Live wire monitoring and early warning system and method based on multiple laser radars

Abstract

The invention relates to a live wire monitoring and early warning system and method based on multiple laser radars, and the system comprises a plurality of laser radars disposed on different surfaces of a bucket arm vehicle, and the plurality of laser radars are respectively connected with a plurality of data processing platforms. The plurality of laser radars are not intervisible, and each laser radar senses information in one direction; the data processing platform collects laser radar information, carries out multi-laser radar point cloud fusion according to the calibrated spatial position relation, and reduces the collected point cloud to a coordinate system with the center point of the bucket arm vehicle as the original point; the multiple laser radars calculate conversion parameters through external parameter calibration, and space synchronization of the multiple laser radars is achieved. According to the invention, in the live working environment of the 10 kv power transmission line, the live working safety distance of a worker can be measured and early warned, the safety condition of the working environment can be monitored, and the working environment can be visually monitored, so that the real-time management and control of a working site and the safety protection of the worker can be realized, and the safety level of live working can be improved.

Description

technical field [0001] The invention relates to the technical field of monitoring and maintenance of power lines under live conditions, in particular to a monitoring and early warning system and method for live wires based on multiple laser radars. Background technique [0002] Electricity is crucial to modern social activities. In order to ensure the normal operation of electric equipment, effective monitoring and maintenance of power lines is required, and even live work is required in the case of insufficient power facilities. [0003] According to the relevant regulations of the electric power industry, when electric power construction personnel work in the case of live or partially live transmission lines, the construction workers and their tools must keep a safe distance from the live area, and the safe distance should comply with the equipment voltage level regulations. However, in actual operation, due to the complexity of the distribution line structure, the difficu...

AI Technical Summary

Problems solved by technology

However, in actual operation, due to the complexity of the distribution line structure, the difficulty of the operation project, many operation organization processes, insufficient on-site safety management and control capabilities, the technical skill level of the operator and safety awareness, etc., there will be electrification during the operation process. Insufficient safe distance of operation or contact with electrified body or contact with grounding body, resulting in high safety risk or electric shock accident

[0004] In the existing technology, Gu Zhibin et al. proposed in "MEMS Structure Live Work Electric Field Measurement and Warning System" that a new type of live work electric field measurement and warning system was developed based on a high-performance micro-electromechanical system (MEMS) sensitive structure chip. By detecting live work The electric field intensity in the area can be used to judge the safe distance; Liu Conghan proposed a safety warning system by detecting the power frequency electric field strength around the ultra-high voltage transmission line in "Power Frequency Electric Field Measurement Method and Safety Warning System Design Research"; Zhao Jinjun et al. "Research on the Design of Intelligent Early Warning Devices for Safety Distance Monitoring of Overhaul Operations" proposes that safety distance warnings be provided by installing near-electricity alarms on equipment such as safety helmets and watches worn by construction workers. Alarm within the time, can not really monitor the safety distance, and the anti-interference ability is poor

Li Wen et al. proposed a live-line work safety monitoring and early warning system based on TOF cameras in "ToF Technology-Based Live Work Safety Monitoring and Early Warning System", but the existing problem is that the accuracy of TOF distance measurement is limited

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