A precision projectile method based on lidar assistance

Abstract

This invention provides a precise projectile method based on lidar assistance, belonging to the field of emergency line stabilization technology. The precise projectile method based on lidar assistance is characterized by: a coordinate reference point spatial region, wherein the coordinate reference point spatial region is a three-dimensional spatial coordinate system constructed from the coordinate points of a multi-point distributed reference station; a scanning device and a projectile device are set within the coordinate reference point spatial region; the scanning device and the projectile device are connected to a central control system installed in a high-performance computer; the central control system includes a coordinate point correction module, a spacer identification module, a point cloud model trajectory module, a projectile trajectory prediction module, and an execution module. Based on the parabolic equation, a dynamic model of spatial geometric coordinates and a time axis is constructed to provide a high-precision parabolic trajectory planning scheme for emergency stabilization of transmission lines.

Description

Technical Field

[0001] This invention belongs to the field of emergency line stabilization technology, specifically relating to a precision projectile method based on lidar assistance. Background Technology

[0002] With the rapid development of my country's economy, the demand for electricity and the requirements for its quality are constantly increasing, making electricity a necessity for social existence and development. However, due to various factors, power grid accidents still occur in some parts of my country. These accidents not only have a significant impact, occur rapidly, and have serious consequences, but also directly affect national production and construction and people's daily lives. Therefore, it is essential to pay close attention to transmission line galloping, especially its prevention and control.

[0003] Currently, the State Grid Henan Electric Power Research Institute has applied new technologies such as ballistic missile launchers to the work of preventing conductor galloping in transmission lines, achieving good results. However, some problems have been discovered during the implementation of the ballistic missile launchers, mainly including the following aspects:

[0004] 1. The parameters such as projectile force and angle cannot be determined and require frequent adjustments and tests;

[0005] 2. The boundary cannot be identified when the conductor is galloping, which increases the difficulty of launching the conductor.

[0006] 3. Lack of projectile simulation environment.

[0007] Patent document CN113872136A discloses a cable-launching device for emergency anti-galloping of transmission lines. Its main body is a launching structure, focusing on design optimization of the launching structure. The launching process can be achieved through operation of the device. However, this launching process is only suitable for launching operations where the impact of launching failure does not need to be considered. Furthermore, for multiple sets of transmission lines on elevated lines, if the launching process is not controlled, the launching line can easily cross multiple transmission lines, causing a potential short circuit between the transmission lines. It lacks the necessary design for reading the galloping boundary and cannot systematically adjust the launching angle and initial velocity.

[0008] Patent document CN114243611A discloses an emergency anti-galling control device for transmission lines, belonging to the field of power operation and maintenance technology. It includes an insulated cable, a winding reel, a base, and a ratchet mechanism. The insulated cable is used to pull the transmission line conductor and anchor it to the ground. The winding reel is used to wind the insulated cable and extend it horizontally, with a rotating shaft arranged along its central axis. The base is used to fix the winding reel to the ground, and the two ends of the rotating shaft are rotatably connected to the base. The ratchet mechanism is located on the base and connected to the rotating shaft, enabling the winding reel to rotate in only one direction. The ratchet mechanism has a bidirectional anti-reverse function. However, this patent document does not detect and scan for conductor galloping, and the correct launching angle cannot be guaranteed when launching the cable. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide a precision projectile method based on lidar to provide emergency stabilization for power transmission lines, addressing the shortcomings of the existing technology.

[0010] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0011] A precision projectile launching method based on lidar assistance includes a coordinate reference point spatial region, which is a three-dimensional spatial coordinate system constructed from the coordinate points of a multi-point distributed reference station. A scanning device and a projectile launching device are disposed within the coordinate reference point spatial region. The scanning device and the projectile launching device are connected to a central control system housed in a high-performance computer. A high-precision electronic clock is installed on the high-performance computer.

[0012] The scanning device includes a mapping radar, a data pan-tilt unit on which the mapping radar is mounted, a coordinate point verification unit set on the mapping radar, and a data transmission terminal A.

[0013] The launching device includes a rope launcher, a gimbal for mounting the rope launcher, a solenoid valve for controlling the operation and initial force of the rope launcher, a coordinate point positioning unit on the rope launcher, and a data transmission terminal B.

[0014] The central control system includes a coordinate point correction module, a modeling and recognition module, a spacer bar recognition module, a point cloud model trajectory module, a projectile trajectory prediction module, and an execution module.

[0015] The reference station coordinate points include GPS+RTK spatial coordinate system positioning reference points and AHRS sensor coordinate point positioning reference points. The spatial domain of the coordinate reference points constructs a three-dimensional spatial coordinate system with the reference station coordinate points as the boundary based on the relative positions of the multi-point distributed reference station coordinate points.

[0016] The mapping radar includes a 360-degree rotating radar, a planar illumination radar, and a single-point high-speed point cloud radar. The rope launcher is a pressure-adjustable pneumatic rope launcher. The data gimbal and the equipment gimbal are dual-axis rotating fine-tuning gimbals. The coordinate point verification unit and the coordinate point positioning unit are high-precision electronic gyroscopes. The data transmission terminal A and the data transmission terminal B are wireless signal transceiver chips. The data transmission terminal A enables data interaction between the mapping radar, the data gimbal, the coordinate point verification unit, and the central control system. The data transmission terminal B enables data interaction between the equipment gimbal, the solenoid valve, the coordinate point verification unit, and the central control system.

[0017] The coordinate point correction module uses the three-dimensional spatial coordinate system constructed from the spatial area of ​​the coordinate reference point as a basis, imports the dynamic coordinate parameters of the coordinate point verification unit and the coordinate point positioning unit, and combines them with the time nodes read from the high-precision electronic clock to establish a time axis motion trajectory model in three-dimensional coordinates; the point cloud model trajectory module merges the relevant data parameters fed back by the mapping radar with the time nodes read from the high-precision electronic clock into pendulum trajectory feature parameters; the spacer bar recognition module retrieves the spacer bar feature data from the relevant data parameters fed back by the mapping radar and labels and outputs it.

[0018] The projectile trajectory prediction module monitors the three-dimensional angle of the equipment gimbal. It outputs to the modeling and recognition module a parabolic trajectory equation formed by the initial force F controlled by the solenoid valve on the rope projector and the relative angle R fed back by the coordinate point positioning unit, controlled by the equipment gimbal. The modeling and recognition module imports the output data from the point cloud model trajectory module into the coordinate point correction module and constructs a three-dimensional galloping feature model of the transmission line using the nodes marked by the spacer bar recognition module as the galloping interval. The modeling and recognition module incorporates the OpenSceneGraph (OSG) three-dimensional rendering engine. It selects the node marked by the spacer bar recognition module with the largest galloping amplitude in the three-dimensional galloping feature model of the transmission line as the point of action for stopping the projectile galloping. It continuously adjusts the characteristic parameters of the initial force F and relative angle R in the projectile trajectory prediction module until the highest point of the projectile trajectory prediction module is higher than the point of action for stopping the projectile galloping. The execution module then controls the projectile device to perform its operation.

[0019] Furthermore, in transmission lines, when subjected to lateral wind loads, accelerated motion occurs, and the line also experiences aerodynamic torques, resulting in significant torsion. When the frequency of this torsional motion synchronizes with the frequency of its vertical motion, conductor galloping occurs. Because the mechanism of conductor galloping is not fully understood, and due to insufficient technological advancement, preventative measures are not yet in place. However, the repetitive nature of conductor galloping indicates that transmission line galloping primarily occurs through cyclical movements. The torsional action of the wire is the main cause of galloping. When a large-amplitude conductor gallops, it will form a torsional motion within the same cycle. The proportion of energy absorbed by the conductor itself, insulators, terminals, and other fittings is very small, making them prone to galloping. The greater the tension in the conductor, the less energy it absorbs, thus increasing the likelihood of galloping.

[0020] Furthermore, if the transmission line gallops due to external environmental factors, and this galloping is prolonged and widespread, it can lead to other types of faults on the transmission line. In severe cases, it can paralyze the entire power transmission system, resulting in enormous economic losses. Power grid outages caused by galloping faults are usually due to significant damage to the internal structure of the grid. If maintenance is not carried out promptly, permanent and irreversible damage can occur within the grid structure, leading to large-scale and prolonged power outages.

[0021] Furthermore, according to domestic and international statistics, conductor galloping mostly occurs in open plains, which is understandable. Compared to mountainous or hilly areas, plains and open areas are more conducive to galloping in terms of both wind speed and airflow. Analysis of the effects of airflow on conductors shows that irregular airflow will to some extent cancel out the aerodynamic load on the conductor, but not as much as the superposition of aerodynamic loads caused by airflow in the same direction. Therefore, the taller the conductor tower, the greater the wind speed and the more severe the excitation state.

[0022] Furthermore, traditional projectile cable devices are all purely mechanical structures without actually scanning the movement of the conductor. This invention takes into account the wind deflection and other dynamic effects of the conductor, and uses a lidar to assist in projectile launch, forming a complete system. This requires the lidar to have high frequency and accuracy to achieve high-precision projectile launch in the actual projectile launch device.

[0023] Furthermore, various anti-galling devices and measures are currently employed to modify and adjust the parameters of the conductor system to suppress galloping or reduce its intensity, thereby ensuring line safety. This is also an important aspect of preventing galloping. These measures mainly involve installing anti-galling devices on the line to suppress galloping. These include: rationally arranging spacers on split conductors, designing appropriate double-pendulum anti-galling devices, installing detuners, integral eccentric counterweights, current-disrupting anti-galling devices, and installing damping wires and protective wires. By installing these components, the frequency of galloping can be avoided or reduced, thus mitigating its destructive impact.

[0024] The present invention provides an emergency cable-launching system and control method for stopping power line galloping. It establishes a three-dimensional laser point cloud model through laser scanning to conduct theoretical research on the launch trajectory and predict the motion trajectory of the launched object. The parameters are adjusted to achieve the optimal launch effect. Based on these simulation parameters, the system is loaded into the launch device for actual launch operations. The present invention realizes a high-precision cable-launching system that integrates hardware and software, and can play a positive role in stopping actual power line galloping.

[0025] Furthermore, a three-dimensional fluctuation model based on line galloping is constructed. By combining the time point trajectory in the three-dimensional spatial coordinate system with the survey results, a complete line galloping model is formed. Compared with the traditional single-point modeling approach, this scheme has relatively high data reading accuracy while constructing a complete data sample library. This avoids the obstacles to reading relative data for some nodes when the transmission line gallops synchronously. Based on the collection of multi-angle samples, the line galloping model is refined.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] Furthermore, by using lidar to scan local transmission lines under strong winds, the boundaries of conductor galloping can be preliminarily identified through measurement or interactive methods, thus providing boundary parameters for simulated projectile launch, and enabling the development of a radar-assisted precision projectile launch scheme.

[0028] Furthermore, by using lidar to scan the conductor's movement in real time and identify its boundaries, and simultaneously simulating the trajectory of the emergency stop cable, a precise launching scheme assisted by lidar can be developed.

[0029] Furthermore, through the research of this project, a high-precision auxiliary projectile system integrating hardware and software was realized, which plays a positive role in the actual process of stopping conductor galloping.

[0030] Furthermore, the present invention provides a precision projectile method based on lidar assistance, which realizes key technologies such as real-time laser scanning and projectile simulation through lidar device and projectile device, solves problems in the actual projectile process, and improves the operability of projectile by using lidar device to assist projectile device.

[0031] Furthermore, this will enhance the technical level of power grid operation and maintenance. Starting from the principle of simulated projectile launch, real-time dynamic modal analysis is performed using LiDAR scanning data to realize a rendering model in a three-dimensional spatial coordinate system, enabling the reconstruction of transmission line scenes. By identifying conductor galloping boundaries and locating spacers, and then using three-dimensional simulation technology, the projectile trajectories at different angles and initial forces are simulated, thereby determining precise projectile parameters at different projectile positions and enabling the formulation of high-precision projectile launch schemes. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this disclosure, the accompanying drawings used in some embodiments of this disclosure will be briefly described below. Obviously, the drawings described below are only drawings of some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual process of the method, etc. involved in the embodiments of this disclosure.

[0033] Figure 1 A structural diagram of the existing technology for controlling the trajectory of the emergency anti-galling cable projectile in transmission line galloping.

[0034] Figure 2 A 3D rendering of power transmission line galloping in existing technology;

[0035] Figure 3 This is a top view of the upper conductor crossarm according to some embodiments of the present disclosure;

[0036] Figure 4 This is a schematic diagram of the spatial region of the coordinate reference point. Detailed Implementation

[0037] To better understand the present invention, the content of the invention is further clearly illustrated below with reference to embodiments and accompanying drawings. However, the scope of protection of the present invention is not limited to the embodiments described below. Numerous specific details are set forth in the following description to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details.

[0038] Example

[0039] like Figure 1As shown in Figure 4, this embodiment provides a precision projectile method based on lidar assistance, including a coordinate reference point spatial region. The coordinate reference point spatial region is a three-dimensional spatial coordinate system constructed from the coordinate points of a multi-point distributed reference station. A scanning device and a projectile device are set within the coordinate reference point spatial region. The scanning device and the projectile device are connected to a central control system installed in a high-performance computer. A high-precision electronic clock is installed on the high-performance computer.

[0040] The scanning device includes a mapping radar, a data pan-tilt unit on which the mapping radar is mounted, a coordinate point verification unit set on the mapping radar, and a data transmission terminal A.

[0041] The launching device includes a rope launcher, a gimbal for mounting the rope launcher, a solenoid valve for controlling the operation and initial force of the rope launcher, a coordinate point positioning unit on the rope launcher, and a data transmission terminal B.

[0042] The central control system includes a coordinate point correction module, a modeling and recognition module, a spacer bar recognition module, a point cloud model trajectory module, a projectile trajectory prediction module, and an execution module.

[0043] The reference station coordinate points include GPS+RTK spatial coordinate system positioning reference points and AHRS sensor coordinate point positioning reference points. The spatial domain of the coordinate reference points constructs a three-dimensional spatial coordinate system with the reference station coordinate points as the boundary based on the relative positions of the multi-point distributed reference station coordinate points.

[0044] The mapping radar includes a 360-degree rotating radar, a planar illumination radar, and a single-point high-speed point cloud radar. The rope launcher is a pressure-adjustable pneumatic rope launcher. The data gimbal and the equipment gimbal are dual-axis rotating fine-tuning gimbals. The coordinate point verification unit and the coordinate point positioning unit are high-precision electronic gyroscopes. The data transmission terminal A and the data transmission terminal B are wireless signal transceiver chips. The data transmission terminal A enables data interaction between the mapping radar, the data gimbal, the coordinate point verification unit, and the central control system. The data transmission terminal B enables data interaction between the equipment gimbal, the solenoid valve, the coordinate point verification unit, and the central control system.

[0045] The coordinate point correction module uses the three-dimensional spatial coordinate system constructed from the spatial area of ​​the coordinate reference point as a basis, imports the dynamic coordinate parameters of the coordinate point verification unit and the coordinate point positioning unit, and combines them with the time nodes read from the high-precision electronic clock to establish a time axis motion trajectory model in three-dimensional coordinates; the point cloud model trajectory module merges the relevant data parameters fed back by the mapping radar with the time nodes read from the high-precision electronic clock into pendulum trajectory feature parameters; the spacer bar recognition module retrieves the spacer bar feature data from the relevant data parameters fed back by the mapping radar and labels and outputs it.

[0046] The projectile trajectory prediction module monitors the three-dimensional angle of the equipment gimbal. It outputs to the modeling and recognition module a parabolic trajectory equation formed by the initial force F controlled by the solenoid valve on the rope projector and the relative angle R fed back by the coordinate point positioning unit, controlled by the equipment gimbal. The modeling and recognition module imports the output data from the point cloud model trajectory module into the coordinate point correction module and constructs a three-dimensional galloping feature model of the transmission line using the nodes marked by the spacer bar recognition module as the galloping interval. The modeling and recognition module incorporates the OpenSceneGraph (OSG) three-dimensional rendering engine. It selects the node marked by the spacer bar recognition module with the largest galloping amplitude in the three-dimensional galloping feature model of the transmission line as the point of action for stopping the projectile galloping. It continuously adjusts the characteristic parameters of the initial force F and relative angle R in the projectile trajectory prediction module until the highest point of the projectile trajectory prediction module is higher than the point of action for stopping the projectile galloping. The execution module then controls the projectile device to perform its operation.

[0047] The planar illumination radar is a LIVOXTELE15 lidar. The internal laser scanning mechanism of this radar uses dual rotating mirrors, which can accumulate scanning data in a stationary state to improve point cloud density and resolution.

[0048] The lidar device is used to scan the area where the conductor is dancing in real time and output the scan data.

[0049] Simultaneously, the scanning results under the condition of conductor galloping were studied and analyzed to determine the maximum boundary of the pickup point, providing an accurate data basis for projectile launch.

[0050] The simulation device is used to simulate the trajectory of the emergency anti-dance cable based on the scanned data and output the final projection parameters.

[0051] The simulation device and the lidar device are wirelessly connected. The lidar device transmits its output scan data to the simulation device, which then performs simulation based on the scan data.

[0052] Projection parameters include projectile angle and initial velocity.

[0053] The projectile launcher is used to launch the actual cable into the work area according to the projectile parameters.

[0054] The operators obtain the final projectile parameters by checking the simulation device and input the projectile parameters into the projectile device. The projectile device then uses the projectile parameters to project the conductors in the work area, thereby achieving the purpose of emergency cessation of power line galloping.

[0055] The equation of the parabolic trajectory includes:

[0056] Initial velocity v0 = F / M, launch angle θ0 = R; F is the initial force, R is the relative angle, and M is the mass of the launch point of the rope projectile.

[0057] After t seconds, it reaches a point A(x, y), with a tangent angle of R and a horizontal velocity v in the horizontal direction. x =v0cosθ0, the vertical component of velocity v in the vertical direction y =v0sinθ0.

[0058] Therefore, the system of differential equations for the motion of the warhead in a vacuum is as follows:

[0059]

[0060] At time t=0, the initial value is:

[0061]

[0062] After integration, the coordinate equation with time t as a parameter can be obtained:

[0063]

[0064] Eliminating time t, the parabolic trajectory equations are obtained as follows:

[0065]

[0066] Ballistic parameters at any point, vertex, and impact point:

[0067] The formulas for the ballistic parameters at any point with time t as the independent variable are as follows:

[0068]

[0069] The bullet has a y at the point of impact. c =0, from which we can obtain the formula for the parameters of the landing point:

[0070]

[0071] At the vertex there is θs =0, and based on the characteristics of vertices, the formulas for the parameters of vertices are as follows:

[0072]

[0073] Then, using the trigonometric function tanA = dV / dH, the minimum critical angle A is calculated.

[0074] When a radar scan has an elevation angle R, i.e., a downward-facing scan, it is necessary to perform a three-dimensional spatial coordinate system mapping based on the radar elevation angle R, since the radar scan is in a local coordinate system.

[0075] By calculating critical values ​​such as the initial angle and minimum initial velocity of the projectile parameters, the projectile trajectory is simulated in a real-time three-dimensional spatial coordinate system. Based on the simulation results, the magnitude of the projectile angle or initial velocity is adjusted to determine the optimal projectile parameters, providing theoretical data for precise projectile launch. At the same time, the velocity is transferred to a force reference system to achieve a one-to-one correspondence between force and pressure. This allows for docking with the projectile to determine the pressure value required by the projectile, enabling high-precision projectile launch.

[0076] Example 2

[0077] The central control unit is connected to the wireless communication base station.

[0078] The wireless communication base station is connected to the dancing warning system.

[0079] The dancing warning system is built into the power grid big data platform.

[0080] The galloping early warning system includes a line performance evaluation unit, a galloping analysis unit, and an early warning unit.

[0081] The central control unit imports the three-dimensional galloping feature model into the galloping early warning system; the line performance evaluation unit retrieves relevant data such as the laying and service life of the galloping line, line material, and transmission load, converting them into quantifiable relative aging parameters; the galloping analysis unit calculates the maximum galloping force of the galloping line based on the line's galloping feature data and relative density. The early warning unit compares the output results of the line performance evaluation unit and the galloping analysis unit; if the tensile coefficient of the line under the product of the relative aging parameters is more than 1.5 times the maximum galloping force, the early warning unit indicates safety; if the tensile coefficient is between 1.1 and 1.5 times the maximum galloping force, the early warning unit issues a warning; if the tensile coefficient is less than 1.1 times the maximum galloping force, the early warning unit issues a transmission line breakage warning.

[0082] Example 3

[0083] The reference station coordinates are for UAV flight formations with built-in BeiDou positioning equipment.

[0084] Using UAV flight formations as reference station coordinate points reduces the drawbacks of traditional ground positioning reference points, such as high cost, long preparation period, and high transportation cost.

[0085] By adopting a composite networking mode, the ground execution unit is combined with the coordinate reference point spatial area based on the unmanned platform, which reduces the transportation cost of the equipment and the necessary laying preparation cycle for the use of the device.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention, as long as they do not depart from the spirit and scope of the technical solutions of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A precision projectile system based on lidar assistance, characterized in that: The system includes a coordinate reference point spatial region, which is a three-dimensional spatial coordinate system constructed from the coordinate points of a multi-point distributed reference station. A scanning device and a projectile device are installed within this coordinate reference point spatial region. The scanning device and the projectile device are connected to a central control system installed in a high-performance computer. A high-precision electronic clock is installed on the high-performance computer. The scanning device includes a lidar, a data pan-tilt unit mounting the lidar, a coordinate point verification unit on the lidar, and a data transmission terminal A. The launching device includes a rope launcher, a gimbal for mounting the rope launcher, a solenoid valve for controlling the operation and initial force of the rope launcher, a coordinate point positioning unit on the rope launcher, and a data transmission terminal B. The central control system includes a coordinate point correction module, a modeling and recognition module, a spacer bar recognition module, a point cloud model trajectory module, a projectile trajectory prediction module, and an execution module. The trajectory prediction module monitors the three-dimensional angle of the device's pan-tilt unit. It outputs to the modeling and recognition module a parabolic trajectory equation formed by the initial force F controlled by the solenoid valve and the relative angle R fed back by the coordinate point positioning unit. The modeling and recognition module imports the output data from the point cloud model trajectory module into the coordinate point correction module and constructs a three-dimensional galloping feature model of the transmission line using the nodes marked by the spacer bar recognition module as the galloping interval. The modeling and recognition module incorporates the OpenSceneGraph three-dimensional rendering engine. It selects the node marked by the spacer bar recognition module with the largest galloping amplitude in the three-dimensional galloping feature model of the transmission line as the point of action for stopping the galloping. It continuously adjusts the characteristic parameters of the initial force F and relative angle R in the trajectory prediction module until the highest point of the trajectory prediction module is higher than the point of action for stopping the galloping. The execution module then controls the launching device to perform its operation.

2. The precision projectile system based on lidar assistance as described in claim 1, characterized in that: The reference station coordinate points include GPS+RTK spatial coordinate system positioning reference points and AHRS sensor coordinate point positioning reference points. The spatial domain of the coordinate reference points constructs a three-dimensional spatial coordinate system with the reference station coordinate points as the boundary based on the relative positions of the multi-point distributed reference station coordinate points.

3. The precision projectile system based on lidar assistance as described in claim 1, characterized in that: The lidar includes a 360-degree rotating lidar, a planar illumination lidar, and a single-point high-speed point cloud lidar. The rope launcher is a pressure-adjustable pneumatic rope launcher. The data gimbal and the equipment gimbal are dual-axis rotating fine-tuning gimbals. The coordinate point verification unit and the coordinate point positioning unit are high-precision electronic gyroscopes. The data transmission terminal A and the data transmission terminal B are wireless signal transceiver chips. The data transmission terminal A enables data interaction between the lidar, the data gimbal, the coordinate point verification unit, and the central control system. The data transmission terminal B enables data interaction between the equipment gimbal, the solenoid valve, the coordinate point positioning unit, and the central control system.

4. The precision projectile system based on lidar assistance as described in claim 1, characterized in that: The coordinate point correction module uses the three-dimensional spatial coordinate system constructed from the spatial region of the coordinate reference point as a basis, imports the dynamic coordinate parameters of the coordinate point verification unit and the coordinate point positioning unit, and combines them with the time nodes read from the high-precision electronic clock to establish a time axis motion trajectory model in three-dimensional coordinates; the point cloud model trajectory module merges the relevant data parameters fed back by the lidar with the time nodes read from the high-precision electronic clock into pendulum trajectory feature parameters; and the spacer bar recognition module retrieves the spacer bar feature data from the relevant data parameters fed back by the lidar and labels and outputs it.

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