Suburban power line safety monitoring method based on dual-mode communication module

Abstract

The invention relates to the technical field of wire safety monitoring, and discloses a suburban wire safety monitoring method based on a dual-mode communication module, comprising: controlling a barrier-clearing robot to travel along a wire, detecting a wooden obstacle and marking it as a target object to be cleared; measuring the distance between the obstacle and the wire, judging whether processing is required, obtaining the highest point of the target and dividing it into processing areas, obtaining a forward image and transmitting it to an operator, performing preliminary processing based on the diameter and connection position of the image, obtaining a side image, obtaining the diameter and connection position again for secondary processing, until the target object to be cleared within a safe distance is cleared; dividing the target object to be cleared into a plurality of processing areas, ensuring that the length of the target object to be cleared in each processing area is less than the distance between the processing area and a second reference plane of the wire, so that in a subsequent processing process, when the target object to be cleared is cut off, the target object to be cleared has a large enough space to fall to the ground, thereby reducing the possibility that the cut target object to be cleared is stuck on the wire.

Description

Technical Field

[0001] The invention relates to the technical field of electric wire safety monitoring, in particular to a suburban electric wire safety monitoring method based on a dual-mode communication module. Background Art

[0002] Wires are a key component of the power supply system, and ensuring their safe and stable operation is crucial to the normal operation of the entire power system. In suburbs, due to the complex environment and difficulty in real-time monitoring, the growth of wooden obstacles such as trees and branches around wires poses a potential threat to the safe operation of wires. If these obstacles are not removed in time, they may cause wire short circuits, breakage, and even fires, causing serious economic losses and safety hazards. Therefore, establishing an effective wire safety monitoring and obstacle removal method is of great significance to ensure the safe operation of the power system.

[0003] Traditional power line inspection mainly relies on manual inspection and drone inspection. Although manual inspection can provide more detailed information, it has the disadvantages of low efficiency, high cost and high risk, especially in suburban areas with complex terrain and harsh environment, the difficulty and risk of manual inspection are further increased; drone inspection can cover a larger range and provide high-resolution images, but it is limited by battery life and flight stability, and it is difficult to carry out long-term continuous monitoring. At the same time, drone inspection cannot clear obstacles around the power lines and can only provide monitoring information; one of the more advanced methods is to use obstacle removal robots to complete the inspection and obstacle removal of power lines, but the more common obstacle removal robots are generally controlled by operators during obstacle removal operations, and the degree of automation is low. In addition, there will be situations where obstacles are stuck on the power lines after being removed, which requires further processing. This scheme intends to propose a method that can automatically handle obstacles on power lines and reduce the situation where obstacles are stuck on power lines after obstacle removal. Summary of the invention

[0004] The present invention provides a suburban electric wire safety monitoring method based on a dual-mode communication module, which helps solve the problems mentioned in the above background technology.

[0005] The present invention provides the following technical solution: A suburban electric wire safety monitoring method based on a dual-mode communication module, comprising: controlling an obstacle removal robot to move along the electric wire and detecting wooden obstacles around the electric wire during the moving process;

[0006] If a wooden obstacle is detected, the wooden obstacle is marked as a target for removal;

[0007] Get the distance between the target removal object and the wire;

[0008] Compare the acquired distance between the target removal object and the wire with the safety distance to determine whether to perform a processing operation on the target removal object;

[0009] For a target removal object that needs to be processed, obtain the highest point of the target removal object;

[0010] Dividing the target removal object into a plurality of treatment zones according to the highest point of the target removal object and the distance between the target removal object and the electric wire;

[0011] At the location of the electric wire, an image of the target object to be removed is obtained in a direction facing the target object to be removed, which is recorded as a positive image, and the positive image is transmitted to the operator through the dual-mode communication module;

[0012] According to the forward image, the diameter of the mutually connected target removal objects is obtained, and the positions where the target removal objects are connected to each other are obtained, which are recorded as connection positions;

[0013] Perform preliminary processing on the target removal object according to its diameter and connection position;

[0014] After the preliminary processing is completed, an image of the target object to be removed is obtained at one side of the target object to be removed, which is recorded as a side image, and the side image is transmitted to the operator through the dual-mode communication module;

[0015] According to the side image, the diameter of the target object to be removed and the connection position of the target object to be removed are obtained again, and according to the diameter and the connection position of the target object to be removed, the target object to be removed is processed again;

[0016] After the secondary treatment is completed, the remaining target removals are processed at the junction of the treatment area until the target removals within the safe distance are removed.

[0017] Optionally, obtaining the distance between the target removal object and the electric wire includes:

[0018] Draw a plumb line connecting the target removal object and the wire and perpendicular to the wire;

[0019] Get the lengths of all perpendicular lines and compare;

[0020] Select the shortest vertical line as the distance between the target removal object and the wire, recorded as A.

[0021] Optionally, comparing the acquired distance between the target removal object and the wire with the safety distance to determine whether to perform a processing operation on the target removal object includes:

[0022] Set a safety distance B;

[0023] Compare the distance A between the target removal object and the wire with the safety distance B;

[0024] If A ≥ B, no processing operation is performed on the target removal object;

[0025] If A<B, then a processing operation is performed on the target removal object.

[0026] Optionally, obtaining the highest point of the target removal object on which the processing operation is to be performed includes:

[0027] Draw a horizontal plane passing through the location of the wire, and record it as the first reference plane;

[0028] Draw a perpendicular line perpendicular to the first reference plane through the end of each target removal object, and obtain the length of all perpendicular lines;

[0029] The lengths of all vertical lines are compared, and the end of the target removal object corresponding to the vertical line with the longest length is selected as the highest point of the target removal object.

[0030] Optionally, the target removal object is divided into a plurality of processing areas according to the highest point of the target removal object and the distance between the target removal object and the electric wire, including:

[0031] Draw a plane passing through the line where the wire is and perpendicular to the first reference plane, and record it as the second reference plane;

[0032] Obtaining the position where the first reference plane intersects with the target removal object, and recording it as the intersection point;

[0033] Obtain the vertical distance from the intersection point to the second reference plane, and take 80% of the vertical distance as the comparison distance;

[0034] Measure the length of the target removal object from the highest point of the target removal object to the intersection point along the target removal object, and record the position where the measurement is carried out as the measurement position;

[0035] While measuring the length of the target removal object, obtaining the vertical distance between the measuring position and the second reference plane;

[0036] Measure the length of the target removal object from the highest point of the target removal object toward the intersection point, record the measured length of the target removal object as D1, and simultaneously obtain the vertical distance between the measuring point and the second reference plane, record it as E1;

[0037] When D1=E1×80%, the measurement bit is marked as the first marking bit;

[0038] Dividing the target removal object into two processing areas at the first marking position;

[0039] Obtain the length of the target removal object between the first mark position and the intersection position, recorded as F1;

[0040] If F1≤comparison distance, stop measuring and divide the target removal object into two processing areas;

[0041] If F1> the comparison distance, measure the length of the target removal object from the first mark position to the intersection position, and record the measured length of the target removal object as D2. At the same time, obtain the vertical distance between the measurement position and the second reference plane, which is recorded as E2.

[0042] When D2=E2×80%, the measurement position is marked as the second marking position;

[0043] The target removal object is divided again at the second marking position into three processing areas;

[0044] Obtain the length of the target removal object between the second mark position and the intersection position, recorded as F2;

[0045] If F2 ≤ comparison distance, stop measuring and divide the target removal object into three treatment areas;

[0046] If F2> the comparison distance, the length of the target removal object is measured from the second mark position to the intersection position along the target removal object, and the measured length of the target removal object is recorded as D3. At the same time, the vertical distance between the measurement position and the second reference plane is obtained, which is recorded as E3;

[0047] When D3=E3×80%, the measurement position is marked as the third marking position;

[0048] The target removal object is divided again at the third marking position into four processing areas;

[0049] Obtain the length of the target removal object between the third mark position and the intersection position, recorded as F3;

[0050] If F3 ≤ comparison distance, stop measuring and divide the target removal object into four processing areas;

[0051] If F3> the comparison distance, measure the length of the target removal object along the target removal object toward the intersection, and obtain D4 and E4, compare D4 with E4×80%, obtain a new mark position, obtain the length of the target removal object from the new mark position to the intersection, and compare it with the comparison distance to determine whether to continue to obtain a new mark position, and so on, until the length of the target removal object from the obtained mark position to the intersection is less than or equal to the comparison distance.

[0052] Optionally, the step of acquiring the target removal object image in a direction facing the target removal object at the location of the electric wire, recorded as a positive image, includes:

[0053] Projecting the area covered by the target removal onto the wire;

[0054] Get the length of the wire covered by the projection;

[0055] According to the length of the wire covered by the projection, the midpoint of the part covered by the projection is obtained on the wire and recorded as the positive point;

[0056] At the positive point on the wire, the direction perpendicular to the second reference plane and pointing to the target removal object is taken as the direction facing the target removal object, which is recorded as the positive direction;

[0057] The image of the target removal object is acquired in the positive direction at the positive point, which is recorded as the positive image.

[0058] Optionally, the preliminary processing of the target removal object according to the diameter and connection position of the target removal object includes:

[0059] The connection positions are marked in order from small to large according to the diameter of the target removal object corresponding to each connection position;

[0060] Obtain the location of the target removal object with the largest diameter, and record the diameter of the target removal object with the largest diameter as M;

[0061] Get the distance between each connection point and the forward point on the wire respectively;

[0062] At the positive point on the wire, perform a cutting operation on each connection position;

[0063] For each connection position, starting from the position of the forward point, when the total length of the removal is equal to the sum of the distance between the connection position and the forward point and M, the removal operation of the connection position is completed;

[0064] Perform the removal operation on all current connection positions in the marked order to complete the preliminary processing of the target removal objects.

[0065] Optionally, after the preliminary processing is completed, an image of the target removal object is obtained at one side of the target removal object, recorded as a side image, including:

[0066] Get the target removal object with the largest diameter, and record it as the main removal object;

[0067] Obtain the intersection point between the main clearing object and the first reference plane, and record it as the target intersection point;

[0068] Projecting the area covered by the target removal onto the wire;

[0069] Get the two endpoints of the wire covered by the projection;

[0070] Select one of the endpoints and record it as the target endpoint;

[0071] Draw a straight line parallel to the wire through the target intersection point, marked as line 1;

[0072] Draw a straight line perpendicular to the wire through the target endpoint, marked as line No. 2;

[0073] Get the intersection point of line 1 and line 2, and record it as the lateral point;

[0074] With the lateral point pointing to the direction of the target intersection point, the target removal object image is obtained and recorded as the side image.

[0075] Optionally, the step of reacquiring the diameter of the target object to be removed and the connection position of the target object to be removed based on the side image, and performing secondary processing on the target object to be removed based on the diameter and the connection position of the target object to be removed, includes:

[0076] According to the side image, the diameter of the mutually connected target removal objects is obtained, and the connection position of the target removal objects is obtained;

[0077] The connection positions are marked in order from small to large according to the diameter of the target removal object corresponding to each connection position;

[0078] Obtain the distance between each connection position and the lateral point respectively;

[0079] At the location of the lateral point, perform a resection operation on each connection site;

[0080] For each connection position, starting from the position of the lateral point, when the total length of the resection is equal to the sum of the distance between the connection position and the lateral point and M, the resection operation of the connection position is completed;

[0081] The removal operation is performed on all current connection positions in the marked order to complete the secondary processing of the target removal object.

[0082] Optionally, after the secondary treatment is completed, the remaining target removal objects are treated at the junction of the treatment area until the target removal objects within the safe distance are removed, including:

[0083] Get the distance between each marker position and the positive point;

[0084] At the location of the positive point on the wire, starting from the highest point of the target removal object, perform the cutting operation toward each marked position in sequence;

[0085] For each mark position, starting from the position of the forward point, when the total length of the removal is equal to the sum of the distance from the mark position to the forward point and M, the removal operation of the mark position is completed;

[0086] Perform the removal operation on all marked positions until the target removal object within the safe distance is cleared.

[0087] The present invention has the following beneficial effects:

[0088] 1. Using obstacle-clearing robots to travel along power lines and detect wooden obstacles around them significantly improves detection efficiency and accuracy. The obstacle-clearing robots detect whether there are obstacles at the location of the power lines. Compared with manual detection on the ground, the detection angle on the power lines is clearer, and it is more accurate in obtaining the distance between the obstacles and the power lines, as well as the specific location of the obstacles, which improves the accuracy of obstacle detection around the power lines and ensures that the acquired data is accurate and effective.

[0089] 2. Measuring the distance between the target object and the wires enables the degree of threat of the obstacle to be determined based on the actual situation. This process provides a basis for subsequent processing decisions, ensuring that only obstacles that pose a real threat to the safety of the wires are processed, avoiding unnecessary waste of resources.

[0090] 3. Divide the target removal objects into multiple processing areas to make the processing work more systematic and orderly. This method can carry out zoning processing according to the actual situation of the obstacles, ensure that each processing area receives full attention, and improve the overall processing effect. At the same time, zoning processing also helps to gradually reduce the threat of obstacles to power lines and ensure the thoroughness of the processing.

[0091] 4. Acquiring images of the target object from two directions can provide a full-view of the target object, making the shape and position of the obstacle clearer. Images from a single direction may not accurately capture some obstacle information due to occlusion or angle problems. Images from two directions can combine two sets of data to overcome the perspective limitation, improve recognition accuracy, and ensure effective recognition of the target object.

[0092] 5. Divide the target removal object into multiple processing areas, and ensure that the length of the target removal object in each processing area is less than the distance between the processing area and the second reference plane of the wire, so that in the subsequent processing process, when the target removal object is cut off, the target removal object has enough space to fall to the ground, reducing the possibility of the cut target removal object getting stuck on the wire.

[0093] 6. Cutting off the target object according to the diameter from small to large can gradually reduce the volume of the target object, gradually eliminate the outer part of the target object, gradually reduce its threat to the wire, effectively control the emergencies that may occur during the cutting process, and further avoid the target object from hanging on the wire after falling down. At the same time, gradual cutting can ensure that the weight of the target object falling each time is small, reducing the impact on the wire and the surrounding environment, and improving the safety of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] Figure 1 This is a reference plane schematic diagram of the present invention.

[0095] Figure 2It is a schematic diagram of the positive direction of the present invention.

[0096] Figure 3 It is a lateral point schematic diagram of the present invention.

[0097] Figure 4 Schematic diagram of the obstacle removal robot of the present invention. DETAILED DESCRIPTION

[0098] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments 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.

[0099] Embodiment 1, a suburban power line safety monitoring method based on a dual-mode communication module, comprises:

[0100] Reference Figure 4 , control the obstacle-clearing robot to move along the electric wires, and detect wooden obstacles around the electric wires during the movement; the wooden obstacles are branches of plants around the electric wires; using the obstacle-clearing robot to move along the electric wires and detect wooden obstacles around the electric wires significantly improves the detection efficiency and accuracy; the obstacle-clearing robot detects whether there are obstacles at the location of the electric wires. Compared with manual detection on the ground, the detection perspective on the electric wires is clearer, and it is more accurate in obtaining the distance between the obstacle and the electric wire, as well as the specific location of the obstacle, thereby improving the accuracy of obstacle detection around the electric wires and ensuring that the acquired data is accurate and effective.

[0101] If a wooden obstacle is detected, the wooden obstacle is marked as a target for removal;

[0102] Get the distance between the target removal object and the wire;

[0103] The distance between the target object and the wire is compared with the safety distance to determine whether to perform processing operations on the target object; the distance between the target object and the wire is measured so that the threat level of the obstacle can be judged according to the actual situation. This process provides a scientific basis for subsequent processing decisions, ensuring that only obstacles that pose a real threat to the safety of the wire are processed, avoiding unnecessary waste of resources.

[0104] For a target removal object that needs to be processed, obtain the highest point of the target removal object;

[0105] The target object is divided into multiple processing areas according to the highest point of the target object and the distance between the target object and the wires. Dividing the target object into multiple processing areas makes the processing work more systematic and orderly. This method can perform zoning processing according to the actual situation of the obstacle, ensuring that each processing area receives full attention and improving the overall processing effect. At the same time, zoning processing also helps to gradually reduce the threat of obstacles to wires and ensure the thoroughness of the processing.

[0106] At the location of the electric wire, an image of the target object to be removed is obtained in a direction facing the target object to be removed, which is recorded as a positive image, and the positive image is transmitted to the operator through the dual-mode communication module;

[0107] According to the forward image, the diameter of the mutually connected target removal objects is obtained, and the positions where the target removal objects are connected to each other are obtained, which are recorded as connection positions;

[0108] Perform preliminary processing on the target removal object according to its diameter and connection position;

[0109] After the preliminary processing is completed, an image of the target object to be removed is obtained at one side of the target object to be removed, which is recorded as a side image, and the side image is transmitted to the operator through the dual-mode communication module;

[0110] According to the side image, the diameter of the target object and the connection position of the target object are obtained again, and the target object is processed again according to the diameter and connection position of the target object; by obtaining the image of the target object from two directions, a full-view of the target object can be provided, making the shape and position of the obstacle clearer. The image from a single direction may not accurately capture some obstacle information due to occlusion or angle problems. Through the images from two directions, two sets of data can be combined to overcome the limitation of viewing angle, improve the accuracy of recognition, and ensure the effective recognition of the target object.

[0111] After the secondary treatment is completed, the remaining target removals are processed at the junction of the treatment area until the target removals within the safe distance are removed.

[0112] The step of obtaining the distance between the target removal object and the electric wire comprises:

[0113] Draw a plumb line connecting the target removal object and the wire and perpendicular to the wire;

[0114] Get the lengths of all perpendicular lines and compare;

[0115] Select the shortest vertical line as the distance between the target removal object and the wire, recorded as A.

[0116] The step of comparing the acquired distance between the target removal object and the wire with the safety distance to determine whether to perform a processing operation on the target removal object includes:

[0117] Set the safety distance B; the safety distance is the maximum distance allowed between the target removal object and the wire;

[0118] Compare the distance A between the target removal object and the wire with the safety distance B;

[0119] If A≥B, it means that the distance between the target removal object and the wire is within the safe distance, and no processing operation needs to be performed on the target removal object;

[0120] If A<B, it means that the distance between the target removal object and the electric wire is outside the safe distance, and a processing operation needs to be performed on the target removal object.

[0121] The step of obtaining the highest point of the target removal object for which the processing operation is to be performed comprises:

[0122] Reference Figure 1 , make a horizontal plane passing through the location of the wire, record it as the first reference plane;

[0123] Draw a perpendicular line perpendicular to the first reference plane through the end of each target removal object, and obtain the length of all perpendicular lines;

[0124] The lengths of all vertical lines are compared, and the end of the target removal object corresponding to the vertical line with the longest length is selected as the highest point of the target removal object.

[0125] The target object to be removed is divided into a plurality of processing areas according to the highest point of the target object to be removed and the distance between the target object to be removed and the electric wire, including:

[0126] Reference Figure 1 , make a plane passing through the line where the wire is and perpendicular to the first reference plane, record it as the second reference plane;

[0127] Obtaining the position where the first reference plane intersects with the target removal object, and recording it as the intersection point;

[0128] Obtain the vertical distance from the intersection point to the second reference plane, and take 80% of the vertical distance as the comparison distance;

[0129] Measure the length of the target removal object from the highest point of the target removal object to the intersection point along the target removal object, and record the position where the measurement is carried out as the measurement position;

[0130] While measuring the length of the target removal object, the vertical distance between the measuring position and the second reference plane is obtained; the specific position of the measuring position changes dynamically, starting from the highest point of the target removal object and along the target removal object to the intersection position;

[0131] Measure the length of the target removal object from the highest point of the target removal object toward the intersection point, record the measured length of the target removal object as D1, and simultaneously obtain the vertical distance between the measuring point and the second reference plane, record it as E1;

[0132] When D1=E1×80%, the measurement bit is marked as the first marking bit;

[0133] Dividing the target removal object into two processing areas at the first marking position;

[0134] Obtain the length of the target removal object between the first mark position and the intersection position, recorded as F1;

[0135] If F1≤comparison distance, stop measuring and divide the target removal object into two processing areas;

[0136] If F1> the comparison distance, measure the length of the target removal object from the first mark position to the intersection position, and record the measured length of the target removal object as D2. At the same time, obtain the vertical distance between the measurement position and the second reference plane, which is recorded as E2.

[0137] When D2=E2×80%, the measurement position is marked as the second marking position;

[0138] The target removal object is divided again at the second marking position into three processing areas;

[0139] Obtain the length of the target removal object between the second mark position and the intersection position, recorded as F2;

[0140] If F2 ≤ comparison distance, stop measuring and divide the target removal object into three treatment areas;

[0141] If F2> the comparison distance, the length of the target removal object is measured from the second mark position to the intersection position along the target removal object, and the measured length of the target removal object is recorded as D3. At the same time, the vertical distance between the measurement position and the second reference plane is obtained, which is recorded as E3;

[0142] When D3=E3×80%, the measurement position is marked as the third marking position;

[0143] The target removal object is divided again at the third marking position into four processing areas;

[0144] Obtain the length of the target removal object between the third mark position and the intersection position, recorded as F3;

[0145] If F3 ≤ comparison distance, stop measuring and divide the target removal object into four processing areas;

[0146] If F3> the comparison distance, measure the length of the target removal object along the target removal object to the intersection position, and obtain D4 and E4, compare D4 with E4×80%, obtain a new mark position, obtain the length of the target removal object from the new mark position to the intersection position, and compare it with the comparison distance to determine whether to continue to obtain a new mark position, and so on, until the length of the target removal object from the obtained mark position to the intersection position is less than or equal to the comparison distance. Divide the target removal object into multiple processing areas, ensure that the length of the target removal object in each processing area is less than the distance between the processing area and the second reference plane of the wire, so that in the subsequent processing process, when the target removal object is cut, the target removal object has enough space to fall to the ground, reducing the possibility of the cut target removal object being stuck on the wire.

[0147] The method of acquiring the target removal object image in the direction facing the target removal object at the location of the wire, which is recorded as the positive image, includes:

[0148] Projecting the area covered by the target removal onto the wire;

[0149] Get the length of the wire covered by the projection;

[0150] Reference Figure 2 , according to the length of the wire covered by the projection, obtain the midpoint of the part covered by the projection on the wire and record it as the positive point;

[0151] Reference Figure 2 , at the location of the positive point on the wire, the direction perpendicular to the second reference plane pointing to the target removal object is taken as the direction facing the target removal object, recorded as the positive direction;

[0152] The image of the target removal object is acquired in the positive direction at the positive point, which is recorded as the positive image.

[0153] The target removal object is preliminarily processed according to its diameter and connection position, including:

[0154] The connection positions are marked in order from small to large according to the diameter of the target removal object corresponding to each connection position;

[0155] Obtain the location of the target removal object with the largest diameter, and record the diameter of the target removal object with the largest diameter as M;

[0156] Get the distance between each connection point and the forward point on the wire respectively;

[0157] At the positive point on the wire, perform a cutting operation on each connection position;

[0158] For each connection position, starting from the position of the forward point, when the total length of the removal is equal to the sum of the distance between the connection position and the forward point and M, the removal operation of the connection position is completed;

[0159] Perform the removal operation on all current connection positions in the marked order to complete the preliminary processing of the target removal objects.

[0160] After the preliminary processing is completed, an image of the target object to be removed is obtained at one side of the target object to be removed, which is recorded as a side image, including:

[0161] Get the target removal object with the largest diameter, and record it as the main removal object;

[0162] Obtain the intersection point between the main clearing object and the first reference plane, and record it as the target intersection point;

[0163] Projecting the area covered by the target removal onto the wire;

[0164] Get the two endpoints of the wire covered by the projection;

[0165] Reference Figure 3 , select any one of the endpoints and record it as the target endpoint;

[0166] Draw a straight line parallel to the wire through the target intersection point, marked as line 1;

[0167] Draw a straight line perpendicular to the wire through the target endpoint, marked as line No. 2;

[0168] Get the intersection point of line 1 and line 2, and record it as the lateral point;

[0169] With the lateral point pointing to the direction of the target intersection point, the target removal object image is obtained and recorded as the side image.

[0170] The step of obtaining the diameter of the target object to be removed and the connection position of the target object to be removed again according to the side image, and performing secondary processing on the target object to be removed according to the diameter and the connection position of the target object to be removed, includes:

[0171] According to the side image, the diameter of the mutually connected target removal objects is obtained, and the connection position of the target removal objects is obtained;

[0172] The connection positions are marked in order from small to large according to the diameter of the target removal object corresponding to each connection position;

[0173] Obtain the distance between each connection position and the lateral point respectively;

[0174] At the location of the lateral point, perform a resection operation on each connection site;

[0175] For each connection position, starting from the position of the lateral point, when the total length of the resection is equal to the sum of the distance between the connection position and the lateral point and M, the resection operation of the connection position is completed;

[0176] The cutting operation is performed on all current connection positions in the marked order to complete the secondary processing of the target removal object. The target removal object is cut according to the diameter from small to large, which can gradually reduce the volume of the target removal object, gradually eliminate the outer part of the target removal object, and gradually reduce its threat to the wire. It can effectively control the sudden situation that may occur during the cutting process, and further avoid the target removal object from hanging on the wire after falling down after cutting. At the same time, the gradual cutting can ensure that the weight of the target removal object falling each time is small, reducing the impact on the wire and the surrounding environment, and improving the safety of operation.

[0177] After the secondary treatment is completed, the remaining target removal objects are processed at the junction of the treatment area until the target removal objects within the safe distance are removed, including:

[0178] Get the distance between each marker position and the positive point;

[0179] At the location of the positive point on the wire, starting from the highest point of the target removal object, perform the cutting operation toward each marked position in sequence;

[0180] For each mark position, starting from the position of the forward point, when the total length of the removal is equal to the sum of the distance from the mark position to the forward point and M, the removal operation of the mark position is completed;

[0181] Perform the removal operation on all marked positions until the target removal object within the safe distance is cleared.

[0182] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0183] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A suburban power line safety monitoring method based on a dual-mode communication module, characterized in that: include: Control the obstacle-clearing robot to move along the electric wires and detect wooden obstacles around the electric wires during the movement; If a wooden obstacle is detected, the wooden obstacle is marked as a target for removal; Get the distance between the target removal object and the wire; Compare the acquired distance between the target removal object and the wire with the safety distance to determine whether to perform a processing operation on the target removal object; For a target removal object that needs to be processed, obtain the highest point of the target removal object; Dividing the target removal object into a plurality of treatment zones according to the highest point of the target removal object and the distance between the target removal object and the electric wire; At the location of the electric wire, an image of the target object to be removed is obtained in a direction facing the target object to be removed, which is recorded as a positive image, and the positive image is transmitted to the operator through the dual-mode communication module; According to the forward image, the diameter of the mutually connected target removal objects is obtained, and the positions where the target removal objects are connected to each other are obtained, which are recorded as connection positions; Perform preliminary processing on the target removal object according to its diameter and connection position; After the preliminary processing is completed, an image of the target object to be removed is obtained at one side of the target object to be removed, which is recorded as a side image, and the side image is transmitted to the operator through the dual-mode communication module; According to the side image, the diameter of the target object to be removed and the connection position of the target object to be removed are obtained again, and according to the diameter and the connection position of the target object to be removed, the target object to be removed is processed again; After completing the secondary treatment, the remaining target removals are processed at the junction of the treatment area until the target removals within the safe distance are removed; The step of obtaining the distance between the target removal object and the electric wire comprises: Draw a plumb line connecting the target removal object and the wire and perpendicular to the wire; Get the lengths of all perpendicular lines and compare; Select the shortest vertical line as the distance between the target object and the wire, denoted as A; The step of comparing the acquired distance between the target removal object and the wire with the safety distance to determine whether to perform a processing operation on the target removal object includes: Set a safety distance B; Compare the distance A between the target removal object and the wire with the safety distance B; If A ≥ B, no processing operation is performed on the target removal object; If A<B, then the processing operation is performed on the target removal object; The step of obtaining the highest point of the target removal object for which the processing operation is to be performed comprises: Draw a horizontal plane passing through the location of the wire, and record it as the first reference plane; Draw a perpendicular line perpendicular to the first reference plane through the end of each target removal object, and obtain the length of all perpendicular lines; Compare the lengths of all vertical lines, and select the end of the target removal object corresponding to the vertical line with the longest length as the highest point of the target removal object; The target object to be removed is divided into a plurality of processing areas according to the highest point of the target object to be removed and the distance between the target object to be removed and the electric wire, including: Draw a plane passing through the line where the wire is and perpendicular to the first reference plane, and record it as the second reference plane; Obtaining the position where the first reference plane intersects with the target removal object, and recording it as the intersection point; Obtain the vertical distance from the intersection point to the second reference plane, and take 80% of the vertical distance as the comparison distance; Measure the length of the target removal object from the highest point of the target removal object to the intersection point along the target removal object, and record the position where the measurement is carried out as the measurement position; While measuring the length of the target removal object, obtaining the vertical distance between the measuring position and the second reference plane; Measure the length of the target removal object from the highest point of the target removal object toward the intersection point, record the measured length of the target removal object as D1, and simultaneously obtain the vertical distance between the measuring point and the second reference plane, record it as E1; When D1=E1×80%, the measurement bit is marked as the first marking bit; Dividing the target removal object into two processing areas at the first marking position; Obtain the length of the target removal object between the first mark position and the intersection position, recorded as F1; If F1≤comparison distance, stop measuring and divide the target removal object into two processing areas; If F1> the comparison distance, measure the length of the target removal object from the first mark position to the intersection position, and record the measured length of the target removal object as D2. At the same time, obtain the vertical distance between the measurement position and the second reference plane, which is recorded as E2. When D2=E2×80%, the measurement position is marked as the second marking position; The target removal object is divided again at the second marking position into three processing areas; Obtain the length of the target removal object between the second mark position and the intersection position, recorded as F2; If F2 ≤ comparison distance, stop measuring and divide the target removal object into three treatment areas; If F2> the comparison distance, the length of the target removal object is measured from the second mark position to the intersection position along the target removal object, and the measured length of the target removal object is recorded as D3. At the same time, the vertical distance between the measurement position and the second reference plane is obtained, which is recorded as E3; When D3=E3×80%, the measurement position is marked as the third marking position; The target removal object is divided again at the third marking position into four processing areas; Obtain the length of the target removal object between the third mark position and the intersection position, recorded as F3; If F3 ≤ comparison distance, stop measuring and divide the target removal object into four processing areas; If F3> the comparison distance, measure the length of the target removal object along the target removal object toward the intersection, and obtain D4 and E4, compare D4 with E4×80%, obtain a new mark position, obtain the length of the target removal object from the new mark position to the intersection, and compare it with the comparison distance to determine whether to continue to obtain a new mark position, and so on, until the length of the target removal object from the obtained mark position to the intersection is less than or equal to the comparison distance.

2. The suburban power line safety monitoring method based on the dual-mode communication module according to claim 1 is characterized in that: The method of acquiring the target removal object image in the direction facing the target removal object at the location of the wire, which is recorded as the positive image, includes: Projecting the area covered by the target removal onto the wire; Get the length of the wire covered by the projection; According to the length of the wire covered by the projection, the midpoint of the part covered by the projection is obtained on the wire and recorded as the positive point; At the positive point on the wire, the direction perpendicular to the second reference plane and pointing to the target removal object is taken as the direction facing the target removal object, which is recorded as the positive direction; The image of the target removal object is acquired in the positive direction at the positive point, which is recorded as the positive image.

3. The suburban power line safety monitoring method based on the dual-mode communication module according to claim 2 is characterized in that: The target removal object is preliminarily processed according to its diameter and connection position, including: The connection positions are marked in order from small to large according to the diameter of the target removal object corresponding to each connection position; Obtain the location of the target removal object with the largest diameter, and record the diameter of the target removal object with the largest diameter as M; Get the distance between each connection point and the forward point on the wire respectively; At the positive point on the wire, perform a cutting operation on each connection position; For each connection position, starting from the position of the forward point, when the total length of the removal is equal to the sum of the distance between the connection position and the forward point and M, the removal operation of the connection position is completed; Perform the removal operation on all current connection positions in the marked order to complete the preliminary processing of the target removal objects.

4. The suburban power line safety monitoring method based on the dual-mode communication module according to claim 3 is characterized in that: After the preliminary processing is completed, an image of the target object to be removed is obtained at one side of the target object to be removed, which is recorded as a side image, including: Get the target removal object with the largest diameter, and record it as the main removal object; Obtain the intersection point between the main clearing object and the first reference plane, and record it as the target intersection point; Projecting the area covered by the target removal onto the wire; Get the two endpoints of the wire covered by the projection; Select one of the endpoints and record it as the target endpoint; Draw a straight line parallel to the wire through the target intersection point, marked as line 1; Draw a straight line perpendicular to the wire through the target endpoint, marked as line No. 2; Get the intersection point of line 1 and line 2, and record it as the lateral point; With the lateral point pointing to the direction of the target intersection point, the target removal object image is obtained and recorded as the side image.

5. The suburban power line safety monitoring method based on the dual-mode communication module according to claim 4 is characterized in that: The step of obtaining the diameter of the target object to be removed and the connection position of the target object to be removed again according to the side image, and performing secondary processing on the target object to be removed according to the diameter and the connection position of the target object to be removed, includes: According to the side image, the diameter of the mutually connected target removal objects is obtained, and the connection position of the target removal objects is obtained; The connection positions are marked in order from small to large according to the diameter of the target removal object corresponding to each connection position; Obtain the distance between each connection position and the lateral point respectively; At the location of the lateral point, perform a resection operation on each connection site; For each connection position, starting from the position of the lateral point, when the total length of the resection is equal to the sum of the distance between the connection position and the lateral point and M, the resection operation of the connection position is completed; The removal operation is performed on all current connection positions in the marked order to complete the secondary processing of the target removal object.

6. The suburban power line safety monitoring method based on the dual-mode communication module according to claim 5 is characterized in that: After the secondary treatment is completed, the remaining target removal objects are processed at the junction of the treatment area until the target removal objects within the safe distance are removed, including: Get the distance between each marker position and the positive point; At the location of the positive point on the wire, starting from the highest point of the target removal object, perform the cutting operation toward each marked position in sequence; For each mark position, starting from the position of the forward point, when the total length of the removal is equal to the sum of the distance from the mark position to the forward point and M, the removal operation of the mark position is completed; Perform the removal operation on all marked positions until the target removal object within the safe distance is cleared.

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