the power line to be measured may be positioned with high precision based on data collected by the mobile station and the reference station. In order to accurately measure the position of the power line under test, the position of the mobile station should be consistent with the power line under test, and therefore, the control device can instruct the mobile station to move to the power line under test to obtain an accurate positioning result.
In addition, in order to calculate the limit distance of the power line to be measured, it is necessary to obtain the positioning information of the power line to be measured, and calculate the limit distance of the power line to be measured using the positioning information of the power line to be measured.
In a specific implementation, the control device sends a first moving instruction to the mobile station, and instructs the mobile station to move to the power line to be tested. The control equipment receives a user operation instruction and sends a first movement instruction to the mobile station according to the operation instruction. The user operation instruction may be manually determined according to the orientation of the power line to be measured, for indicating the moving direction of the mobile station, so that the control device may generate the first moving instruction based on the operation instruction.
When the control device detects that the mobile station is located on the power line to be tested, the control device may send an acquisition command to the mobile station instructing the mobile station to receive a satellite signal through the satellite receiving antenna to determine an initial position of the power line to be tested based on the received satellite signal. Wherein, the satellite signal can be GPS satellite signal, Beidou, etc.
In a possible implementation manner, the mobile station may be disposed in the drone, and a remote control device (i.e., the control device described above) for manually operating the drone sends an instruction to the mobile station to instruct the mobile station to move to the power line to be tested. Wherein the control device instructs the mobile station to move to the power line under test, which may be a random point on the power line under test.
In one possible implementation, the satellite receiving antenna may be connected to a GPS receiver in the mobile station via a coaxial cable, and transmit the received satellite signals to the GPS receiver. The satellite signal received by the satellite receiving antenna can reflect the detailed positioning information of the satellite receiving antenna (i.e. the detailed positioning information at the power line where the mobile station is located), including: longitude, latitude, altitude, time, and the like.
Step 202, the mobile station receives differential positioning information sent by a plurality of reference stations in the power line distance measurement system, and determines positioning information of a power line to be measured according to the initial position and the differential positioning information sent by the plurality of reference stations;
in the embodiment of the application, in order to obtain the high-precision positioning information of the power line to be measured, the differential positioning information of the reference station needs to be obtained, and the mobile station can determine the precise positioning information of the power line to be measured according to the initial positioning information and the differential positioning information.
In specific implementation, the reference station can determine positioning information of the reference station through satellite signals received by a satellite receiving antenna of the reference station, and transmit the positioning information to a GPS receiver of the reference station, and the GPS receiver determines differential positioning information by comparing and resolving the known accurate positioning information of the reference station with the positioning information received by the satellite receiving antenna. The GPS receiver transmits the differential positioning information to a data transmission radio station of the reference station, then the data transmission radio station of the reference station transmits the differential positioning information to a data transmission radio station of the mobile station, and the data transmission radio station transmits the differential positioning information to the GPS receiver of the mobile station, so that the transmission of the differential positioning information from the reference station to the mobile station is realized. And finally, the GPS receiver of the mobile station determines the final accurate positioning information of the power line to be detected according to the differential positioning information and the initial positioning information of the power line to be detected.
In one possible implementation, the satellite receiving antenna and the GPS receiver may be connected by a coaxial cable and transmit signals; the GPS receiver and the data transmission radio station can transmit signals through the BNC interface, and the BNC interface can reduce the interference of other signals and realize the optimal transmission of the signals. The differential positioning information transmitted by the reference station to the mobile station is a plurality of differential positioning information determined by a plurality of reference stations, one differential positioning information determined by each reference station.
The differential positioning information refers to the correction number of the real coordinates and the positioning coordinates reflected by the satellite signals received by the GPS satellite receiving antenna, and can represent the error of the positioning information reflected by the satellite signals received by the GPS receiving antenna. A plurality of reference stations can form a positioning sub-network, and different positioning sub-networks can be distributed according to a tree topology structure.
Step 203, the mobile station determines the limit distance of the power line to be detected according to the positioning information of the power line to be detected;
in order to obtain the limited distance of the power line to be measured (i.e. the distance between the power line to be measured and the obstacle in space), it is necessary to know the positioning information of the power line to be measured and the obstacle (i.e. the object closest to the power line to be measured). In the prior art, a theodolite erected manually observes an electric power line to be measured and a barrier to obtain observation data, and the observation data are substituted into a complex formula to calculate to obtain a limit distance of the electric power line to be measured. The limiting distance of the power line to be measured is determined through the positioning information of the power line to be measured and the obstacle.
In specific implementation, the limiting distance of the power line to be detected can be obtained through calculation according to the determined positioning information of the power line to be detected and the determined positioning information of the obstacle, and the limiting distance of the power line to be detected obtained through calculation can be sent to the back-end equipment through 5G wireless communication and displayed on the back-end equipment.
In a possible implementation manner, the positioning information of the power line and the obstacle to be tested may include specific information of longitude, latitude, altitude, and the like of the power line and the obstacle to be tested.
In a possible implementation manner, the limited distance of the power line to be tested refers to a spatial distance between the power line to be tested and an obstacle, and may be a distance limit or a cross spanning distance of the power line; the distance limit of the power line is the general term of the minimum vertical distance, the minimum horizontal distance and the minimum clearance distance between a live wire and the ground, a hillside, trees, railways, highways, power lines, communication lines and other objects; the transmission line intersects with other lines such as telecommunication lines, power lines, pipelines, cableways, railways, highways and the like to form a horizontal crossing angle, or passes through objects such as houses, buildings, fruit trees, woods, rivers and the like, and is called cross crossing. When the transmission line crosses with rivers or various engineering facilities, in order to ensure that both sides can safely operate, the safe distance must be kept, and safety accidents caused by mutual interference are prevented. The time parameters in the positioning information can represent the positioning information of the power line to be detected at different moments, and the positioning information of the power line to be detected at different moments is obtained, so that the real-time monitoring of the power line to be detected is realized.
According to the power line distance limit measuring method, the limit distance of the power line can be calculated based on the accurately measured positioning information of the power line to be measured and the obstacle, and the problems that in the prior art, the accumulated error is large and the calculation result is inaccurate due to the fact that the distance limit is manually calculated through a complex formula by means of manually reading data on a dial of a theodolite are solved. In addition, the mobile station is controlled to move to the position of the power line to be measured to acquire data based on the control command, the limiting distance of the power line is calculated, a theodolite does not need to be erected manually to acquire the data, complicated formula calculation does not need to be carried out manually, the whole process is simple to operate, the consumed time is short, and the accuracy of the obtained limiting distance result of the power line is higher.
In the embodiment of the application, the mobile station can correct the initial position by using the differential positioning information sent by the reference station, and perform data processing on the plurality of reference positioning information obtained after correction, so as to finally obtain the positioning information of the power line to be measured. For example, the specific implementation of the "mobile station receives differential positioning information sent by a plurality of reference stations in the power line distance measurement system and determines positioning information of the power line to be measured according to the initial position and the differential positioning information sent by the plurality of reference stations" referred to in the foregoing step 202 includes the steps shown in fig. 3:
step 301, correcting the initial position according to the differential positioning information sent by each reference station to obtain a plurality of reference positioning information;
in order to obtain the positioning information of the power line to be measured with higher accuracy, and thus obtain the more accurate distance limit of the power line to be measured, it is necessary to correct the positioning information of the power line to be measured received by the satellite antenna of the mobile station.
In the specific implementation, a plurality of differential positioning information is determined by a plurality of reference stations, each reference station corresponds to one differential positioning information and is transmitted to a GPS receiver of a mobile station through a data transmission radio station, each differential positioning information corrects the initial positioning information of the power line to be detected to obtain reference positioning information of the power line to be detected, and each differential positioning information corresponds to one reference positioning information.
And 302, carrying out error data filtering processing on the plurality of reference positioning information to obtain positioning information of the power line to be measured.
According to the method and the device, the multiple pieces of reference positioning information of the power line to be detected are determined through the multiple pieces of differential positioning information, and in order to obtain the positioning information of the power line to be detected with higher precision, error data filtering processing needs to be carried out on the multiple pieces of reference positioning information, and the differential positioning information with obviously larger errors is filtered.
In the specific implementation, the reference positioning information with a large error is filtered out aiming at a plurality of reference positioning information, and then the plurality of reference positioning information retained after error processing are fused to obtain one positioning information, namely the accurate positioning information of the power line to be measured.
According to a possible implementation manner, a plurality of reference positioning information forms a first reference positioning information set, the variance of each reference positioning information in the first reference positioning information set is obtained and compared with a preset variance value, the reference positioning information corresponding to the variance larger than the preset variance value is filtered, and the reference positioning information corresponding to the variance smaller than or equal to the preset variance value is reserved. The reserved reference positioning information set forms a second reference positioning information set, and the reference positioning information in the second reference positioning information set is averaged (each position parameter in the reference positioning information, such as longitude, latitude, altitude and the like, can be averaged), so as to obtain average reference positioning information, which is used as the positioning information of the power line to be measured.
The embodiment of the application provides a method for correcting initial positioning information of a power line to be detected to obtain accurate positioning information of the power line to be detected. Specifically, the mobile station corrects the initial positioning information of the power line to be measured through the received differential positioning information sent by the plurality of reference stations to obtain a plurality of reference positioning information, performs error data filtering processing on the plurality of reference positioning information, retains a plurality of reference positioning information with smaller errors, and obtains the average reference positioning information of the retained reference positioning information as the positioning information of the power line to be measured. Therefore, the measured and corrected positioning information is used as the data of the power line to be measured in the embodiment of the application to calculate the subsequent limiting distance of the power line to be measured. Compared with the prior art that manual reading is carried out on the dial of the theodolite to obtain the data of the power line to be measured, the data of the power line to be measured are automatically obtained and corrected by the mobile station, the influence of human factors on the obtained data of the power line to be measured can be eliminated, and the accuracy of limiting distance measurement of the power line to be measured is improved.
In the embodiment of the application, the mobile station may determine the limited distance between the power line to be tested and the obstacle according to the positioning information of the power line to be tested and the positioning information of the obstacle. For example, the "determining the limited distance of the power line to be tested according to the positioning information of the power line to be tested" in step 203 is implemented as follows:
the mobile station firstly obtains the positioning information of the obstacles in the erection environment of the power line to be detected, and further can determine the distance between the power line to be detected and the obstacles according to the positioning information of the power line to be detected and the positioning information of the obstacles.
The obstacle is an object in the erecting environment of the power line to be detected, and the limit distance between the obstacle and the line to be detected has certain influence on the normal operation of the obstacle. For example, if the power line to be measured exceeds the limit distance, the power line may be close to or in contact with objects such as trees and erected bridges, which causes a loop formed by the power line, the objects and the ground, thereby causing a leakage risk, causing a serious safety risk to pedestrians and causing interference to communication equipment near the erection position of the power line.
In the specific implementation, the GPS receiver of the mobile station transmits the acquired positioning information of the power line to be measured and the positioning information of the obstacle to a data processing device of the mobile station through a data bus, and the data processing device performs calculation based on an algorithm to obtain the limit distance of the power line to be measured.
One possible implementation manner may be to calculate the distance based on the space for specific parameters (e.g., longitude, latitude, altitude, etc.) in the positioning information of the power line to be measured and the obstacle, and the obtained result is the limit distance of the power line to be measured. The data processing device can configure the acquisition frequency and the acquisition precision of the satellite receiving antenna; configuring the acquisition period and the acquisition range of the multifunctional meteorological instrument; configuring data transmission frequency and data transmission format of a data transmission radio station; and configuring the storage format and the storage content of the data storage recorder.
The data processing device is directly connected with other modules through a data bus, and data of the modules are gathered and processed in the data processing device. The data processing device integrates a data algorithm, can perform parameter configuration on other modules, and performs analysis and operation on the acquired data. The data processing device integrated algorithm comprises: position acquisition and correction algorithms, obstacle distance calculation algorithms, and the like.
The embodiment of the application provides a method for calculating the limited distance of a power line to be measured. Specifically, the GPS receiver of the mobile station transmits the acquired positioning information of the power line to be measured and the positioning information of the obstacle to a data processing device of the mobile station through a data bus, and the data processing device performs calculation based on an algorithm to obtain the limit distance of the power line to be measured. Therefore, the data of the power line to be detected and the data of the obstacles are automatically calculated through the algorithm, and the limit distance of the power line to be detected is obtained. Compared with the prior art that the limiting distance of the power line to be measured is obtained through manual calculation through a complex formula, the method and the device have the advantages that automatic calculation is achieved, the influence of human factors on the calculation process can be eliminated, data are processed through an empirical formula, and the accuracy of the limiting distance measurement of the power line to be measured is improved.
In the above steps, the mobile station may move to the obstacle to obtain the position information of the obstacle. For example, the above-mentioned "mobile station obtains the positioning information of the obstacle in the power line erection environment to be measured" is specifically implemented as follows:
the mobile station receives a second movement instruction sent by the control equipment and moves to the obstacle according to the second movement instruction; the location information of the obstacle is determined from the wireless location signal received at the obstacle.
According to the method and the device, the limiting distance of the power line to be measured is calculated through the positioning information, the positioning information of the power line to be measured and the positioning information of the barrier are required to be known, and the limiting distance of the power line to be measured is calculated through the positioning information of the power line to be measured and the barrier by the data processing device.
The control device sends a second movement command to the mobile station to instruct the mobile station to move to the obstacle, and then sends an acquisition command to the mobile station to instruct a satellite receiving antenna in the mobile station to receive satellite signals to determine the initial position of the obstacle.
In a possible implementation manner, a satellite signal which reflects the position of an obstacle and is received by a satellite receiving antenna can be transmitted to a GPS receiver of a mobile station through a coaxial cable, the GPS receiver corrects the initial position of the obstacle through previously received differential positioning information to obtain reference positioning information of the obstacle, error data filtering processing is performed on the reference positioning information of the obstacle, the reference positioning information of the obstacle with normal data is retained, and then the retained reference positioning information of the obstacle is fused to obtain accurate positioning information of the obstacle.
The embodiment of the application provides a method for obtaining obstacle positioning information. Specifically, the control device transmits a second move command to the mobile station instructing the mobile station to move to the obstacle, and then the control device transmits an acquisition command to the mobile station instructing a satellite receiving antenna in the mobile station to receive a satellite signal to determine initial positioning information of the obstacle. The mobile station corrects the initial positioning information of the obstacle through the received differential positioning information sent by the plurality of base stations to obtain a plurality of reference positioning information, performs error data filtering processing on the plurality of reference positioning information, reserves a plurality of reference positioning information with smaller errors, and obtains the average reference positioning information of the reserved reference positioning information as the positioning information of the obstacle. Therefore, the measured and corrected positioning information is used as the final data of the obstacle in the embodiment of the application to calculate the subsequent limited distance of the power line to be measured. Compared with the prior art that manual reading is carried out on the dial of the theodolite to obtain the data of the obstacle, the data of the obstacle are automatically obtained and corrected by the mobile station, the influence of human factors on the obtained data of the obstacle can be eliminated, and the accuracy of limiting distance measurement of the power line to be measured is improved.
In the method provided by the embodiment of the present application, the mobile station may further store the positioning information. For example, the mobile station includes a data storage module.
The GPS receiver can transmit the initial positioning information, the corrected positioning information and the differential positioning information of the power line and the obstacle to be detected to the storage recorder through the RS232 interface, and the data storage recorder stores and backups the data.
Among them, the RS232 interface is a commonly used serial communication interface. The method is used for keeping two communication sides to adopt a standard interface during serial communication, so that different devices can be conveniently connected for communication.
In the method provided by the embodiment of the application, the mobile station can also be used for detecting the meteorological data of the environment where the power line to be detected is erected, and correcting the limited distance according to the meteorological data.
In order to obtain more accurate power line limiting distance, the meteorological data of the environment where the power line to be detected is erected can be detected, the influence of meteorological conditions on the limiting distance of the power line to be detected is considered, and correction is carried out.
In a specific implementation, the mobile station may include a weather detection module, and weather data of an environment where the power line to be detected is erected may be acquired through a weather information detection unit of the mobile station. Control equipment sends the collection command to the mobile station, instruct multi-functional meteorological instrument control module control multi-functional meteorological instrument among the meteorological information detecting element to gather the meteorological data of the environment that the electric power circuit that awaits measuring erect, and transmit the meteorological data who gathers for multi-functional meteorological instrument control module through the RS232 interface, multi-functional meteorological instrument control module transmits meteorological data for data processing device through GPRS wireless communication module, analyze these meteorological data by data processing device and to await measuring the influence of electric power circuit, and revise the restriction distance of the electric power circuit that awaits measuring that is influenced.
In one possible implementation, the weather information detecting unit may include: the solar energy weather instrument comprises a solar cell, a multifunctional weather instrument control module, a GPRS wireless communication module and a storage battery. The solar cell is used for supplying electric energy to the meteorological information detection unit and charging the storage battery; the system is powered by the storage battery when no sunlight exists;
the meteorological data may be wind direction, wind speed, temperature, and the like of an environment where the power line to be measured is erected. GPRS is a high-speed data processing technology, and is suitable for intermittent, bursty, frequent, small-volume data transmission, and also suitable for occasional large-volume data transmission.
The embodiment of the application provides a method for acquiring meteorological data of an erection environment of a power line to be detected. Specifically, the control device sends a start acquisition command to the multifunctional meteorological instrument control module in the meteorological information detection unit, the multifunctional meteorological instrument control module controls the multifunctional meteorological instrument to acquire meteorological data, and receives the meteorological data acquired by the multifunctional meteorological instrument through the RS232 interface, the multifunctional meteorological instrument control module transmits the meteorological data to the data processing device through the GPRS wireless communication module, the data processing device analyzes the influence of the meteorological data on the power line to be detected, and the limit distance of the power line to be detected, which is influenced, is corrected. Therefore, the embodiment of the application can collect the meteorological data of the erection environment of the power line to be detected and correct the limit distance of the power line to be detected according to the meteorological data. Compared with the prior art that the limiting distance of the power line to be measured is directly obtained by calculating the data of the power line to be measured and the barrier through a formula, the influence of the erected environment of the power line to be measured is considered, correction is carried out, and the accuracy of measuring the limiting distance of the power line to be measured is improved.
In the embodiment of the application, the limiting distance can be corrected based on the influence of the erection environment of the power line to be detected on the limiting distance. For example, the specific steps referred to above as "correcting the restricted distance based on meteorological data" are as follows:
the mobile station determines the influence factor of the erected environment of the power line to be tested according to the meteorological data; the influence factor is used for representing the offset distance of the power line to be tested in the preset direction under the influence of the erection environment; and determining the offset distance of the power line to be tested in the direction of the obstacle according to the influence factor, and correcting the limit distance according to the offset distance in the direction of the obstacle.
In order to obtain more accurate limiting distance of the power line, influence factors of the environment where the power line to be detected is erected can be determined through detected meteorological data of the environment where the power line to be detected is erected, and the limiting distance of the power line to be detected is corrected according to the influence of the influence factors on the power line to be detected.
In specific implementation, the data processing device analyzes and processes the influence factors and corrects the limit distance of the power line to be measured. Specifically, influence factors of the limiting distance of the power line to be detected can be determined through collected meteorological data of the erecting environment of the power line to be detected, then the influence of the influence factors on the position of the power line to be detected is determined, and the limiting distance of the power line to be detected is corrected based on the influence.
In a possible implementation manner, the influence of the influence factor on the position of the power line to be tested may be a directional influence, and at this time, the influence factor is used to represent an offset distance of the power line to be tested in a preset direction, which is influenced by the erection environment; and determining the offset distance of the power line to be tested in the direction of the obstacle according to the offset distance of the power line to be tested in the preset direction, and correcting the limit distance of the power line to be tested according to the offset distance of the power line to be tested in the direction of the obstacle. For example, if the offset distance of the power line to be measured in the direction of the obstacle is positive, the offset distance in the direction of the obstacle is subtracted from the limit distance of the power line to be measured, and the result is the corrected limit distance of the power line to be measured; and if the offset distance of the power line to be detected in the direction of the obstacle is negative, adding the offset distance in the direction of the obstacle to the limited distance of the power line to be detected, namely the corrected limited distance of the power line to be detected.
The influence factor is data which has a large influence on the limited distance of the power line to be measured in the collected meteorological data. The preset direction is a direction of direct deviation of the power line to be detected under the influence of the environment, and the direction of the obstacle is a direction pointing to the obstacle in a component of the direction of direct deviation.
The embodiment of the application provides a method for correcting the limited distance of a power line to be tested by using influence factors of the erection environment of the power line to be tested. Specifically, influence factors of an environment where the power line to be tested is erected are determined first, and then influence of the influence factors on the position of the power line to be tested is determined, wherein the influence can be directional influence. And determining the offset distance of the power line to be tested in the direction of the obstacle according to the offset distance of the power line to be tested in the preset direction, and correcting the limit distance of the power line to be tested according to the offset distance of the power line to be tested in the direction of the obstacle. Therefore, according to the embodiment of the application, the influence of the meteorological data on the position of the power line to be detected can be determined according to the meteorological data of the erection environment of the power line to be detected, and the influence can be corrected. Compared with the prior art that the limiting distance of the power line to be measured is directly obtained by calculating the data of the power line to be measured and the barrier through a formula, the influence of the erected environment of the power line to be measured is considered, correction is carried out, and the accuracy of measuring the limiting distance of the power line to be measured is improved.
In the method provided by the embodiment of the application, the GPS receivers of the mobile station and the reference station may also be dual-band dual-system receivers, and the receivers are connected to the receiving antenna of the wireless positioning signal through a coaxial cable.
In the embodiment of the application, in order to improve the compatibility between the reference station and the mobile station and improve the data processing efficiency, the GPS receivers of the mobile station and the reference station can adopt the board cards of a dual-frequency dual-system.
The board card of the dual-frequency dual system may be an OEM board card of an MB100 model. The receiving antenna for the wireless positioning signal may be a GPS satellite receiving antenna.
It should be understood that although the various steps in the flow charts of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
The embodiment of the application also provides a power line limited distance measuring system, which comprises a control device, a mobile station and a reference station. The method for measuring the limited distance of the power line provided by the embodiment of the application is suitable for the system, and specifically comprises the following steps as shown in fig. 4:
step 401 the mobile station receives a first movement instruction of the control device,
step 402, the mobile station moves to the power line to be detected according to the first moving instruction, and the initial position of the power line to be detected is determined according to the received wireless positioning signal;
step 403, the reference station determines the positioning information of the reference station according to the received wireless positioning signal, determines the differential positioning information according to the obtained positioning information and the reference positioning information of the reference station, and sends the differential positioning information to the mobile station;
step 404, the mobile station receives differential positioning information sent by a plurality of reference stations in the power line distance measurement system;
step 405, determining the positioning information of the power line to be measured according to the initial positions and the differential positioning information sent by the plurality of reference stations, and determining the limited distance of the power line to be measured according to the positioning information of the power line to be measured.
In one embodiment, as shown in fig. 5, there is provided an electric power line limit distance measuring apparatus including:
a communication module 501, configured to receive a first movement instruction of the control device;
a response module 502, configured to move to a power line to be tested according to the first moving instruction, and determine an initial position of the power line to be tested according to the received wireless positioning signal;
the communication module is used for receiving differential positioning information sent by a plurality of reference stations in the power line distance-limited measurement system; the differential positioning information is determined by the reference station according to the positioning information of the reference station and the reference positioning information of the reference station, and the positioning information of the reference station is determined according to the wireless positioning signal received by the reference station;
a determining module 503, configured to determine, according to the initial position and the differential positioning information sent by the multiple reference stations, positioning information of the power line to be tested, and determine, according to the positioning information of the power line to be tested, a limiting distance of the power line to be tested.
In an embodiment, the communication module 501 is specifically configured to correct an initial position of differential positioning information sent by each reference station according to the differential positioning information, so as to obtain a plurality of reference positioning information; and carrying out error data filtering processing on the plurality of reference positioning information to obtain the positioning information of the power line to be measured.
In an embodiment, the determining module 503 is specifically configured to obtain positioning information of an obstacle in an erection environment of the power line to be tested, and determine a limited distance between the power line to be tested and the obstacle according to the positioning information of the power line to be tested and the positioning information of the obstacle.
In one embodiment, the mobile station is used for receiving a second movement instruction sent by the control device and moving to the obstacle according to the second movement instruction; the location information of the obstacle is determined from the wireless location signal received at the obstacle.
In an embodiment, as shown in fig. 6, the system further includes a weather information detection module for detecting weather data of an environment where the power line to be tested is erected, and correcting the limited distance according to the weather data.
In one embodiment, the mobile station is used for determining an influence factor of an environment where the power line to be tested is erected according to meteorological data; the influence factor is used for representing the offset distance of the power line to be tested in the preset direction under the influence of the erection environment; and determining the offset distance of the power line to be measured in the direction of the obstacle according to the influence factor, and correcting the limit distance according to the offset distance in the direction of the obstacle.
In one embodiment, the receivers of the mobile station and the reference station are dual-band dual-system receivers, which are connected to the receive antenna for the wireless positioning signals by coaxial cables.
It should be noted that the communication module may include a GPS receiver, a satellite receiving antenna, and a data transmission radio station;
the method can also comprise the following steps: and a data storage and recording module.
For specific definition of the power line limited distance measuring device, reference may be made to the above definition of the power line limited distance measuring method, which is not described herein again. The above-mentioned respective modules in the power line limit distance measuring apparatus may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing the positioning information of the power line to be measured and the obstacle and the differential position information of the reference station. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the power line limit distance measurement method according to the embodiment of the present application.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
receiving a first moving instruction of the control equipment, moving to the power line to be tested according to the first moving instruction, and determining the initial position of the power line to be tested according to the received wireless positioning signal;
determining positioning information of a reference station according to the received wireless positioning signal, determining differential positioning information according to the obtained positioning information and reference positioning information of the reference station, and sending the differential positioning information to a mobile station;
receiving differential positioning information sent by a plurality of reference stations in the power line distance measurement system, determining positioning information of the power line to be measured according to the initial position and the differential positioning information sent by the plurality of reference stations, and determining the limiting distance of the power line to be measured according to the positioning information of the power line to be measured.
In one embodiment, the processor, when executing the computer program, implements:
correcting the initial position of the differential positioning information sent by each reference station according to the differential positioning information to obtain a plurality of reference positioning information; and carrying out error data filtering processing on the plurality of reference positioning information to obtain the positioning information of the power line to be measured.
In one embodiment, the processor, when executing the computer program, implements:
the method comprises the steps of obtaining positioning information of an obstacle in the erecting environment of the power line to be detected, and determining the limiting distance between the power line to be detected and the obstacle according to the positioning information of the power line to be detected and the positioning information of the obstacle.
In one embodiment, the processor, when executing the computer program, implements:
receiving a second movement instruction sent by the control equipment, and moving to the obstacle according to the second movement instruction; the location information of the obstacle is determined from the wireless location signal received at the obstacle.
In one embodiment, the processor, when executing the computer program, implements:
and detecting meteorological data of the environment erected by the power line to be detected, and correcting the limited distance according to the meteorological data.
In one embodiment, the processor, when executing the computer program, implements:
determining influence factors of the erected environment of the power line to be tested according to the meteorological data; the influence factor is used for representing the offset distance of the power line to be tested in the preset direction under the influence of the erection environment; and determining the offset distance of the power line to be measured in the direction of the obstacle according to the influence factor, and correcting the limit distance according to the offset distance in the direction of the obstacle.
In one embodiment, the processor, when executing the computer program, implements:
the receivers of the mobile station and the reference station are receivers of a dual-frequency dual-system, and the receivers are connected with a receiving antenna of the wireless positioning signal through a coaxial cable.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A power line limited distance measurement system comprising a control device, a mobile station, and a plurality of reference stations, characterized by:
the mobile station is used for receiving a first moving instruction of the control equipment, moving to a power line to be detected according to the first moving instruction, and determining the initial position of the power line to be detected according to the received wireless positioning signal;
the base station is used for determining positioning information of the base station according to the received wireless positioning signal, determining differential positioning information according to the obtained positioning information and reference positioning information of the base station, and sending the differential positioning information to the mobile station;
the mobile station is configured to receive differential positioning information sent by a plurality of reference stations in the power line distance measurement system, determine positioning information of the power line to be measured according to the initial position and the differential positioning information sent by the plurality of reference stations, and determine a limited distance of the power line to be measured according to the positioning information of the power line to be measured.
2. The system according to claim 1, wherein the mobile station is specifically configured to, for the differential positioning information transmitted by each of the reference stations, correct the initial position according to the differential positioning information to obtain a plurality of reference positioning information;
and carrying out error data filtering processing on the plurality of reference positioning information to obtain the positioning information of the power line to be detected.
3. The system according to claim 1, characterized in that said mobile station is specifically configured to,
and acquiring positioning information of the obstacles in the erecting environment of the power line to be detected, and determining the limiting distance between the power line to be detected and the obstacles according to the positioning information of the power line to be detected and the positioning information of the obstacles.
4. The system according to claim 3, characterized in that the mobile station is specifically configured to receive a second movement instruction sent by the control device, and to move to the obstacle according to the second movement instruction;
determining location information for the obstacle from the wireless location signals received at the obstacle.
5. The system of claim 1, wherein the mobile station is further configured to detect weather data of an environment in which the power line under test is installed, and to modify the limited distance based on the weather data.
6. The system according to claim 5, characterized in that the mobile station is specifically configured to,
determining influence factors of the erected environment of the power line to be tested according to the meteorological data; the influence factor is used for representing the offset distance of the power line to be tested in the preset direction under the influence of the erection environment;
and determining the offset distance of the power line to be tested in the direction of the obstacle according to the influence factor, and correcting the limit distance according to the offset distance in the direction of the obstacle.
7. The system of claim 1 wherein the receivers of the mobile station and the reference station are dual band dual system receivers, the receivers being connected to the receive antenna for the wireless location signals by coaxial cables.
8. An electric power line limited distance measuring apparatus, characterized in that the apparatus comprises:
the communication module is used for receiving a first movement instruction of the control equipment;
the response module is used for moving to the power line to be detected according to the first moving instruction and determining the initial position of the power line to be detected according to the received wireless positioning signal;
the communication module is used for receiving differential positioning information sent by a plurality of reference stations in the power line distance-limited measurement system; the differential positioning information is determined by the reference station according to the positioning information of the reference station and the reference positioning information of the reference station, and the positioning information of the reference station is determined according to the wireless positioning signal received by the reference station;
and the determining module is used for determining the positioning information of the electric power circuit to be detected according to the initial position and the differential positioning information sent by the plurality of reference stations, and determining the limiting distance of the electric power circuit to be detected according to the positioning information of the electric power circuit to be detected.
9. A power line distance limit measurement method, comprising:
receiving a first moving instruction of a control device in a power line distance limiting measurement system, moving to a power line to be measured according to the first moving instruction, and determining an initial position of the power line to be measured according to a received wireless positioning signal;
receiving differential positioning information sent by a plurality of reference stations in the power line distance measurement system, determining positioning information of the power line to be measured according to the initial position and the differential positioning information sent by the plurality of reference stations, and determining a limiting distance of the power line to be measured according to the positioning information of the power line to be measured; the differential positioning information is determined by the reference station according to the positioning information of the reference station and the reference positioning information of the reference station, and the positioning information of the reference station is determined according to the wireless positioning signal received by the reference station.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of claim 9 when executing the computer program.
CN202110990435.5A 2021-08-26 2021-08-26 Method, device and system for measuring limited distance of power line and computer equipment Pending CN113740665A (en)

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