Automatic Search Method for Trestle Position of Freight Cableways
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摘要:
针对货运索道支架位置自动搜索方法缺失的问题，提出了凸包点遍历法、地形自适应法和干涉点搜索法等3种索道支架位置自动搜索方法，均能够实现二维地形剖面上的索道支架位置自动搜索. 其中：凸包点遍历法在地形凸包点建立支架，通过冗余支架筛除获得支架位置；地形自适应法通过判断索道承载索曲线在下降过程中与地形的干涉条件确定支架位置；干涉点搜索法采用在承载索曲线与地形的最大干涉位置添加中间支架的方法实现支架位置搜索. 3种方法的支架位置搜索成功率差别不大，分别为9.12%、8.38%和8.26%，但干涉点搜索法的计算速度分别是凸包点遍历法和地形自适应法的5.8倍和3.5倍. 因此，在实际工程应用中，建议使用速度最快的干涉点搜索法进行输电线路货运索道支架位置自动搜索.
Abstract:As there is a lack of automatic search method for trestle positions of freight cableways, three methods, namely convex-point traversal method, terrain adaption method, and interference-point search method, are proposed, all of which can search trestle positions automatically on two-dimensional terrain profile. Of them, the convex-point traversal method treats all the convex points on the profile as potential trestle position, and obtains the trestle position by screening the redundant trestle. The terrain adaption method determines the trestle position by the interference condition between the carrying rope curve of the cableway and the terrain during the descent of the carrying rope. In the interference-point search method, the trestle positions are picked by adding intermediate trestle at the maximum interference position between the carrying rope curve and the terrain. The success rate of these methods are 9.12%, 8.38% and 8.26%, respectively, which show little difference. However, the search speed of the interference-point search method is 5.8 times and 3.5 times the convex-point traversal method and the terrain adaption method, respectively. Therefore, in field applications, it is suggested to use the fastest interference-point search method to search the trestle position for the freight cableway of transmission lines automatically.
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图 9 各因素对支架位置搜索成功率的影响
Figure 9. Influence of various factors on success rate of trestle position search
表 1 本文提出的3种方法的计算结果对比
Table 1. Comparison of results obtained by three proposed methods
项目 方法 1 （凸包点遍历） 方法 2 （地形自适应） 方法 3 （干涉点搜索） 二维地形
剖面数/万个10 10 10 单个地形剖面平均计算时间/ms 6.07 3.59 1.04 成功搜索支架位置的索道数/条 9122 8383 8255 二维地形剖面支架位置搜索成功率/% 9.12 8.38 8.26 
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