A Monitoring Method for Opening and Closing of High-Voltage Disconnecting Switches Applicable to Rainy Environments

Abstract

The present invention relates to a method for monitoring the opening and closing of a high-voltage disconnector applicable to a rainfall environment, including: obtaining point cloud data of a target object by using a lidar; extracting point cloud of an area of interest from the point cloud data; obtaining current rainfall data; calculating a laser energy loss coefficient according to the current rainfall data; determining a slice thickness according to the laser energy loss coefficient; cutting the point cloud of the area of interest according to the slice thickness to obtain sliced three-dimensional point cloud; and analyzing the sliced three-dimensional point cloud to obtain the state of the target object. The present invention obtains rainfall data and constructs a function to calculate the laser energy loss rate under different rainfall amounts, so as to correct the point cloud slice thickness in the point cloud analysis method according to the laser energy loss rate, thereby improving the detection accuracy of the lidar under rainfall conditions.

Description

Technical Field

[0001] The present invention relates to a method for monitoring the opening and closing of a high-voltage disconnector applicable to a rainfall environment, and belongs to the field of disconnector monitoring. Background Art

[0002] The high-voltage disconnector drives the moving contact to achieve contact and separation from the static contact by the operating mechanism. When it operates outdoors, it is extremely vulnerable to environmental influences. Transmission jamming, component size changes, misalignment of transmission components, etc. can all cause the disconnector to fail to close in place, resulting in gaps, leading to heating and even discharging, affecting the equipment life and threatening the safe operation of the power grid. Therefore, it is necessary to monitor the closing state of the disconnector.

[0003] Traditional disconnector monitoring methods perform image processing on the disconnector image to obtain the closing state of the disconnector as the monitoring result, but there are problems such as being restricted by the lighting conditions and having weak anti-interference ability. While processing the three-dimensional image (i.e., point cloud data) of the disconnector collected by the lidar can obtain more characteristic information of the disconnector, with higher processing accuracy, not being restricted by the lighting conditions, and having strong anti-interference ability.

[0004] However, the measurement accuracy of the lidar is severely affected by rainfall weather. When the rainfall is large, the effective detection distance of the lidar will decrease, and the number of laser points in the collected point cloud data will be reduced, further affecting the feature extraction of the target monitoring object. This is a huge challenge for the high-voltage disconnector opening and closing monitoring system based on the lidar. Therefore, it is necessary to solve the problem of low monitoring accuracy of the disconnector in a rainfall environment.

[0005] The patent "Device and Method for Testing the Working Performance of Lidar in Severe Weather" with the publication number CN111398939B discloses: a model box, a target detection system, a rainfall system, a snowfall system, a fog-making system, and a haze-making system; the target detection system is placed on the side plate of the model box to simulate the target detection working process of the lidar in severe weather and its own pollution situation, so as to test the working performance of the lidar under various environmental conditions; the rainfall system is located at the top of the model box to provide a rainy environment for the working space inside the box; the snowfall system provides a snowy environment for the working space; the fog-making system simulates a foggy weather; the haze-making system is placed on the side plate of the model box to simulate a hazy weather. This method cannot solve the problem of insufficient monitoring accuracy of the disconnector in rainy weather. Summary of the Invention

[0006] In order to overcome the problems existing in the prior art, the present invention designs a high-voltage disconnector opening and closing monitoring method suitable for a rainfall environment, obtains rainfall data and constructs a function to calculate the laser energy loss rate under different rainfall amounts, thereby correcting the point cloud slice thickness in the point cloud analysis method according to the laser energy loss rate, thereby improving the detection accuracy of the lidar under rainfall conditions.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] Technical Solution 1

[0009] A method for monitoring the opening and closing of a high-voltage disconnector in a rainfall environment, comprising the following steps:

[0010] Use LiDAR to obtain point cloud data of the target object;

[0011] Extracting a point cloud of an area of interest from the point cloud data;

[0012] Obtain current rainfall data; calculate the laser energy loss coefficient based on the current rainfall data; determine the slice thickness based on the laser energy loss coefficient;

[0013] Cut the point cloud of the region of interest according to the slice thickness to obtain a sliced three-dimensional point cloud;

[0014] The sliced three-dimensional point cloud is analyzed to obtain the state of the target object.

[0015] Furthermore, the target object is an isolating switch.

[0016] Further, extracting the point cloud of the region of interest from the point cloud data comprises the following steps:

[0017] Perform K-domain statistical analysis on each point in the point cloud data, calculate the average distance from each point to its K neighboring points, and filter out points whose average distance is outside a given threshold;

[0018] Set the diagonal points of a cube; filter out the points outside the cube through a straight-through filter, and obtain the conductive arm point cloud as the point cloud of the area of interest.

[0019] Further, analyzing the sliced three-dimensional point cloud to obtain the state of the target object includes the following steps:

[0020] Projecting the sliced three-dimensional point cloud onto a two-dimensional plane to obtain a sliced two-dimensional point cloud;

[0021] Connecting points in the sliced two-dimensional point cloud in pairs, and drawing a circle with the midpoint of the connecting line segment as the center, if there are only two points connected by the connecting line segment in the circle, marking the two points as boundary points; extracting all boundary points to obtain an edge two-dimensional point cloud;

[0022] Construct sets for each point in the edge two-dimensional point cloud in sequence: Search for k' nearest points in the neighborhood of each point through the KD tree algorithm, and put the nearest points with a distance less than the set threshold into the set until the number of elements in the set no longer increases; Screen out the two-dimensional point cloud of the unilateral edge of the conductive arm from the constructed multiple sets;

[0023] According to the positions of the upper and lower conductive arms, divide the two-dimensional point cloud of the unilateral edge of the conductive arm into blocks; Perform linear fitting on the corresponding point clouds of the upper and lower conductive arms respectively to obtain two straight lines, and calculate the included angle between the two straight lines as the state of the target object.

[0024] Furthermore, calculate the laser energy loss coefficient according to the current rainfall data, and the formula is expressed as:

[0025]

[0026] In the formula, λ ext is the laser energy loss coefficient; S sc is the scattering cross-sectional area; k sc is the scattering energy coefficient; S ab is the absorption cross-sectional area; k ab is the absorption energy coefficient; r is the particle radius; D is the raindrop size;

[0027] N T = 172R 0.22 is the total number of raindrops per unit volume; D g = 0.72R 0.23 is the geometric mean size of the raindrops; R is the rainfall; σ is the standard geometric deviation of D.

[0028] Furthermore, determining the slice thickness according to the laser energy loss coefficient includes the following steps:

[0029] Calculate the laser energy loss rate according to the laser energy loss coefficient; If the laser energy loss rate is less than the first threshold, set the slice thickness to the first thickness value; If the laser energy loss rate is greater than the first threshold and less than the second threshold, set the slice thickness to the second thickness value; If the laser energy loss rate is greater than the second threshold, set the slice thickness to the third thickness value.

[0030] Furthermore, the calculation of the laser energy loss rate is expressed by the formula:

[0031]

[0032] In the formula, μ is the laser energy loss rate; L is the distance variable, L0 is the distance between the lidar and the disconnector, μ L is the distance loss coefficient; λ extis the laser energy loss coefficient; D is the raindrop size; A is the bottom area of the laser beam space with the laser propagation direction as the axis; ρ laser is the laser energy density in the laser beam space under ideal conditions.

[0033] Technical Solution 2

[0034] A high-voltage disconnector switch opening and closing monitoring system suitable for use in a rainfall environment, comprising:

[0035] A laser radar, wherein the laser radar is used to obtain point cloud data of a target object;

[0036] A data processing module is used to extract the point cloud of the area of interest from the point cloud data; obtain the current rainfall data; calculate the laser energy loss coefficient according to the current rainfall data; determine the slice thickness according to the laser energy loss coefficient; cut the point cloud of the area of interest according to the slice thickness to obtain a sliced three-dimensional point cloud; analyze the sliced three-dimensional point cloud to obtain the state of the target object.

[0037] Furthermore, the target object is an isolating switch.

[0038] Further, extracting the point cloud of the region of interest from the point cloud data comprises the following steps:

[0039] Perform K-domain statistical analysis on each point in the point cloud data, calculate the average distance from each point to its K neighboring points, and filter out points whose average distance is outside a given threshold;

[0040] Set the diagonal points of a cube; filter out the points outside the cube through a straight-through filter, and obtain the conductive arm point cloud as the point cloud of the area of interest.

[0041] Further, analyzing the sliced three-dimensional point cloud to obtain the state of the target object includes the following steps:

[0042] Projecting the sliced three-dimensional point cloud onto a two-dimensional plane to obtain a sliced two-dimensional point cloud;

[0043] Connecting points in the sliced two-dimensional point cloud in pairs, and drawing a circle with the midpoint of the connecting line segment as the center, if there are only two points connected by the connecting line segment in the circle, marking the two points as boundary points; extracting all boundary points to obtain an edge two-dimensional point cloud;

[0044] Construct sets for each point in the edge two-dimensional point cloud in turn: search for k' nearest points in the neighborhood of each point through the KD tree algorithm, and put the nearest points with distances less than the set threshold into the set until the number of elements in the set stops increasing; filter out the two-dimensional point cloud of the single-side edge of the conductive arm from the constructed multiple sets;

[0045] Divide the 2D point cloud on the single-side edge of the conductive arm into blocks according to the positions of the upper and lower conductive arms; perform linear fitting on the corresponding point clouds of the upper and lower conductive arms respectively to obtain two lines, and calculate the included angle between the two lines as the state of the target object.

[0046] Further, calculate the laser energy loss coefficient based on the current rainfall data, which is expressed by the formula:

[0047]

[0048] In the formula, λ ext is the laser energy loss coefficient; S sc is the scattering cross-sectional area; k sc is the scattering energy coefficient; S ab is the absorption cross-sectional area; k ab is the absorption energy coefficient; r is the particle radius; D is the raindrop size;

[0049] N T = 172R 0.22 is the total number of raindrops per unit volume; D g = 0.72R 0.23 is the geometric mean size of the raindrops; R is the rainfall; σ is the standard geometric deviation of D.

[0050] Further, determining the slice thickness according to the laser energy loss coefficient includes the following steps:

[0051] Calculate the laser energy loss rate according to the laser energy loss coefficient; if the laser energy loss rate is less than the first threshold, set the slice thickness to the first thickness value; if the laser energy loss rate is greater than the first threshold and less than the second threshold, set the slice thickness to the second thickness value; if the laser energy loss rate is greater than the second threshold, set the slice thickness to the third thickness value.

[0052] Further, the calculation of the laser energy loss rate is expressed by the formula:

[0053]

[0054] In the formula, μ is the laser energy loss rate; L is the distance variable, L0 is the distance between the lidar and the disconnector, μ L is the distance loss coefficient; λ ext is the laser energy loss coefficient; D is the raindrop size; A is the bottom area of the laser beam space with the laser propagation direction as the axis; ρ laser is the laser energy density in the laser beam space under ideal conditions.

[0055] Compared with the prior art, the present invention has the following features and beneficial effects:

[0056] 1. The present invention obtains rainfall data and constructs a function to calculate the laser energy loss rate under different rainfall amounts, thereby correcting the point cloud slice thickness in the point cloud analysis method according to the laser energy loss rate, improving the detection accuracy of the lidar under rainfall conditions;

[0057] 2. The present invention places the lidar vertically upward on the ground for shooting. The obtained point cloud of the disconnector conductive arm is naturally parallel to the YOZ plane of the point cloud coordinate system, and can be directly projected, avoiding the rotation and translation transformation of the point cloud for obtaining the orthographic projection, and simplifying the point cloud processing flow;

[0058] 3. The present invention converts the three-dimensional point cloud data into two-dimensional point cloud data. The reduction in dimension reduces the computational amount of subsequent point cloud processing and improves the point cloud processing speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 is the flowchart of the present invention;

[0060] Figure 2 is the schematic diagram of the monitoring system of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0061] The present invention will be described in more detail below in conjunction with embodiments.

[0062] Embodiment 1

[0063] As Figure 1-2 shown, a closing and opening monitoring system for high-voltage disconnectors applicable to rainfall environments includes: a lidar, a rainfall sensor group, a data acquisition module, a point cloud conversion module, a data processing module, a terminal management platform, and an audible and visual alarm device. In this embodiment, the lidar is specifically a solid-state lidar, and the rainfall sensor is specifically an optical rain gauge.

[0064] The lidar is placed vertically upward on the ground and is located on the center line of the disconnector, with a horizontal distance of 266 cm from the center of gravity of the high-voltage disconnector cement-cast support column. The lidar is used to obtain on-site point cloud data.

[0065] The rainfall sensor is used to obtain the current rainfall data.

[0066] The data acquisition module is communicatively connected to the lidar, and the data acquisition module acquires the on-site point cloud data.

[0067] The point cloud conversion module converts the format of the on-site point cloud data into the point cloud data format supported by the data processing module, and completes the merging of multiple frames of point cloud data within a fixed time interval to obtain a single point cloud data.

[0068] The data processing module corrects the point cloud cutting parameters based on the single point cloud data combined with the rainfall data, calculates the angle value of the conductive arm of the disconnector, and issues an alarm when the conductive arm of the disconnector is not closed in place.

[0069] The terminal management platform includes a terminal interface, where users adjust the parameters of the above modules. The terminal interface displays the original image of the disconnector and the point cloud data processing results in real time to achieve process automation.

[0070] Embodiment 2

[0071] The single point cloud data described in Example 1 is analyzed to obtain the disconnector status, which is as follows:

[0072] Step 1: Perform K-domain statistical analysis on each point in a single point cloud, calculate the average distance from each point to its K neighboring points, and filter out points whose average distance is outside the given threshold range to complete the denoising process.

[0073] Step 2: According to the position of the conductive arm of the disconnector in the on-site point cloud, set the diagonal points of a cube, and filter out the points outside the cube through a straight-through filter to obtain the conductive arm point cloud.

[0074] Step 3: Get the coordinate range of the conductive arm point cloud on the x, y, and z axes, specifically [x min ,x max ]、[y min ,y max ]、[z min ,z max ]; Set the upper and lower limits of x, y, and z coordinates to be x lim1 、x lim2 ,y lim1 ,y lim2 、z lim1 、z lim2 To determine a cubic space. Filter out the points outside the cubic space, and cut the conductive arm point cloud according to the cubic space to obtain a three-dimensional point cloud of the conductive arm cross-section slice. lim1 =x min 、x lim2 =x max ,y lim1 =y min ,y lim2 =y max , and z lim1 With z lim2 That is, the slice thickness is determined by the total laser energy loss rate.

[0075] Step 4: Use the Random Sample Consensus algorithm to fit the YOZ plane to obtain the YOZ plane coefficients; project the three-dimensional point cloud of the cross-sectional slice of the conductive arm onto the YOZ plane to obtain the two-dimensional point cloud of the cross-sectional slice of the conductive arm. The plane point cloud collected by the lidar and parallel to the plane where the radar transmitting end is located is parallel to the YOZ plane in the point cloud coordinate system. Therefore, the two-dimensional point cloud of the cross-sectional slice of the conductive arm is the orthographic projection of the three-dimensional point cloud of the cross-sectional slice of the conductive arm on the YOZ plane, avoiding the need for point cloud rotation and translation transformations to obtain the orthographic projection.

[0076] Step 5: Connect n points in the two-dimensional point cloud of the cross-sectional slice of the conductive arm in pairs, with a total of connections; when making each connection, draw a circle with a radius of R centered at the midpoint of the connection line segment. If there are only two points connected by the connection line segment inside the circle, then mark these two points as boundary points; extract all boundary points to obtain the edge two-dimensional point cloud of the cross-sectional slice of the conductive arm.

[0077] Step 6: Using the Euclidean distance as the judgment criterion, construct a set Q for each point in the edge two-dimensional point cloud in turn: search for k' nearest points in the neighborhood of each point through the KD tree algorithm, and put the nearest points with a distance less than the set threshold into the set Q until the elements in Q no longer increase; screen out the one-sided edge two-dimensional point cloud of the conductive arm from multiple sets Q.

[0078] Step 7: According to the relative positions of the upper and lower conductive arms in the one-sided edge two-dimensional point cloud data, divide the one-sided edge two-dimensional point cloud of the conductive arm into blocks; perform least squares linear fitting on the corresponding point cloud data of the upper and lower conductive arms to obtain two straight lines, and calculate the included angle between the two straight lines as the included angle of the disconnector conductive arm; if the calculated included angle of the disconnector conductive arm is not within the specified range, output a warning message.

[0079] In this example, in step 3, the laser emitted by the lidar will be scattered by particles in the air during propagation, resulting in energy loss. When the laser collides with raindrops, scattering occurs, resulting in scattering energy loss and absorption energy loss. Use the rain sensor to calculate the energy loss coefficient of the laser caused by raindrops with a size of D per unit volume. The calculation formula is:

[0080]

[0081] In the formula, S sc is the scattering cross-sectional area; k sc is the scattering energy coefficient; S ab is the absorption cross-sectional area; k ab is the absorption energy coefficient; r is the particle radius; D is the raindrop size; N T = 172R 0.22 is the total number of raindrops per unit volume; D g = 0.72R0.23 is the geometric mean size of raindrops; R is the rainfall; σ is the standard geometric deviation of D; the above formula can be used to measure the influence of rainfall under different precipitation amounts on the cloud point density of the disconnector detection point, λ ext When it is less than 0.7, the monitoring accuracy of the disconnector is less affected by the precipitation amount.

[0082] In this embodiment, in the step 3, when rainfall begins to cause obvious interference to the monitoring system and the slice three-dimensional cloud point density decreases, in order to prevent the sparse cloud points at the edge of the conductive arm after slice projection from affecting the linear fitting accuracy, it is necessary to adjust the slice thickness under different rainfall conditions, and the upper and lower limits z of the z-axis coordinate in the cube space lim1 、z lim2 determine the thickness of the two-dimensional cloud point of the cross-section slice of the disconnector conductive arm obtained, so z lim1 、z lim2 are determined by the total laser energy loss rate of the disconnector calculated. The formula for the total laser energy loss rate of the disconnector is

[0083]

[0084] Among them, μ is the laser energy loss rate, L is the distance variable, L0 is the distance between the lidar and the disconnector, μ L is the distance loss coefficient; A is the bottom area of the laser beam space with the laser propagation direction as the axis; ρ laser is the laser energy density in the ideal laser beam space.

[0085] When μ < 15%, the difference between the upper and lower limits of the z-axis coordinate is set to 0.03; when 15 ≤ μ < 40%, the difference between the upper and lower limits of the z-axis coordinate is set to 0.05; when 40 ≤ μ < 70%, the difference between the upper and lower limits of the z-axis coordinate is further increased to 0.1; when μ ≥ 70%, it indicates that the rainfall is too large, and at this time the detection angle feasibility is low, and a warning message is output. According to the obtained difference between the upper and lower limits of the z-axis coordinate z lim1 -z lim2 ,further combine the formula z lim1 +z lim2 =z min +z max to obtain the values of z lim1 、z lim2 to determine the cube.

[0086] It should be noted that the above-mentioned high-voltage disconnector opening and closing monitoring system and computer-readable storage medium applicable to the rainfall environment are also used to implement the method steps corresponding to each embodiment in a high-voltage disconnector opening and closing monitoring method applicable to the rainfall environment as described above Figure 1 shown, and the present application will not repeat the description here.

[0087] It should be noted that in each embodiment of the present invention, each functional unit / module can be integrated in one processing unit / module, or each unit / module can exist physically alone, or two or more units / module can be integrated in one unit / module. The above integrated unit / module can be implemented in the form of hardware or in the form of a software functional unit / module.

[0088] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments described herein can be implemented in hardware, software, firmware, middleware, code, or any appropriate combination thereof. For hardware implementation, the processor can be implemented in one or more of the following units: application specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processor, controller, microcontroller, microprocessor, or other electronic units designed to implement the functions described herein, or a combination thereof. For software implementation, part or all of the processes of the embodiments can be completed by instructing the relevant hardware through a computer program. When implemented, the above program can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. The computer-readable medium includes computer storage media and communication media, where the communication media includes any medium that facilitates the transmission of a computer program from one place to another. The storage media can be any available medium that can be accessed by a computer. The computer-readable medium can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM, or other optical disk storage, magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit of the present invention.

Claims

1. A method for monitoring the opening and closing of a high-voltage disconnector applicable to a rainfall environment, characterized in that, The following steps are involved: Using a laser radar to obtain point cloud data of a target object, wherein the target object is a disconnect switch; Extracting a point cloud of an area of interest from the point cloud data; Get current rainfall data; According to the current rainfall data, the laser energy loss coefficient is calculated and expressed as: where λ ext is the laser energy loss coefficient; S sc is the scattering cross-sectional area; k sc is the scattering energy coefficient; S ab is the absorption cross-sectional area; k ab is the absorption energy coefficient; r is the particle radius; D is the raindrop size; N T = 172R 0.22 is the total number of raindrops per unit volume; D g = 0.72R 0.23 is the geometric mean size of raindrops; R is the rainfall; σ is the standard geometric deviation of D; According to the laser energy loss coefficient, the slice thickness is determined, including the following steps: According to the laser energy loss coefficient, the laser energy loss rate is calculated and expressed as: Where, μ is the laser energy loss rate; L is the distance variable, L0 is the distance between the lidar and the disconnector, and μ L is the distance loss coefficient; λ ext is the laser energy loss coefficient; D is the raindrop size; A is the spatial bottom area of the laser beam with the laser propagation direction as the axis; ρ laser is the laser energy density in the spatial laser beam under ideal conditions; If the laser energy loss rate is less than the first threshold, the slice thickness is set to the first thickness value; if the laser energy loss rate is greater than the first threshold and less than the second threshold, the slice thickness is set to the second thickness value; if the laser energy loss rate is greater than the second threshold, the slice thickness is set to the third thickness value; Cut the point cloud of the region of interest according to the slice thickness to obtain a sliced three-dimensional point cloud; The sliced three-dimensional point cloud is analyzed to obtain the state of the target object.

2. The on-off monitoring method of a high-voltage disconnector applicable to a rainfall environment according to claim 1, wherein Extracting the point cloud of the region of interest from the point cloud data includes the following steps: Perform K-domain statistical analysis on each point in the point cloud data, calculate the average distance from each point to its K neighboring points, and filter out points whose average distance is outside a given threshold; Set the diagonal points of a cube; filter out the points outside the cube through a straight-through filter, and obtain the conductive arm point cloud as the point cloud of the area of interest.

3. The on-off monitoring method of a high-voltage disconnector applicable to a rainfall environment according to claim 2, wherein, Analyzing the sliced three-dimensional point cloud to obtain the state of the target object includes the following steps: Projecting the sliced three-dimensional point cloud onto a two-dimensional plane to obtain a sliced two-dimensional point cloud; Connecting points in the sliced two-dimensional point cloud in pairs, and drawing a circle with the midpoint of the connecting line segment as the center, if there are only two points connected by the connecting line segment in the circle, marking the two points as boundary points; extracting all boundary points to obtain an edge two-dimensional point cloud; Construct sets for each point in the edge two-dimensional point cloud in turn: search for k' nearest points in the neighborhood of each point through the KD tree algorithm, and put the nearest points with distances less than the set threshold into the set until the number of elements in the set stops increasing; filter out the two-dimensional point cloud of the single-side edge of the conductive arm from the constructed multiple sets; According to the positions of the upper and lower conductive arms, the two-dimensional point cloud of the single-side edge of the conductive arm is divided into blocks; linear fitting is performed on the corresponding point clouds of the upper and lower conductive arms to obtain two straight lines, and the angle between the two straight lines is calculated as the state of the target object.

4. A monitoring system for opening and closing of a high-voltage disconnector applicable to a rainfall environment, characterized in that include: A laser radar, wherein the laser radar is used to obtain point cloud data of a target object, wherein the target object is an isolating switch; The data processing module is used to extract the point cloud of the area of interest from the point cloud data; obtain the current rainfall data; and calculate the laser energy loss coefficient according to the current rainfall data, which is expressed as follows: where λ ext is the laser energy loss coefficient; S sc is the scattering cross-sectional area; k sc is the scattering energy coefficient; S ab is the absorption cross-sectional area; k ab is the absorption energy coefficient; r is the particle radius; D is the raindrop size; N T = 172R 0.22 is the total number of raindrops per unit volume; D g = 0.72R 0.23 is the geometric mean size of the raindrops; R is the rainfall; σ is the standard geometric deviation of D; According to the laser energy loss coefficient, the slice thickness is determined, including the following steps: According to the laser energy loss coefficient, the laser energy loss rate is calculated and expressed as: Where, μ is the laser energy loss rate; L is the distance variable, L0 is the distance between the lidar and the disconnector, and μ L is the distance loss coefficient; λ ext is the laser energy loss coefficient; D is the raindrop size; A is the spatial bottom area of the laser beam with the laser propagation direction as the axis; ρ laser is the laser energy density in the laser beam space under ideal conditions; If the laser energy loss rate is less than the first threshold, the slice thickness is set to the first thickness value; if the laser energy loss rate is greater than the first threshold and less than the second threshold, the slice thickness is set to the second thickness value; if the laser energy loss rate is greater than the second threshold, the slice thickness is set to the third thickness value; Cut the point cloud of the region of interest according to the slice thickness to obtain a sliced three-dimensional point cloud; analyze the sliced three-dimensional point cloud to obtain the state of the target object.

5. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to execute the method for monitoring the opening and closing of a high-voltage disconnector applicable to a rainfall environment according to any one of claims 1-3 above.

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