A safety early warning method and device for electric power climbing operations

Abstract

The present invention discloses a safety early warning method and device for electric power climbing operations. The present invention monitors the working height of operators in real time by combining laser points and images at the operation site, and immediately sends a first warning message when the operating height of operators exceeds the safe height specified for electric power climbing operations, so as to timely warn operators who perform illegal climbing operations and effectively realize safety early warning for electric power climbing operations.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power operations, and in particular to a safety early warning method and device for electric power high-altitude operations. Background Art

[0002] Power maintenance work often requires workers to work at heights. In order to avoid accidents where people fall from heights, workers are required to take safety precautions before working at heights, and supervisors are assigned to inspect the work site during the workers' work at heights.

[0003] However, in actual scenarios, some operators have a weak sense of safety and go directly to work at heights without taking safety precautions. Supervisors need to inspect multiple work surfaces, which are easily affected by the surrounding personnel, equipment, and environmental shielding at each work site, making it difficult to detect operators' violations in a timely manner. Therefore, how to effectively implement safety warnings for power height operations is still a major problem that needs to be solved urgently. Summary of the invention

[0004] In order to overcome the defects of the prior art, the present invention provides a safety warning method and device for electric power climbing operations, which can promptly warn operators who perform climbing operations in violation of regulations, and effectively achieve safety warnings for electric power climbing operations.

[0005] In order to solve the above technical problems, in a first aspect, an embodiment of the present invention provides a safety warning method for electric power climbing operations, comprising:

[0006] Acquire a laser point cloud at the current moment of the work site, select a laser point with the smallest Z coordinate value from the laser point cloud as a first target point, and select a laser point with the largest Z coordinate value from the laser point cloud as a second target point;

[0007] Taking the horizontal plane perpendicular to the Z axis at the first target point as the bottom surface and the horizontal plane perpendicular to the Z axis at the second target point as the top surface, slicing and segmenting the laser point cloud from the bottom surface along the positive direction of the Z axis to the top surface according to a preset slice interval to obtain a plurality of slices;

[0008] Counting the number of laser points included in each of the slices and the top surface respectively, selecting the slice or top surface with the largest number of laser points from all the slices and the top surface as the ground surface, and determining the Z coordinate value of the ground surface;

[0009] Acquire an image of the work site at the current moment, fuse and calibrate the target human body in the image with the laser point cloud to obtain a human body point cloud, and select a human body point with the smallest Z coordinate value from the human body point cloud as the third target point;

[0010] The relative height between the operator and the ground is obtained according to the Z coordinate value of the third target point and the Z coordinate value of the ground, and a first alarm message is sent when the relative height exceeds a preset relative height.

[0011] Furthermore, the electric power climbing operation safety warning method further includes:

[0012] Target detection is performed on the image, and whether the operator is wearing safety gear is determined based on the detection result, and when it is determined that the operator is not wearing safety gear, a second warning message is sent.

[0013] Furthermore, the laser point cloud of the current moment of the operation site is obtained as follows:

[0014] With the geometric center of the laser radar as the origin O, the horizontal forward direction of the origin O as the positive direction of the X axis, the horizontal left direction of the origin O as the positive direction of the Y axis, and the vertical upward direction of the origin O as the positive direction of the Z axis, a spatial rectangular coordinate system OXYZ is established;

[0015] The laser radar collects laser points at the current moment of the work site, determines the XYZ coordinate value of each laser point, and obtains the laser point cloud.

[0016] Furthermore, after acquiring the image of the work site at the current moment and before fusing and calibrating the target human body in the image with the laser point cloud to obtain the human body point cloud, the method further includes:

[0017] The YOLOv4 target detection algorithm is used to perform person recognition on the image to obtain the target human body.

[0018] Furthermore, the relative height is:

[0019] Δh=Z D2 -Z G ;

[0020] Wherein, Δh is the relative height; Z D2 is the Z coordinate value of the third target point; G is the Z coordinate value of the ground, Z G =Z D1 +k·m,Z D1 is the Z coordinate value of the first target point, k is the preset slice interval, m is the serial number corresponding to the ground, m=1,2,...,n, and n-1 is the number of slices.

[0021] In a second aspect, the present invention provides a safety warning device for electric climbing operations, comprising:

[0022] A laser point selection module is used to obtain a laser point cloud at the current moment of the operation site, select a laser point with the smallest Z coordinate value from the laser point cloud as a first target point, and select a laser point with the largest Z coordinate value from the laser point cloud as a second target point;

[0023] A slice segmentation module, used to take the horizontal plane of the first target point perpendicular to the Z axis as the bottom surface, take the horizontal plane of the second target point perpendicular to the Z axis as the top surface, and slice and segment the laser point cloud from the bottom surface along the positive direction of the Z axis to the top surface according to a preset slice interval to obtain a plurality of slices;

[0024] A ground selection module, used for counting the number of laser points contained in each of the slices and the top surface, selecting the slice or top surface with the largest number of laser points from all the slices and the top surface as the ground, and determining the Z coordinate value of the ground;

[0025] A human point selection module is used to obtain an image of the work site at the current moment, fuse and calibrate the target human body in the image with the laser point cloud to obtain a human point cloud, and select a human point with the smallest Z coordinate value from the human point cloud as the third target point;

[0026] The first alarm module is used to obtain the relative height of the operator and the ground according to the Z coordinate value of the third target point and the Z coordinate value of the ground, and send a first alarm message when the relative height exceeds a preset relative height.

[0027] Furthermore, the electric power climbing operation safety warning device also includes:

[0028] The second alarm module is used to perform target detection on the image, determine whether the operator is wearing safety gear according to the detection result, and send a second alarm message when it is determined that the operator is not wearing safety gear.

[0029] Furthermore, the laser point selection module is specifically used for:

[0030] With the geometric center of the laser radar as the origin O, the horizontal forward direction of the origin O as the positive direction of the X axis, the horizontal left direction of the origin O as the positive direction of the Y axis, and the vertical upward direction of the origin O as the positive direction of the Z axis, a spatial rectangular coordinate system OXYZ is established;

[0031] The laser radar collects laser points at the current moment of the work site, determines the XYZ coordinate value of each laser point, and obtains the laser point cloud.

[0032] Furthermore, the human body point selection module is also used to use the YOLOv4 target detection algorithm to perform personnel recognition on the image to obtain the target human body after acquiring the image of the work site at the current moment and before fusing and calibrating the target human body in the image with the laser point cloud to obtain the human body point cloud.

[0033] Furthermore, the relative height is:

[0034] Δh=Z D2 -Z G ;

[0035] Wherein, Δh is the relative height; Z D2 is the Z coordinate value of the third target point; G is the Z coordinate value of the ground, Z G =Z D1 +k·m,Z D1 is the Z coordinate value of the first target point, k is the preset slice interval, m is the serial number corresponding to the ground, m=1,2,...,n, and n-1 is the number of slices.

[0036] The embodiments of the present invention have the following beneficial effects:

[0037] By acquiring the laser point cloud at the current moment of the operation site, the laser point with the smallest Z coordinate value is selected from the laser point cloud as the first target point, and the laser point with the largest Z coordinate value is selected from the laser point cloud as the second target point; the horizontal plane perpendicular to the Z axis of the first target point is taken as the bottom surface, and the horizontal plane perpendicular to the Z axis of the second target point is taken as the top surface, and according to the preset slice interval, the laser point cloud is sliced ​​and divided from the bottom surface along the positive direction of the Z axis to the top surface to obtain a number of slices; the number of laser points contained in each slice and top surface is counted respectively, and the slice or top surface with the largest number of laser points is selected from all slices and top surfaces as the ground, and the Z coordinate value of the ground is determined; the image of the operation site at the current moment is acquired, and the target human body in the image is fused and calibrated with the laser point cloud to obtain a human body point cloud, and the human body point with the smallest Z coordinate value is selected from the human body point cloud as the third target point; according to the Z coordinate value of the third target point and the Z coordinate value of the ground, the relative height of the operator and the ground is obtained, and when the relative height exceeds the preset relative height, the first alarm information is sent to complete the safety warning of the power climbing operation. Compared with the prior art, the embodiments of the present invention monitor the working height of the workers in real time by combining the laser points and images at the work site, and immediately send a first alarm message when the working height of the workers exceeds the safe height specified for electric power climbing operations. It can promptly warn workers who violate the regulations in high-altitude operations and effectively realize safety warnings for electric power climbing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1It is a flow chart of a safety early warning method for electric power climbing work in the first embodiment of the present invention;

[0039] Figure 2 It is a schematic structural diagram of a safety warning device for electric high-altitude operations in the second embodiment of the present invention. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that the step numbers in the text are only for the convenience of explaining the specific embodiment and do not limit the order of execution of the steps. The method provided in this embodiment can be executed by a related terminal device, and the following description is taken as an example of a processor as the execution subject.

[0042] like Figure 1 As shown, the first embodiment provides a safety warning method for electric power climbing operations, including steps S1 to S5:

[0043] S1. Obtain the laser point cloud of the current moment of the operation site, select the laser point with the smallest Z coordinate value from the laser point cloud as the first target point, and select the laser point with the largest Z coordinate value from the laser point cloud as the second target point;

[0044] S2, taking the horizontal plane perpendicular to the Z axis at the first target point as the bottom surface, taking the horizontal plane perpendicular to the Z axis at the second target point as the top surface, and slicing the laser point cloud from the bottom surface along the positive direction of the Z axis to the top surface according to the preset slice interval to obtain a plurality of slices;

[0045] S3, respectively counting the number of laser points contained in each slice and top surface, selecting the slice or top surface with the largest number of laser points from all slices and top surfaces as the ground, and determining the Z coordinate value of the ground;

[0046] S4, obtaining the current image of the work site, fusing and calibrating the target human body in the image with the laser point cloud to obtain a human body point cloud, and selecting a human body point with the smallest Z coordinate value from the human body point cloud as the third target point;

[0047] S5. Obtain the relative height between the operator and the ground according to the Z coordinate value of the third target point and the Z coordinate value of the ground, and send a first alarm message when the relative height exceeds a preset relative height.

[0048] As an example, in step S1, a laser radar is set up at the work site, so that the laser radar collects a number of laser points at the work site in real time and obtains a laser point cloud at each moment of the work site.

[0049] It can be understood that the laser point cloud is a collection of laser points. The laser radar scans the ground to obtain the three-dimensional coordinates of the ground reflection points. Each ground reflection point is distributed in the three-dimensional space in the form of a point according to the three-dimensional coordinates, which is called a laser point.

[0050] For the laser point cloud at the current moment of the work site, all laser points in the laser point cloud are traversed, and the laser point with the smallest Z coordinate value is selected from the laser point cloud as the first target point. The XYZ coordinate value of the first target point is D1(X D1 , Y D1 , Z D1 ), and select the laser point with the largest Z coordinate value from the laser point cloud as the second target point, and the XYZ coordinate value of the second target point is H(X H , Y H , Z H ).

[0051] In step S2, the horizontal plane perpendicular to the Z axis at the first target point is taken as the bottom surface C1, and the horizontal plane perpendicular to the Z axis at the second target point is taken as the top surface. The user-defined preset slice interval k is obtained, or the height difference Z between the top surface and the bottom surface C1 is calculated. H -Z D1 , set the preset slice interval k.

[0052] According to the preset slice interval k, the laser point cloud is sliced ​​from the bottom surface C1 along the positive direction of the Z axis to the top surface to obtain several slices. Assuming that the preset slice interval k is 0.01m, the laser point cloud is sliced ​​from the bottom surface C1 along the positive direction of the Z axis at an interval of 0.01m to obtain slice P1. From slice P1 along the positive direction of the Z axis at an interval of 0.01m, the laser point cloud is sliced ​​to obtain slice P2, and so on, until the top surface P is reached. n , top surface P n Contains the second target point, thereby obtaining P1, P2, ..., P n-1 There are n-1 slices in total.

[0053] In step S3, the number of laser points contained in each slice and the number of laser points contained in the top surface are counted respectively, and the slice or top surface with the largest number of laser points is selected as the ground from all slices and top surfaces, and the Z coordinate value of the ground is determined. The Z coordinate value of the ground is:

[0054] Z G =Z D1 +k·m(1);

[0055] In formula (1), Z D1 is the Z coordinate value of the first target point, k is the preset slice interval, m is the slice or top surface with the largest number of laser points, that is, the serial number corresponding to the ground, m = 1, 2, ..., n, n-1 is the number of slices.

[0056] In step S4, an image acquisition device is set up at the work site, so that the image acquisition device acquires images of the work site in real time and obtains images of the work site at various times.

[0057] Among them, in order to ensure the accuracy of subsequent fusion calibration, the image acquisition equipment can be set up at the location where the laser radar is set up at the work site, or an integrated machine of the laser radar and image acquisition equipment can be directly set up at the work site.

[0058] For the current image of the work site, the target human body in the image is identified, and the target human body in the image is fused and calibrated with the laser point cloud to obtain a human body point cloud. All human body points in the human body point cloud are traversed, and the human body point with the smallest Z coordinate value is selected from the human body point cloud as the third target point. The XYZ coordinate value of the third target point is D2(X D2 , Y D2 , Z D2 ).

[0059] In step S5, according to the Z coordinate value Z of the third target point D2 and the Z coordinate value of the ground G , calculate the relative height between the operator and the ground. Refer to the safety height specified for electric power climbing operations, set a preset relative height, and compare the relative height with the preset relative height. If the relative height exceeds the preset relative height, it is considered that the operator's operating height exceeds the safety height specified for electric power climbing operations. At this time, the first alarm information is immediately sent to remind on-site operators and supervisors, so as to promptly warn operators who violate the regulations for climbing operations, and promptly remind supervisors to control operators who violate the regulations for climbing operations.

[0060] This embodiment monitors the working height of the workers in real time by combining the laser points and images at the work site, and immediately sends a first alarm message when the working height of the workers exceeds the safe height specified for electric power climbing operations. It can promptly warn workers who violate the regulations in high-altitude operations, and effectively implement safety warnings for electric power climbing operations.

[0061] In a preferred embodiment, the electric power climbing operation safety warning method further includes step S6:

[0062] S6. Perform target detection on the image, determine whether the operator is wearing safety gear based on the detection result, and send a second warning message when it is determined that the operator is not wearing safety gear.

[0063] It should be noted that safety gear includes safety belts, safety helmets and other safety protection tools.

[0064] As an example, a target detection algorithm is used to perform target detection on the image of the work site at the current moment, and whether the workers are wearing safety belts, safety helmets and other safety protection tools is determined based on the detection results. If it is determined that the workers are not wearing safety belts, safety helmets and other safety protection tools, it is considered that the workers have directly climbed up to work without taking safety protection measures. At this time, a second alarm message is immediately sent to remind the on-site workers and supervisors, so as to promptly warn the workers who violate the regulations in climbing up to work, and promptly remind the supervisors to control the workers who violate the regulations in climbing up to work.

[0065] Among them, in order to improve the efficiency of target detection, a target detection model can be established in advance based on the target detection algorithm, images of historical moments of the work site can be collected as training data, the target detection model can be trained using the labeled training data, and target detection can be performed on the image through the target detection model finally obtained.

[0066] This embodiment monitors the safety gear wearing status of the operators in real time and immediately sends a second alarm message when the operators are not wearing the safety gear. It can promptly warn operators who perform high-altitude operations in violation of regulations and effectively provide safety warnings for power high-altitude operations.

[0067] In a preferred embodiment, the laser point cloud of the work site at the current moment is obtained as follows: the geometric center of the laser radar is taken as the origin O, the horizontal forward direction of the origin O is taken as the positive direction of the X-axis, the horizontal left direction of the origin O is taken as the positive direction of the Y-axis, and the vertical upward direction of the origin O is taken as the positive direction of the Z-axis to establish a spatial rectangular coordinate system OXYZ; the laser points of the work site at the current moment are collected by the laser radar, the XYZ coordinate values ​​of each laser point are determined, and the laser point cloud is obtained.

[0068] As an example, a laser radar is set up at the work site, with the geometric center of the laser radar as the origin O, the horizontal forward direction of the origin O as the positive direction of the X-axis, the horizontal left direction of the origin O as the positive direction of the Y-axis, and the vertical upward direction of the origin O as the positive direction of the Z-axis. A spatial rectangular coordinate system OXYZ is established, and a number of laser points at the work site are collected in real time by the laser radar. For the several laser points at each moment at the work site, the XYZ coordinate value of each laser point is determined, thereby obtaining the laser point cloud at each moment at the work site.

[0069] This embodiment establishes a unified spatial rectangular coordinate system based on laser radar, which is conducive to accurately monitoring the working height of workers.

[0070] In a preferred embodiment, after acquiring the image of the work site at the current moment and before fusing and calibrating the target human body in the image with the laser point cloud to obtain the human body point cloud, it also includes: using the YOLOv4 target detection algorithm to identify the person in the image to obtain the target human body.

[0071] As an example, after acquiring the image of the work site at the current moment, the YOLOv4 target detection algorithm is used to perform personnel recognition on the image to obtain the target human body in the image.

[0072] This embodiment uses the YOLOv4 target detection algorithm to identify the target human body in the image, which is conducive to accurately monitoring the working height of the workers.

[0073] In a preferred embodiment, the relative height is:

[0074] Δh=Z D2 -Z G (2);

[0075] Where Δh is the relative height; Z D2 is the Z coordinate value of the third target point; Z G is the Z coordinate value of the ground, Z G =Z D1 +k·m,Z D1 is the Z coordinate value of the first target point, k is the preset slice interval, m is the serial number corresponding to the ground, m=1,2,...,n, and n-1 is the number of slices.

[0076] As an example, according to the Z coordinate value Z of the third target point D2 and the Z coordinate value of the ground G , calculate the relative height between the operator and the ground, which is:

[0077] Δh=Z D2 -Z G (2);

[0078] In formula (2), Δh is the relative height; Z D2 is the Z coordinate value of the third target point; Z G The Z coordinate value of the ground.

[0079] Based on the same inventive concept as the first embodiment, the second embodiment provides Figure 2The electric power climbing operation safety warning device shown in the figure comprises: a laser point selection module 21, which is used to obtain the laser point cloud of the operation site at the current moment, select the laser point with the smallest Z coordinate value from the laser point cloud as the first target point, and select the laser point with the largest Z coordinate value from the laser point cloud as the second target point; a slice segmentation module 22, which is used to slice and segment the laser point cloud from the bottom surface along the positive direction of the Z axis to the top surface according to a preset slice interval, using the horizontal plane of the first target point perpendicular to the Z axis as the bottom surface and the horizontal plane of the second target point perpendicular to the Z axis as the top surface, and obtain a plurality of slices from the bottom surface along the positive direction of the Z axis to the top surface; a ground selection module 23, which is used to respectively count The number of laser points contained in each slice and top surface, the slice or top surface with the largest number of laser points is selected from all slices and top surfaces as the ground, and the Z coordinate value of the ground is determined; the human body point selection module 24 is used to obtain the image of the work site at the current moment, fuse and calibrate the target human body in the image with the laser point cloud to obtain the human body point cloud, and select the human body point with the smallest Z coordinate value from the human body point cloud as the third target point; the first alarm module 25 is used to obtain the relative height of the operator and the ground according to the Z coordinate value of the third target point and the Z coordinate value of the ground, and send a first alarm message when the relative height exceeds the preset relative height.

[0080] In a preferred embodiment, the electric power height operation safety warning device also includes: a second alarm module, which is used to perform target detection on the image, determine whether the operator is wearing safety gear based on the detection result, and send a second alarm message when it is determined that the operator is not wearing safety gear.

[0081] In a preferred embodiment, the laser point selection module 21 is specifically used to: establish a spatial rectangular coordinate system OXYZ with the geometric center of the laser radar as the origin O, the horizontal forward direction of the origin O as the positive direction of the X-axis, the horizontal left direction of the origin O as the positive direction of the Y-axis, and the vertical upward direction of the origin O as the positive direction of the Z-axis; collect the laser points at the current moment on the work site through the laser radar, determine the XYZ coordinate values ​​of each laser point, and obtain a laser point cloud.

[0082] In a preferred embodiment, the human body point selection module 24 is also used to use the YOLOv4 target detection algorithm to identify people in the image and obtain the target human body after acquiring the image of the work site at the current moment and before fusing and calibrating the target human body in the image with the laser point cloud to obtain the human body point cloud.

[0083] In a preferred embodiment, the relative height is:

[0084] Δh=Z D2 -Z G (3);

[0085] Where Δh is the relative height; Z D2is the Z coordinate value of the third target point; Z G is the Z coordinate value of the ground, Z G =Z D1 +k·m,Z D1 is the Z coordinate value of the first target point, k is the preset slice interval, m is the serial number corresponding to the ground, m=1,2,...,n, and n-1 is the number of slices.

[0086] In summary, the implementation of the embodiments of the present invention has the following beneficial effects:

[0087] By acquiring the laser point cloud at the current moment of the operation site, the laser point with the smallest Z coordinate value is selected from the laser point cloud as the first target point, and the laser point with the largest Z coordinate value is selected from the laser point cloud as the second target point; the horizontal plane perpendicular to the Z axis of the first target point is taken as the bottom surface, and the horizontal plane perpendicular to the Z axis of the second target point is taken as the top surface, and according to the preset slice interval, the laser point cloud is sliced ​​and divided from the bottom surface along the positive direction of the Z axis to the top surface to obtain a number of slices; the number of laser points contained in each slice and top surface is counted respectively, and the slice or top surface with the largest number of laser points is selected from all slices and top surfaces as the ground, and the Z coordinate value of the ground is determined; the image of the operation site at the current moment is acquired, and the target human body in the image is fused and calibrated with the laser point cloud to obtain a human body point cloud, and the human body point with the smallest Z coordinate value is selected from the human body point cloud as the third target point; according to the Z coordinate value of the third target point and the Z coordinate value of the ground, the relative height of the operator and the ground is obtained, and when the relative height exceeds the preset relative height, the first alarm information is sent to complete the safety warning of the power climbing operation. The embodiments of the present invention monitor the working height of the workers in real time by combining the laser points and images at the work site, and immediately send a first alarm message when the working height of the workers exceeds the safe height specified for electric power climbing operations. This can promptly warn workers who violate the regulations in high-altitude operations, and effectively achieve safety warnings for electric power climbing operations.

[0088] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

[0089] Those skilled in the art can understand that all or part of the processes in the above embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes in the above embodiments. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

Claims

1. A safety warning method for electric power climbing operations, characterized in that: include: Acquire a laser point cloud at the current moment of the work site, select a laser point with the smallest Z coordinate value from the laser point cloud as a first target point, and select a laser point with the largest Z coordinate value from the laser point cloud as a second target point; Taking the horizontal plane perpendicular to the Z axis at the first target point as the bottom surface and the horizontal plane perpendicular to the Z axis at the second target point as the top surface, slicing and segmenting the laser point cloud from the bottom surface along the positive direction of the Z axis to the top surface according to a preset slice interval to obtain a plurality of slices; Counting the number of laser points included in each of the slices and the top surface respectively, selecting the slice or top surface with the largest number of laser points from all the slices and the top surface as the ground surface, and determining the Z coordinate value of the ground surface; Acquire an image of the work site at the current moment, fuse and calibrate the target human body in the image with the laser point cloud to obtain a human body point cloud, and select a human body point with the smallest Z coordinate value from the human body point cloud as the third target point; Obtaining a relative height between the operator and the ground according to the Z coordinate value of the third target point and the Z coordinate value of the ground, and sending a first warning message when the relative height exceeds a preset relative height; The relative height is: Δh=Z D2 -Z G ; Wherein, Δh is the relative height; Z D2 is the Z coordinate value of the third target point; G is the Z coordinate value of the ground, Z G =Z D1 +k·m,Z D1 is the Z coordinate value of the first target point, k is the preset slice interval, m is the serial number corresponding to the ground, m=1,2,...,n, and n-1 is the number of slices.

2. The safety early warning method for electric power climbing work according to claim 1, characterized in that: Also includes: Target detection is performed on the image, and whether the operator is wearing safety gear is determined based on the detection result, and when it is determined that the operator is not wearing safety gear, a second warning message is sent.

3. The safety early warning method for electric power climbing work according to claim 1, characterized in that: The method of obtaining the laser point cloud at the current moment of the operation site is specifically as follows: With the geometric center of the laser radar as the origin O, the horizontal forward direction of the origin O as the positive direction of the X axis, the horizontal left direction of the origin O as the positive direction of the Y axis, and the vertical upward direction of the origin O as the positive direction of the Z axis, a spatial rectangular coordinate system OXYZ is established; The laser radar collects laser points at the current moment of the work site, determines the XYZ coordinate value of each laser point, and obtains the laser point cloud.

4. The safety early warning method for electric power climbing work according to claim 1, characterized in that: After acquiring the image of the work site at the current moment and before fusing and calibrating the target human body in the image with the laser point cloud to obtain the human body point cloud, the method further includes: The YOLOv4 target detection algorithm is used to perform person recognition on the image to obtain the target human body.

5. A safety warning device for electric power climbing operations, characterized in that: include: A laser point selection module is used to obtain a laser point cloud at the current moment of the operation site, select a laser point with the smallest Z coordinate value from the laser point cloud as a first target point, and select a laser point with the largest Z coordinate value from the laser point cloud as a second target point; A slice segmentation module, used to take the horizontal plane of the first target point perpendicular to the Z axis as the bottom surface, take the horizontal plane of the second target point perpendicular to the Z axis as the top surface, and slice and segment the laser point cloud from the bottom surface along the positive direction of the Z axis to the top surface according to a preset slice interval to obtain a plurality of slices; A ground selection module, used for counting the number of laser points contained in each of the slices and the top surface, selecting the slice or top surface with the largest number of laser points from all the slices and the top surface as the ground, and determining the Z coordinate value of the ground; A human point selection module is used to obtain an image of the work site at the current moment, fuse and calibrate the target human body in the image with the laser point cloud to obtain a human point cloud, and select a human point with the smallest Z coordinate value from the human point cloud as the third target point; A first alarm module, used for obtaining a relative height between the operator and the ground according to the Z coordinate value of the third target point and the Z coordinate value of the ground, and sending a first alarm message when the relative height exceeds a preset relative height; The relative height is: Δh=Z D2 -Z G ; Wherein, Δh is the relative height; Z D2 is the Z coordinate value of the third target point; G is the Z coordinate value of the ground, Z G =Z D1 +k·m,Z D1 is the Z coordinate value of the first target point, k is the preset slice interval, m is the serial number corresponding to the ground, m=1,2,...,n, and n-1 is the number of slices.

6. The electric power climbing operation safety warning device according to claim 5, characterized in that: Also includes: The second alarm module is used to perform target detection on the image, determine whether the operator is wearing safety gear according to the detection result, and send a second alarm message when it is determined that the operator is not wearing safety gear.

7. The electric power climbing operation safety warning device according to claim 5, characterized in that: The laser point selection module is specifically used for: With the geometric center of the laser radar as the origin O, the horizontal forward direction of the origin O as the positive direction of the X axis, the horizontal left direction of the origin O as the positive direction of the Y axis, and the vertical upward direction of the origin O as the positive direction of the Z axis, a spatial rectangular coordinate system OXYZ is established; The laser radar collects laser points at the current moment of the work site, determines the XYZ coordinate value of each laser point, and obtains the laser point cloud.

8. The electric power climbing operation safety warning device according to claim 5, characterized in that: The human body point selection module is also used to use the YOLOv4 target detection algorithm to perform personnel recognition on the image to obtain the target human body after acquiring the image of the work site at the current moment and before fusing and calibrating the target human body in the image with the laser point cloud to obtain the human body point cloud.

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