Power transmission maintenance safety distance monitoring method and system

Abstract

The invention discloses a power transmission maintenance safety distance monitoring method and system. According to the method provided by the invention, the monitoring platform establishes the high-precision three-dimensional model corresponding to the to-be-overhauled power transmission line through the three-dimensional point cloud data collected by the unmanned aerial vehicle, and accurately captures the characteristics related to the to-be-overhauled power transmission line. The monitoring platform further configures the position range of the live transmission line in the three-dimensional model according to the preset maintenance data, and ensures that an enough safety interval is reserved between the maintainer and the live transmission line through the position range, so that the maintainer has enough response time when approaching danger. The monitoring platform judges whether the maintainer is close to the live transmission line side by monitoring whether the first positioning position is within the position range of the live transmission line in real time, and sends early warning information to the mobile terminal when the maintainer enters the position range, so as to remind the maintainer to be away from a live dangerous area in time. And the safety of maintainers is scientifically and effectively protected.

Description

Technical Field

[0001] The present application relates to the technical field of power systems, and in particular to a method and system for monitoring safe distances for power transmission maintenance. Background Art

[0002] When inspecting and maintaining transmission lines installed on the same tower, since there are two transmission lines on the same tower at the same time, even if the voltage of the transmission line that needs to be inspected is cut off during maintenance, the other transmission line will still be in a high-voltage and high-electricity state. If the maintenance personnel enter the side of the energized transmission line, personal injury or death will occur.

[0003] Among the related protection technologies, live working is mainly protected by manual monitoring, and personnel with rich practical experience in live working are responsible for monitoring the distance between maintenance personnel and live transmission lines. Due to the deviation of human senses, they cannot accurately grasp the safe distance, which poses a great safety hazard and will cause serious safety hazards to live working personnel. It is also time-consuming and laborious, resulting in poor reliability, stability and accuracy of this type of operation. Summary of the invention

[0004] In view of this, the present application provides a power transmission maintenance safety distance monitoring method and system, which can accurately monitor the position of maintenance personnel, prevent maintenance personnel from approaching the side of the energized transmission line, and reliably and stably protect the safety of maintenance personnel.

[0005] According to one aspect of the present application, a method for monitoring the safe distance of power transmission maintenance is provided, which is applied to a monitoring platform, and the monitoring platform can be communicatively connected with a drone and a mobile terminal. The method includes: receiving three-dimensional point cloud data corresponding to the power transmission line to be inspected sent by the drone, and a first positioning position sent by the mobile terminal; establishing a three-dimensional model corresponding to the power transmission line to be inspected according to the three-dimensional point cloud data; configuring the position range of the energized transmission line in the three-dimensional model according to preset maintenance data; and sending an early warning message to the mobile terminal if the first positioning position is within the position range of the energized transmission line.

[0006] Optionally, the location range of the energized transmission line includes multiple sub-ranges; configuring the location range of the energized transmission line in the three-dimensional model according to preset maintenance data includes: determining the energized transmission line and the voltage of the energized transmission line according to the preset maintenance data; determining a critical safety distance according to the voltage of the energized transmission line; offsetting the critical safety distance according to a preset distance to determine multiple available safety distances; determining multiple sub-ranges according to a target safety distance and the second positioning position of the energized transmission line, wherein the target safety distance includes the critical safety distance and multiple available safety distances.

[0007] Optionally, the sending of warning information to the mobile terminal includes: acquiring a valid time period of the location range; and sending the warning information to the mobile terminal if the current time is within the valid time period.

[0008] Optionally, the location range of the energized transmission line includes multiple sub-ranges; the power transmission maintenance safety distance monitoring method also includes: matching the first positioning position with the multiple sub-ranges, and determining the first preset information corresponding to the target sub-range matching the first positioning position as the early warning information.

[0009] Optionally, matching the first positioning position with the multiple sub-ranges includes: obtaining user information corresponding to the mobile terminal and user permissions of the multiple sub-ranges; and matching the first positioning position with the multiple sub-ranges where the user information complies with the user permissions.

[0010] Optionally, the power transmission maintenance safety distance monitoring method further includes: obtaining connection information of the mobile terminal; if the connection information meets preset valid information, determining that the mobile terminal is in a connected state, and receiving the first positioning position sent by the mobile terminal.

[0011] Optionally, the power transmission maintenance safety distance monitoring method further includes: configuring the maintenance range of the maintenance point in the three-dimensional model according to the preset maintenance data; if the first positioning position is within the maintenance range, sending maintenance prompt information to the mobile terminal.

[0012] According to another aspect of the present application, a method for monitoring the safe distance of power transmission maintenance is provided, which is applied to a drone, and the method comprises: scanning the power transmission line to be inspected according to a preset route, and acquiring three-dimensional point cloud data corresponding to the power transmission line to be inspected, wherein the preset route is determined based on a target sampling point in the power transmission line to be inspected that meets preset conditions; sending the three-dimensional point cloud data to a monitoring platform, so that the monitoring platform configures the position range of the energized transmission line according to the three-dimensional point cloud data, and sending a warning message to the mobile terminal when the first positioning position sent by the mobile terminal is within the position range of the energized transmission line.

[0013] According to another aspect of the present application, a method for monitoring the safe distance of power transmission maintenance is provided, which is applied to a mobile terminal, and the method includes: obtaining a positioning signal with a preset accuracy, and determining the first positioning position based on the positioning signal; sending the first positioning position to a monitoring platform, so that when the monitoring platform detects that the first positioning position is within the position range of a live transmission line, an early warning message is sent to the mobile terminal; receiving the early warning message sent by the monitoring platform; and displaying the early warning message.

[0014] According to another aspect of the present application, a power transmission maintenance safety distance monitoring system is provided, wherein the system comprises:

[0015] A monitoring platform is used to be able to communicate with the drone and the mobile terminal, receive the three-dimensional point cloud data corresponding to the power transmission line to be repaired sent by the drone, and the first positioning position sent by the mobile terminal; establish a three-dimensional model corresponding to the power transmission line to be repaired according to the three-dimensional point cloud data; configure the position range of the energized transmission line in the three-dimensional model according to the preset maintenance data; if the first positioning position is within the position range of the energized transmission line, send an early warning message to the mobile terminal;

[0016] A drone is used to scan a power transmission line to be repaired according to a preset route, and obtain three-dimensional point cloud data corresponding to the power transmission line to be repaired, wherein the preset route is determined according to a target sampling point in the power transmission line to be repaired that meets preset conditions; the three-dimensional point cloud data is sent to a monitoring platform, so that the monitoring platform configures a position range of the energized transmission line according to the three-dimensional point cloud data, and sends an early warning message to the mobile terminal when the first positioning position sent by the mobile terminal is within the position range of the energized transmission line;

[0017] A mobile terminal is used to obtain a positioning signal with a preset accuracy and determine the first positioning position based on the positioning signal; send the first positioning position to a monitoring platform so that when the monitoring platform detects that the first positioning position is within the position range of an energized power transmission line, it sends an early warning message to the mobile terminal; receive the early warning message sent by the monitoring platform; and display the early warning message.

[0018] By means of the above technical scheme, the present application provides a method and system for monitoring the safe distance of power transmission maintenance. The monitoring platform establishes a high-precision three-dimensional model corresponding to the power transmission line to be repaired through the three-dimensional point cloud data collected by the drone, so as to accurately capture the features related to the power transmission line to be repaired in the actual maintenance scene, and improve the accuracy of subsequent monitoring. The monitoring platform further configures the position range of the live transmission line in the three-dimensional model according to the preset maintenance data, and ensures that there is enough safety interval between the maintenance personnel and the live transmission line through the position range, so that the maintenance personnel have enough reaction time when approaching the danger. The monitoring platform determines whether the maintenance personnel are close to the side of the live transmission line by real-time monitoring of whether the first positioning position of the mobile terminal is within the position range of the live transmission line, and sends an early warning message to the mobile terminal when the maintenance personnel enters the position range, so as to remind the maintenance personnel to stay away from the dangerous area with electricity in time, reduce the risk of electric shock, and scientifically and effectively protect the safety of the maintenance personnel.

[0019] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 A schematic diagram of a process flow of a power transmission maintenance safety distance monitoring method provided in an embodiment of the present application is shown;

[0022] Figure 2 The structural block diagram of the power transmission maintenance safety distance monitoring system provided by the embodiment of the present application is shown;

[0023] Figure 3 A schematic diagram of the cross-sectional structure of multiple sub-ranges provided in an embodiment of the present application is shown;

[0024] Figure 4 A structural schematic diagram corresponding to the maintenance scope provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as limiting the present application.

[0027] Those skilled in the art will appreciate that, unless expressly stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, or there may be intermediate elements. In addition, the "connection" or "connection" used herein may include wireless connection or wireless fusion. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0028] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0029] In one embodiment, referring to Figure 2 As shown, a power transmission maintenance safety distance monitoring method is provided, which can be applied to drones, monitoring platforms and mobile terminals, wherein the monitoring platform can communicate with the drones and mobile terminals. This embodiment is described by taking the method applied to drones, monitoring platforms and mobile terminals as an example, and includes the following steps:

[0030] S101, the UAV scans the transmission line to be inspected according to the preset route, obtains the three-dimensional point cloud data corresponding to the transmission line to be inspected, and sends the three-dimensional point cloud data to the monitoring platform.

[0031] Among them, the preset route is determined based on the target sampling points that meet the preset conditions in the transmission line to be inspected.

[0032] It should be noted that the preset conditions are determined based on the more complex or highly variable structures in the actual maintenance environment, such as the height difference and turning points of the towers corresponding to the transmission lines to be repaired. Determining the target sampling points and thus the preset routes based on the preset conditions can more accurately capture the shapes and features in the actual maintenance environment, improve the accuracy of the three-dimensional point cloud data, and thus make the three-dimensional model established by the monitoring platform in the subsequent steps clearer and more accurate, thereby improving the quality of the three-dimensional model.

[0033] In this embodiment, the drone scans the transmission line to be inspected and the towers corresponding to the transmission line to be inspected according to a preset route, and collects high-resolution three-dimensional point cloud data corresponding to the transmission line to be inspected. Without direct contact with the transmission line to be inspected, measurement can be performed in complex environments and hard-to-reach places, and accurate three-dimensional spatial information related to the transmission line to be inspected can be obtained, providing a reliable data basis for the subsequent construction of a high-precision three-dimensional model.

[0034] Furthermore, the drone is equipped with a laser radar to scan the transmission lines to be inspected and the corresponding towers of the transmission lines to be inspected, and the drone is equipped with a high-precision positioning function, so that the drone can fly accurately according to the preset route, ensuring that the three-dimensional point cloud data collected by the drone has extremely high accuracy in spatial position.

[0035] Exemplarily, the drone is equipped with a laser radar to scan the transmission line to be inspected and the towers corresponding to the transmission line to be inspected, and the high-precision positioning function is configured for the drone through the Beidou RTK (Real-Time Kinematic) service. In specific operations, first ensure that the drone used and the remote control for operating the drone are bound. Then configure the parameters related to the Beidou RTK service to achieve the high-precision positioning function of the drone. For example, the network RTK server is determined through NTRIPhost, NTRIPhost is set to the CORS account IP address, and a valid CORS account and CORS account password are entered. After the connection is successful, the Beidou RTK service can be configured for the drone, and the corresponding mount point is set for the Beidou RTK service so that the Beidou RTK service can access the data.

[0036] Furthermore, after the drone is equipped with a high-precision positioning function, before collecting three-dimensional point cloud data, it is necessary to determine the preset route for the drone to collect. Specifically, first conduct a manual on-site survey, observe the drone's operating path, take photos and record the dangerous and difficult points, determine the take-off and landing points of each route, and then determine the target sampling points, and determine the route planning scheme corresponding to the preset route based on the target sampling points. Then use the drone's built-in "online task recording" function to allow the drone to shoot and collect data on each tower with height differences and turns according to the route planning scheme. After completing the route recording, the preset route can be generated.

[0037] Then, set the parameters involved in the drone flight. For example, set the drone's flight altitude to 15-25m above the measured object to reduce the impact of nearby high-rise buildings on the collection; in general, the maintenance conditions are complex, and there are multiple layers of objects at different heights at the same coordinate position. The flight speed needs to be relatively reduced to scan as much information as possible. Therefore, the drone's flight speed is set to 5m / s and the altitude is set to follow the route to keep it consistent with the collection height; the drone's aircraft yaw angle is set to the direction of the route to ensure that the nose direction is the route direction during scanning; the drone's gimbal control is set to manual control, and the route type is set to "straight flight, the aircraft stops at the point". In addition, when the drone reaches the first target sampling point in the preset route, it starts to take interval photos and start recording the point cloud model. The time interval for taking photos is set to 2 seconds, and the interval photo taking and point cloud model recording end when the drone reaches the last target sampling point in the preset route. The intermediate target sampling points do not need to be set. The drone will continue to record point clouds and take interval photos during flight; then set the drone's speed, aircraft yaw angle, and waypoint type to follow the waypoint action.

[0038] Furthermore, the specific parameters of the laser radar are set, such as setting the laser radar scanning mode to non-repetitive scanning to obtain more object facade information, taking into account both efficiency and quality. Set the pan / tilt angle to -90°. Set the echo mode to three echoes to reduce the omission of point clouds such as towers, wires, trees, guy wires, optical fibers, and network cables due to occlusion. Set the sampling frequency to 160KHz / echo so that the collected 3D point cloud data has the highest point cloud density.

[0039] Finally, the original 3D point cloud data collected by the laser radar is imported into the built-in processor of the drone, and the coordinate system of WGS84 is adopted. The original 3D point cloud data is processed by the processor in the drone to optimize the accuracy, so that each segment of the original 3D point cloud data meets the preset requirements. For example, the data collected by multiple laser radars can be seamlessly connected. The original 3D point cloud data that meets the preset requirements is determined as the 3D point cloud data corresponding to the transmission line to be transmitted, and the 3D point cloud data is sent to the monitoring platform.

[0040] S102: The mobile terminal obtains a positioning signal with a preset accuracy, determines a first positioning position according to the positioning signal, and sends the first positioning position to a monitoring platform.

[0041] In this embodiment, the mobile terminal is integrated with a positioning device, which can obtain a positioning signal of preset accuracy in real time to accurately locate the real-time position of the maintenance personnel, that is, the first positioning position, and promptly send the first positioning position to the monitoring platform, providing reliable support for the precise monitoring of the monitoring platform in subsequent steps.

[0042] In actual maintenance scenarios, the mobile terminal can be a smart mobile device used by maintenance personnel, which has a positioning function and can obtain positioning signals in real time, such as a smart helmet. Among them, the smart helmet can communicate with other devices through Bluetooth, USB or local area network. In addition, the smart helmet is integrated with a positioning module, which can accurately locate the user wearing the smart helmet.

[0043] Exemplarily, taking the above-mentioned smart helmet as an example, since the smart helmet lacks an operating interface, the debugging software in the mobile phone is used to set the relevant information of the positioning module in the smart helmet. First, the smart helmet is connected to the debugging software via Bluetooth using the device body number of the smart helmet, so that the debugging software can query the relevant information of the smart helmet, for example, query the device information of the smart helmet, determine the strength of the network signal currently connected to the smart helmet, and the battery power of the smart helmet. Further, confirm in the debugging software whether the registration information of the smart helmet is expired. If it is expired, it is necessary to re-register according to the registration code information of the smart helmet to ensure the normal operation of the positioning module of the smart helmet, so that the smart helmet can successfully obtain the positioning signal. In addition, after completing the registration of the smart helmet, it is necessary to restart the smart helmet or exit the debugging software and log in again to ensure that the registration code information takes effect.

[0044] It should be noted that before maintenance personnel carry out maintenance work, it is necessary to ensure that the positioning signal acquired by the mobile terminal can reach the preset accuracy to reduce the monitoring error of this embodiment, ensure that the mobile terminal can accurately locate the real-time position of the maintenance personnel, and improve the accuracy and reliability of monitoring.

[0045] Exemplarily, when the smart helmet is connected to the debugging software via Bluetooth and the smart helmet is not expired, the relevant information of the positioning signal obtained by the smart helmet can be viewed in the debugging software, such as the current latitude and longitude information of the smart helmet and the solution status. The solution status includes single-point positioning, pseudo-range differential, floating solution and fixed solution. If the solution status of the positioning signal is a fixed solution, it indicates that the accuracy of the current positioning signal has reached the desired optimal state. However, if the smart helmet is not configured with a differential account, the solution status of the positioning signal obtained by the smart helmet cannot reach a fixed solution, and can only reach single-point positioning at most, but cannot achieve high-precision positioning. Therefore, when the solution status of the positioning signal reaches single-point positioning, when the smart helmet has successfully connected to the Internet, the relevant information of the differential account is entered in the mobile phone to enable the smart helmet to log in to the differential account, so that the solution status of the positioning signal of the smart helmet reaches a fixed solution. Among them, the network used to log in to the differential account can be freely switched to 4G or WiFi according to the needs of the user. If the smart helmet fails to successfully log in to the differential account, it can be checked by checking whether the network connected to the smart helmet and the differential account are normal. If the source node list can be successfully popped up when obtaining the source node, it means that the network of the smart helmet is normal.

[0046] In one embodiment, the maintenance safety distance monitoring method described in this embodiment also includes: the monitoring platform obtains the connection information of the mobile terminal; if the connection information meets the preset valid information, the monitoring platform determines that the mobile terminal is in a connected state and receives the first positioning position sent by the mobile terminal.

[0047] In this embodiment, the mobile terminal is connected to the monitoring platform through connection information so that the monitoring platform can successfully receive the first positioning position sent by the mobile terminal, thereby determining the real-time position of the maintenance personnel, ensuring the normal progress of the entire monitoring process, effectively protecting the safety of the maintenance personnel, and improving the accuracy and reliability of monitoring.

[0048] It should be noted that the preset valid information is set according to the relevant information of the mobile terminal. It only needs to ensure that when the connection information of the mobile terminal meets the preset valid information, the monitoring platform can successfully receive the first positioning position sent by the mobile terminal. This application does not make any specific restrictions.

[0049] For example, the mobile terminal in the above embodiment is a smart helmet. Since the smart helmet lacks an operation interface, the information required for the smart helmet to connect to the monitoring platform is set through the desktop control software so that the smart helmet can successfully connect to the monitoring platform. First, the smart helmet is connected to the computer via USB, and the connection information for the smart helmet to log in to the monitoring platform is entered in the desktop control software, such as the server IP address and corresponding port for the smart helmet to log in to the monitoring platform. If the connection information of the smart helmet meets the preset valid information of the monitoring platform, the mobile terminal is successfully connected to the monitoring platform, so that the monitoring platform can successfully receive the first positioning position sent by the mobile terminal.

[0050] S103, the monitoring platform receives the three-dimensional point cloud data corresponding to the power transmission line to be repaired sent by the drone and the first positioning position sent by the mobile terminal;

[0051] S104, the monitoring platform establishes a three-dimensional model corresponding to the transmission line to be inspected based on the three-dimensional point cloud data.

[0052] In this embodiment, the monitoring platform determines the three-dimensional model corresponding to the transmission line to be inspected based on the three-dimensional point cloud data sent by the drone, and restores the actual form and structure of the maintenance environment corresponding to the transmission line to be inspected with a high degree of authenticity, so as to meet the high-precision requirements during power grid maintenance, thereby using the three-dimensional model to reliably protect the maintenance personnel in subsequent steps.

[0053] It should be noted that the present application does not impose any specific restrictions on the method of determining the three-dimensional model based on the three-dimensional point data, and it is sufficient to establish a high-precision three-dimensional model based on the three-dimensional point cloud data.

[0054] Exemplarily, the 3D modeling software in the related technology can be used. First, the monitoring platform uploads the 3D point cloud data to the 3D modeling software. The 3D modeling software processes the 3D point cloud data in blocks. After the processing is completed, the 3D point cloud data can be opened in the 3D modeling software. Furthermore, in the 3D modeling software, the 3D point cloud data is displayed by elevation, and the poles are numbered from left to right according to the actual direction of the poles; then, all files corresponding to the 3D point cloud data are cropped, and the cropping width is set to half the width of the corridor; after the cropping is completed, all files corresponding to the 3D point cloud data are automatically classified. After the classification is completed, all files corresponding to the 3D point cloud data are opened, and the 3D point cloud data is displayed by type to generate a 3D model.

[0055] S105, the monitoring platform configures the location range of the energized transmission line in the three-dimensional model according to the preset maintenance data.

[0056] In this embodiment, the monitoring platform determines the live transmission lines that may have safety hazards in the three-dimensional model based on the preset maintenance data, and uses the location range of the live transmission lines as an electronic fence. The location range ensures that there is enough safety distance between the maintenance personnel and the live transmission lines, so that the maintenance personnel have enough reaction time when approaching danger. At the same time, the electronic fence has accurate elevation geographical location information, which can accurately monitor the maintenance personnel, thereby further improving the reliability of the monitoring of this application.

[0057] It should be noted that the preset maintenance data is set according to the maintenance plan that has been formulated in the actual maintenance scenario. For example, the preset maintenance data includes the maintenance time period, maintenance personnel, mobile devices used by maintenance personnel, the name and voltage of the transmission line to be maintained, the name and voltage of the energized transmission line, maintenance points, and maintenance content corresponding to the maintenance points.

[0058] The location range of the energized transmission line may include multiple sub-ranges, and different sub-ranges correspond to different degrees of danger.

[0059] Further, as a refinement and extension of the specific implementation methods of the above-mentioned embodiment, in order to fully illustrate the specific implementation process of this embodiment, S105, that is, the step of the monitoring platform configuring the location range of the energized transmission line in the three-dimensional model according to the preset maintenance data, specifically includes: the monitoring platform determines the energized transmission line and the voltage of the energized transmission line according to the preset maintenance data; the monitoring platform determines the critical safety distance according to the voltage of the energized transmission line; the monitoring platform offsets the critical safety distance according to the preset distance to determine multiple available safety distances; the monitoring platform determines multiple sub-ranges according to the target safety distance and the second positioning position of the energized transmission line, wherein the target safety distance includes the critical safety distance and multiple available safety distances.

[0060] In this embodiment, the monitoring platform determines the minimum safe distance between the maintenance personnel and the live transmission line according to the voltage of the live transmission line, takes the minimum safe distance as the critical safety distance, and sequentially sets multiple sub-ranges around the live transmission line in the three-dimensional model according to the preset distance and the critical safety distance. Through the sequentially divided sub-ranges, a multi-layer danger warning prompt is formed to prevent the maintenance personnel from unconsciously entering the dangerous area less than the critical safety distance directly, thereby reducing the possibility of accidents.

[0061] It should be noted that the minimum safety distance is the minimum distance that must be maintained between a person and a live object when performing live operations. The minimum safety distance is used to prevent dangerous factors such as arcs and electric shocks from causing harm to maintenance personnel.

[0062] Specifically, the monitoring platform determines the live transmission line and the voltage of the live transmission line in the three-dimensional model according to the preset maintenance data, and determines the critical safety distance according to the voltage of the live transmission line. Further, the monitoring platform takes the live conductor in the live transmission line as the center, determines the first sub-range according to the critical safety distance, and sets the first preset information corresponding to the first sub-range. Further, the monitoring platform performs a first offset processing on the critical safety distance according to the preset distance, determines the first available safety distance, and determines the second sub-range according to the critical safety distance and the first available safety distance, and sets the first preset information corresponding to the second sub-range. Similarly, the monitoring platform performs a second offset processing on the critical safety distance according to the preset distance, determines the second available safety distance, and determines the third sub-range according to the first available safety distance and the second available safety distance, and sets the first preset information corresponding to the third sub-range. Similarly, multiple sub-ranges can be set in sequence according to actual maintenance needs, and the first preset information corresponding to the sub-ranges can be set.

[0063] Exemplarily, the minimum safety distance corresponding to different voltages specified in the "Electric Power Safety Work Regulations" ("Safety Regulations") is used as the critical safety distance. For example, when the live transmission line is 10kV, the corresponding critical safety distance is 0.7 meters, when the live transmission line is 35kV, the corresponding critical safety distance is 1 meter, when the live transmission line is 110kV, the corresponding critical safety distance is 1.5 meters, when the live transmission line is 220kV, the corresponding critical safety distance is 3 meters, and when the live transmission line is 500kV, the corresponding critical safety distance is 5 meters. The preset distance can be set according to the specific situation in the actual maintenance scenario, and this application does not make specific restrictions. For example, the preset distance is set to 0.5 meters, 1 meter, 5 meters, etc.

[0064] Furthermore, different first preset information and warning prompt modes for warning can be configured for different sub-ranges determined by different available safety distances, so that the user can intuitively perceive the current danger level. Figure 3 As shown, the monitoring platform determines the first available safety distance based on the sum of the preset distance and the critical safety distance, and determines the sum of the preset distance and the first available safety distance as the second available safety distance. The monitoring platform takes the live wire 304 in the live transmission line as the center, and sets the area whose vertical distance to the live wire 304 is greater than the first available safety distance and less than or equal to the second available safety distance as the third sub-range 303. If the maintenance personnel enter the third sub-range 303, it means that the maintenance personnel have approached the dangerous area with electricity, which is prone to danger. Therefore, the first preset information corresponding to the third sub-range 303 is used to prompt the maintenance personnel to stay away from the area. For example, the first preset information corresponding to the third sub-range 303 includes voice information, and the content of the voice information is: You are close to the dangerous area with electricity, please stay away.

[0065] Furthermore, if Figure 3 As shown, the monitoring platform takes the live conductor 304 in the live transmission line as the center, and sets the area whose vertical distance to the live conductor is greater than the critical safety distance and less than or equal to the first available safety distance as the second sub-range 302. If the maintenance personnel enter the second sub-range 302, it means that the maintenance personnel are close to the live dangerous area and should be prohibited from moving forward and move away immediately. Therefore, the first preset information corresponding to the second sub-range 302 is used to remind the maintenance personnel of their own location and to move away immediately. For example, the first preset information corresponding to the second sub-range 302 includes voice information and music information, and the voice information content is: You are close to the live area, you are prohibited from moving forward and move away immediately, and the music information is a siren.

[0066] Furthermore, if Figure 3 As shown, the monitoring platform takes the live wire 304 in the live transmission line as the center, and sets the area whose vertical distance to the live wire 304 is less than or equal to the critical safety distance as the first sub-range 301. The first sub-range 301 is a dangerous area with electricity, and maintenance personnel are prohibited from entering. If maintenance personnel enter the first sub-range 301, casualties will occur. Therefore, the first preset information corresponding to the first sub-range 301 is used to prompt the surrounding personnel to rescue. For example, the first preset information corresponding to the first sub-range 301 includes language information, and the content of the language information is: there are casualties, and rescue is carried out immediately.

[0067] It is worth mentioning that in order to reduce the computing pressure of the monitoring platform, in addition to setting the position range according to the vertical distance between the live wire and the live wire, the size of the position range can also be constrained according to the length of the live transmission line that needs to be monitored. For example, there is no need to set the position range outside the entire live transmission line. The length of the live transmission line that needs to be monitored can be determined according to the maintenance point. For example, the length of the monitored live transmission line is centered on the maintenance point and extends 5 meters forward and backward. Therefore, the position range only needs to be set around this 10-meter live transmission line, which saves the computing resources of the monitoring platform while ensuring the safety of maintenance personnel.

[0068] For example, based on the above-mentioned sub-range setting principle, the danger zone, warning zone and prompt zone can be set with the live wire as the center. The danger zone is a cylinder with a radius of r meters, the minimum safety distance (critical safety distance) specified in the "Electric Power Safety Work Regulations" ("Safety Regulations"), the warning zone is a hollow cylinder with an inner diameter of r meters and an outer diameter of r+0.5 meters, and the prompt zone is a hollow cylinder with an inner diameter of r+0.5 meters and an outer diameter of r+1 meters. The length of the danger zone, warning zone and prompt zone is set to 10 meters.

[0069] It should be noted that the method of setting the electronic fence (early warning position range) in the three-dimensional model is not specifically limited in this application, and it is only necessary to successfully set the electronic fence in the three-dimensional model. For example, the electronic fence setting software in the relevant technology can be used, and the monitoring platform imports the three-dimensional model into the electronic fence setting software. In the electronic fence setting software, the transmission line in the three-dimensional model is subjected to a safety check to ensure that the three-dimensional model can still be correctly identified after being imported into the electronic fence setting software, and that the transmission lines in the three-dimensional model are correctly connected. Then the monitoring platform sets the electronic fence in the three-dimensional model according to the setting principle of the position range. After the electronic fence is set, it is necessary to ensure that the coverage rate of the electronic fence on the live transmission line reaches a preset value, and to ensure that the electronic fence is accurately set according to the voltage of the live transmission line.

[0070] S106: If the first positioning position is within the position range of the energized power transmission line, the monitoring platform sends an early warning message to the mobile terminal.

[0071] In this embodiment, the monitoring platform monitors the maintenance personnel in real time according to the first positioning position, and when the first positioning position is within the location range of the energized power transmission line, it promptly sends an early warning message to the mobile terminal to prompt the maintenance personnel to stay away from the energized dangerous area as soon as possible to prevent accidents to the maintenance personnel.

[0072] Furthermore, as a refinement and expansion of the specific implementation methods of the above-mentioned embodiment, in order to fully illustrate the specific implementation process of this embodiment, the step of the monitoring platform sending warning information to the mobile terminal specifically includes: the monitoring platform obtains the valid time period of the location range; if the current time is within the valid time period, the monitoring platform sends a warning information to the mobile terminal.

[0073] In this embodiment, the monitoring platform makes the location range valid within a specific time period according to actual maintenance needs, accurately controls the monitoring time, avoids sending erroneous warning information to the mobile terminal, and saves resources and energy consumption.

[0074] Exemplarily, the monitoring platform determines the effective time period according to the maintenance time period in the preset maintenance data, and limits the response time of the position range through the effective time period. Exemplarily, if the current moment is within the effective time period, when the first positioning position is within the position range of the energized power transmission line, the monitoring platform sends an early warning message to the mobile terminal. For example, continuing to take the electronic fence described in S104 as an example, when the electronic fence is set in the three-dimensional model according to the setting principle of the position range, the start time and end time of the electronic fence can be further limited according to the maintenance time period in the preset maintenance data, so as to flexibly adjust the effective time of the electronic fence according to different maintenance scenarios and time requirements, better meet the complex and changeable maintenance needs, and close the electronic fence when it is not necessary to monitor the maintenance personnel, thereby reducing the operating cost of the monitoring platform. At the same time, the electronic fence is set to send an early warning message to the mobile terminal if the maintenance personnel cross the electronic fence when the electronic fence is effective.

[0075] In one embodiment, the power transmission maintenance safety distance monitoring method described in this embodiment also includes: the monitoring platform matches the first positioning position with multiple sub-ranges, and determines the first preset information corresponding to the target sub-range matching the first positioning position as warning information.

[0076] In this embodiment, the monitoring platform sends different warning information to the mobile terminal according to the different sub-ranges entered by the maintenance personnel, so that the maintenance personnel can clearly know their location. Thus, before the maintenance personnel mistakenly enter the dangerous area with electricity, the maintenance personnel are accurately reminded to stay away, effectively protecting the safety of the maintenance personnel.

[0077] For example, Figure 3 As shown, take the first sub-range 301, the second sub-range 302 and the third sub-range 303 in S104 as an example. If the first positioning position is within the third sub-range 303, the monitoring platform determines the first preset information corresponding to the third sub-range 303 as the warning information, and sends the warning information to the mobile terminal. If the first positioning position is within the second sub-range 302, the monitoring platform determines the first preset information corresponding to the second sub-range 302 as the warning information, and sends the warning information to the mobile terminal. If the first positioning position is within the first sub-range 301, the monitoring platform determines the first preset information corresponding to the first sub-range 301 as the warning information, and sends the warning information to the mobile terminal.

[0078] It is worth mentioning that in actual maintenance scenarios, the first sub-range is a dangerous area with electricity, and the entry of maintenance personnel will cause serious safety incidents. Therefore, if maintenance personnel enter the second sub-range, in addition to the mobile terminal displaying warning information, human intervention is also required to remind maintenance personnel to stay away from the dangerous area with electricity in time, so as to provide double protection and ensure the safety of maintenance personnel.

[0079] Furthermore, as a refinement and extension of the specific implementation methods of the above-mentioned embodiment, in order to fully illustrate the specific implementation process of this embodiment, the monitoring platform matches the first positioning position with multiple sub-ranges, specifically including: the monitoring platform obtains the user information corresponding to the mobile terminal and the user permissions of the multiple sub-ranges; the monitoring platform matches the first positioning position with multiple sub-ranges whose user information conforms to the user permissions.

[0080] In this embodiment, the monitoring platform sets different location ranges for different users, so as to accurately remind different personnel close to the dangerous area with live electricity, prevent any personnel from mistakenly entering, and improve the comprehensiveness of monitoring.

[0081] Specifically, the users who can enter the location range include multiple types. Accordingly, when configuring the location range in S104, different location ranges are set for different types of users, and the first preset information corresponding to different location ranges is also different. Exemplarily, the users who can enter the location range include a first user, a second user, and a third user. Accordingly, when configuring the location range in S104, a first location range is set for the first user, a second location range is set for the second user, and a third location range is set for the third user. Among them, the first location range, the second location range, and the third location range all include multiple sub-ranges. And the first preset information corresponding to each sub-range is different. Further, if the user information corresponding to the mobile terminal matches the first user, the first positioning position is matched with multiple sub-ranges in the first location range, and in a subsequent step, the first preset information corresponding to the target sub-range in the first location range that matches the first positioning position is determined as the warning information. Similarly, if the user information corresponding to the mobile terminal matches the second user, the first positioning position is matched with multiple sub-ranges in the second position range, and in the subsequent steps, the first preset information corresponding to the target sub-range matching the first positioning position in the second position range is determined as the warning information. Similarly, if the user information corresponding to the mobile terminal matches the third user, the first positioning position is matched with multiple sub-ranges in the third position range, and in the subsequent steps, the first preset information corresponding to the target sub-range matching the first positioning position in the third position range is determined as the warning information. For example, in an actual maintenance scenario, the position range corresponding to the user who cannot perform maintenance operations is larger than the position range corresponding to the user who performs this maintenance operation, so that the user who cannot perform maintenance operations will be reminded in time when he just approaches the tower corresponding to the power transmission line to be repaired, thereby greatly reducing the risk of the user entering by mistake. In addition, the first preset information corresponding to the user who cannot perform maintenance operations has a greater warning degree than the first preset information corresponding to the user who performs this maintenance operation, so that the user who enters by mistake can clearly understand the seriousness of the mistake, and the user who enters by mistake can stay away as soon as possible, thereby more comprehensively and reliably protecting the safety of various users.

[0082] S107, the mobile terminal receives the warning information sent by the monitoring platform;

[0083] S108, the mobile terminal displays warning information.

[0084] In this embodiment, after receiving the warning information sent by the monitoring platform, the mobile terminal promptly displays the warning information to remind the maintenance personnel to stay away from the dangerous area with electricity as soon as possible, thereby effectively protecting the safety of the maintenance personnel.

[0085] In one embodiment, the power transmission maintenance safety distance monitoring method described in this embodiment also includes: the monitoring platform configures the maintenance range of the maintenance point in the three-dimensional model according to preset maintenance data; if the first positioning position is within the maintenance range, the monitoring platform sends a maintenance prompt information to the mobile terminal; the mobile terminal receives the maintenance prompt information sent by the monitoring platform; and the mobile terminal displays the maintenance prompt information.

[0086] The maintenance range includes a first maintenance sub-range and a second maintenance sub-range.

[0087] It should be noted that the preset maintenance data is the maintenance plan of the transmission line, including maintenance points, fault problems, maintenance conditions, etc. The maintenance scope can be reasonably set according to the fault problems and maintenance conditions of the maintenance points.

[0088] In this embodiment, the monitoring platform determines the maintenance points that need to be maintained in the three-dimensional model according to the preset maintenance data, and uses the maintenance range of the maintenance points as an electronic fence. The maintenance range prompts maintenance personnel to approach the maintenance points to prevent them from accidentally entering dangerous areas with electricity.

[0089] Furthermore, the same as the principle of position range setting, as a refinement and extension of the specific implementation method of the above-mentioned embodiment, in order to fully illustrate the specific implementation process of this embodiment, the monitoring platform configures the maintenance range of the maintenance point in the three-dimensional model according to the preset maintenance data, specifically including: the monitoring platform determines the maintenance point according to the preset maintenance data, and determines the prompt point according to the maintenance point; the monitoring platform determines the first maintenance sub-range according to the third positioning position of the prompt point and the preset prompt distance; the monitoring platform determines the second maintenance sub-range according to the fourth positioning position of the maintenance point and the preset maintenance distance.

[0090] In this embodiment, the monitoring platform determines the maintenance point in the three-dimensional model according to the preset maintenance data, and determines the prompt point according to the maintenance point; further, the monitoring platform sets a first maintenance sub-range around the prompt point in the three-dimensional model, and second preset information corresponding to the first maintenance sub-range, and sets a second maintenance sub-range around the maintenance point in the three-dimensional model, and second preset information corresponding to the second maintenance sub-range, and at the same time, different second preset information and prompt methods for prompting are configured for different maintenance sub-ranges, so that users can clearly understand the location of the maintenance point and the content that needs to be maintained, helping maintenance personnel to find the maintenance point more accurately and reducing the possibility of getting lost or finding the wrong location in a complex transmission line environment.

[0091] For example, Figure 4 As shown, the monitoring platform determines the maintenance point 402 in the three-dimensional model according to the preset maintenance data, and determines the prompt point 401 at the end of the crossarm where the maintenance point 402 is located close to the tower. The monitoring platform takes the prompt point 401 as the center, and sets the area whose vertical distance to the prompt point 401 is less than or equal to the preset prompt distance as the first maintenance sub-range. If the maintenance personnel enters the first maintenance sub-range, it means that the maintenance personnel are close to the crossarm where the maintenance point is located. Therefore, the second preset information corresponding to the first maintenance sub-range is used to prompt the maintenance personnel of the position of the crossarm where the maintenance point is located, and prompt the maintenance personnel to move closer to the maintenance point. For example, the second preset information corresponding to the first maintenance sub-range includes voice information, and the content of the voice information is: The maintenance point is located on this crossarm, please move slowly to the left (right) end.

[0092] Furthermore, the monitoring platform takes the maintenance point 402 as the center, and sets the area whose vertical distance to the maintenance point 402 is less than or equal to the preset maintenance distance as the second maintenance sub-range. If the maintenance personnel enters the second maintenance sub-range, it is determined that the maintenance point is near the maintenance personnel, and the maintenance personnel can start the maintenance work. Therefore, the second preset information corresponding to the second maintenance sub-range is used to prompt the maintenance content. For example, the second preset information corresponding to the second maintenance sub-range includes voice information, and the content of the voice information is: You have arrived near the maintenance point, please eliminate the preset defects. Among them, the preset defects are set according to the maintenance content corresponding to the preset maintenance point in the preset maintenance data.

[0093] It should be noted that the preset reminder distance needs to be much smaller than the distance between adjacent crossarms. On the premise of being able to remind the maintenance personnel of the crossarm they are going to reach, the second maintenance range should be prevented from being too large and too close to the adjacent crossarms, so as to prevent the maintenance personnel from confusing the crossarm where the current maintenance point is located. For example, the preset reminder distance is set according to one-fourth of the distance between the crossarms on the tower corresponding to the transmission line to be repaired, so as to accurately locate the crossarm where the maintenance point is located, and prevent the second maintenance range from being close to the adjacent crossarms.

[0094] Similarly, the preset maintenance distance also needs to be much smaller than the distance between adjacent crossarms, under the premise of being able to remind maintenance personnel of the location of the maintenance point, to avoid the situation where the first maintenance range overlaps when there are maintenance points on adjacent crossarms, and to prevent maintenance personnel from confusing the maintenance content of the current maintenance point. For example, the preset maintenance distance is determined according to the maintenance content corresponding to the maintenance point. If the fault problem at the maintenance point is more serious and the maintenance situation is more complicated, the maintenance distance will be set relatively small so that maintenance personnel can accurately locate the fault point.

[0095] It is worth mentioning that if there are multiple maintenance points, when the monitoring platform detects that the same maintenance personnel enters the first maintenance sub-range corresponding to the current maintenance point for the second time, the monitoring platform determines that the maintenance content corresponding to the current maintenance point has been completed. If all maintenance points have been completed, the monitoring platform will prompt the maintenance personnel through the second preset information corresponding to the first maintenance sub-range that the maintenance task has been completed and prompt the maintenance personnel to get off the tower safely. If there are still maintenance points that have not been maintained, the monitoring platform will prompt the maintenance personnel to the location of the next maintenance point through the second preset information corresponding to the first maintenance sub-range.

[0096] In one embodiment, similar to the principle of matching early warning information, the power transmission maintenance safety distance monitoring method described in this embodiment also includes: the monitoring platform matches the first positioning position with multiple maintenance sub-ranges, and determines the second preset information corresponding to the target maintenance sub-range matching the first positioning position as the maintenance prompt information.

[0097] In this embodiment, the monitoring platform determines the relative position of the maintenance personnel and the maintenance point by matching the first positioning position with multiple maintenance sub-ranges, thereby guiding the maintenance personnel's movement path to avoid going wrong or getting lost, allowing the maintenance personnel to find the maintenance point more quickly and accurately.

[0098] For example, take the first maintenance sub-range and the second maintenance sub-range in the above embodiment as an example. If the first positioning position is within the first maintenance sub-range, the monitoring platform determines the second preset information corresponding to the first maintenance sub-range as the maintenance prompt information. If the first positioning position is within the second maintenance sub-range, the monitoring platform determines the second preset information corresponding to the second maintenance sub-range as the maintenance prompt information.

[0099] The present application provides a method and system for monitoring the safe distance of power transmission maintenance. The monitoring platform uses the three-dimensional point cloud data collected by the drone to establish a high-precision three-dimensional model corresponding to the power transmission line to be repaired, so as to accurately capture the features related to the power transmission line to be repaired in the actual maintenance scene, and improve the accuracy of subsequent monitoring. The monitoring platform further configures the position range of the live transmission line in the three-dimensional model according to the preset maintenance data, and ensures that there is enough safety interval between the maintenance personnel and the live transmission line through the position range, so that the maintenance personnel have enough reaction time when approaching the danger. The monitoring platform determines whether the maintenance personnel are close to the side of the live transmission line by monitoring in real time whether the first positioning position of the mobile terminal is within the position range of the live transmission line, and sends an early warning message to the mobile terminal when the maintenance personnel enters the position range, so as to remind the maintenance personnel to stay away from the dangerous area with electricity in time, reduce the risk of electric shock, and scientifically and effectively protect the safety of the maintenance personnel.

[0100] The power transmission maintenance safety distance monitoring method provided in the embodiment of the present application can be applied to the terminal, can also be applied to the server, and can also be software running in the terminal or the server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or a server cluster or distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the power transmission maintenance safety distance monitoring method, but is not limited to the above forms.

[0101] It should be noted that the size of the sequence number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0102] Furthermore, if Figure 2 As shown, as a specific implementation of the above-mentioned power transmission maintenance safety distance monitoring method, an embodiment of the present application provides a power transmission maintenance safety distance monitoring system 200, and the power transmission maintenance safety distance monitoring system 200 includes: a monitoring platform 201, a drone 202 and a mobile terminal 203.

[0103] Among them, the monitoring platform 201 is used to communicate with the drone 202 and the mobile terminal 203, receive the three-dimensional point cloud data corresponding to the transmission line to be inspected sent by the drone 202, and the first positioning position sent by the mobile terminal 203; establish a three-dimensional model corresponding to the transmission line to be inspected according to the three-dimensional point cloud data; configure the position range of the energized transmission line in the three-dimensional model according to the preset maintenance data; if the first positioning position is within the position range of the energized transmission line, send an early warning message to the mobile terminal 203.

[0104] In one embodiment, the monitoring platform 201 is specifically used to determine the energized transmission line and the voltage of the energized transmission line according to preset maintenance data; determine the critical safety distance according to the voltage of the energized transmission line; offset the critical safety distance according to the preset distance to determine multiple available safety distances; determine multiple sub-ranges according to the target safety distance and the second positioning position of the energized transmission line, wherein the target safety distance includes the critical safety distance and multiple available safety distances.

[0105] In one embodiment, the monitoring platform 201 is specifically used to obtain the valid time period of the location range; if the current time is within the valid time period, an early warning message is sent to the mobile terminal 203.

[0106] In one embodiment, the monitoring platform 201 is specifically configured to match the first positioning position with a plurality of sub-ranges, and determine the first preset information corresponding to the target sub-range matching the first positioning position as the warning information.

[0107] In one embodiment, the monitoring platform 201 is specifically used to obtain user information corresponding to the mobile terminal 203 and multiple sub-ranges of user permissions; and match the first positioning position with multiple sub-ranges of user permissions that match the user information.

[0108] In one embodiment, the monitoring platform 201 is specifically used to obtain connection information of the mobile terminal 203 ; if the connection information meets the preset valid information, it is determined that the mobile terminal 203 is in a connected state, and the first positioning position sent by the mobile terminal 203 is received.

[0109] In one embodiment, the monitoring platform 201 is specifically used to configure the maintenance range of the maintenance point in the three-dimensional model according to the preset maintenance data; if the first positioning position is within the maintenance range, a maintenance prompt message is sent to the mobile terminal 203.

[0110] The drone 202 is used to scan the transmission line to be repaired according to a preset route to obtain three-dimensional point cloud data corresponding to the transmission line to be repaired, wherein the preset route is determined according to the target sampling points in the transmission line to be repaired that meet the preset conditions; the three-dimensional point cloud data is sent to the monitoring platform 201, so that the monitoring platform 201 configures the position range of the energized transmission line according to the three-dimensional point cloud data, and sends an early warning message to the mobile terminal 203 when the first positioning position sent by the mobile terminal 203 is within the position range of the energized transmission line;

[0111] The mobile terminal 203 is used to obtain a positioning signal of a preset accuracy and determine a first positioning position according to the positioning signal; send the first positioning position to the monitoring platform 201, so that when the monitoring platform 201 detects that the first positioning position is within the position range of the energized power transmission line, it sends an early warning message to the mobile terminal 203; receive the early warning message sent by the monitoring platform 201; and display the early warning message.

[0112] For the specific definition of the power transmission maintenance safety distance monitoring system, please refer to the definition of the power transmission maintenance safety distance monitoring method mentioned above, which will not be repeated here. Each module in the above-mentioned power transmission maintenance safety distance monitoring system can be implemented in whole or in part through software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0113] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or the embodiments of the present application can be implemented by hardware.

[0114] Those skilled in the art will appreciate that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily necessary for implementing the present application. Those skilled in the art will appreciate that the modules in the system in the implementation scenario can be distributed in the system of the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more systems different from the present implementation scenario. The modules of the above-mentioned implementation scenario can be combined into one module, or can be further split into multiple submodules.

[0115] The above serial numbers of this application are only for description and do not represent the advantages and disadvantages of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of this application, but this application is not limited to them, and any changes that can be thought of by technicians in this field should fall within the scope of protection of this application.

Claims

1. A power transmission maintenance safety distance monitoring method, applied to a monitoring platform, wherein the monitoring platform can communicate with a drone and a mobile terminal, and is characterized in that: The method comprises: Receiving three-dimensional point cloud data corresponding to the power transmission line to be repaired sent by the drone, and the first positioning position sent by the mobile terminal; Establishing a three-dimensional model corresponding to the power transmission line to be repaired according to the three-dimensional point cloud data; Configuring the location range of the energized power transmission line in the three-dimensional model according to preset maintenance data; If the first positioning position is within the position range of the energized power transmission line, an early warning message is sent to the mobile terminal.

2. The power transmission maintenance safety distance monitoring method according to claim 1 is characterized in that: The location range of the energized power transmission line includes a plurality of sub-ranges; The configuring the location range of the energized power transmission line in the three-dimensional model according to the preset maintenance data includes: determining the energized power transmission line and the voltage of the energized power transmission line according to preset maintenance data; determining a critical safety distance based on the voltage of the energized transmission line; offsetting the critical safety distance according to a preset distance to determine a plurality of available safety distances; A plurality of the sub-ranges are determined according to a target safety distance and the second positioning position of the energized power transmission line, wherein the target safety distance includes the critical safety distance and a plurality of the available safety distances.

3. The power transmission maintenance safety distance monitoring method according to claim 1, characterized in that: The sending of warning information to the mobile terminal includes: Obtaining a valid period of the location range; If the current time is within the valid time period, the warning information is sent to the mobile terminal.

4. The power transmission maintenance safety distance monitoring method according to claim 1 is characterized in that: The location range of the energized power transmission line includes a plurality of sub-ranges; and the method further includes: The first positioning position is matched with the plurality of sub-ranges, and the first preset information corresponding to the target sub-range matched with the first positioning position is determined as the warning information.

5. The power transmission maintenance safety distance monitoring method according to claim 4 is characterized in that: The matching of the first positioning position with the plurality of sub-ranges comprises: Acquire user information corresponding to the mobile terminal and user permissions of the plurality of sub-ranges; The first positioning location is matched with a plurality of the sub-ranges of the user information that conform to the user authority.

6. The power transmission maintenance safety distance monitoring method according to claim 1, characterized in that: The method further comprises: Acquiring connection information of the mobile terminal; If the connection information conforms to the preset valid information, it is determined that the mobile terminal is in a connected state, and the first positioning position sent by the mobile terminal is received.

7. The power transmission maintenance safety distance monitoring method according to claim 1, characterized in that: The method further comprises: Configuring the maintenance range of the maintenance points in the three-dimensional model according to the preset maintenance data; If the first positioning position is within the maintenance range, maintenance prompt information is sent to the mobile terminal.

8. A power transmission maintenance safety distance monitoring method, applied to UAVs, characterized in that: The method comprises: Scan the power transmission line to be repaired according to a preset route to obtain three-dimensional point cloud data corresponding to the power transmission line to be repaired, wherein the preset route is determined based on target sampling points in the power transmission line to be repaired that meet preset conditions; The three-dimensional point cloud data is sent to a monitoring platform so that the monitoring platform configures the location range of the energized transmission line according to the three-dimensional point cloud data, and sends an early warning message to the mobile terminal when the first positioning position sent by the mobile terminal is within the location range of the energized transmission line.

9. A power transmission maintenance safety distance monitoring method, applied to a mobile terminal, characterized in that: The method comprises: Acquire a positioning signal of preset accuracy, and determine the first positioning position according to the positioning signal; Sending the first positioning position to a monitoring platform, so that when the monitoring platform detects that the first positioning position is within the position range of the energized power transmission line, the monitoring platform sends an early warning message to the mobile terminal; Receiving early warning information sent by the monitoring platform; The warning information is displayed.

10. A power transmission maintenance safety distance monitoring system, characterized in that: The system comprises: A monitoring platform is used to be able to communicate with the drone and the mobile terminal, receive the three-dimensional point cloud data corresponding to the power transmission line to be repaired sent by the drone, and the first positioning position sent by the mobile terminal; establish a three-dimensional model corresponding to the power transmission line to be repaired according to the three-dimensional point cloud data; configure the position range of the energized transmission line in the three-dimensional model according to the preset maintenance data; if the first positioning position is within the position range of the energized transmission line, send an early warning message to the mobile terminal; A drone is used to scan a power transmission line to be repaired according to a preset route, and obtain three-dimensional point cloud data corresponding to the power transmission line to be repaired, wherein the preset route is determined according to a target sampling point in the power transmission line to be repaired that meets preset conditions; the three-dimensional point cloud data is sent to a monitoring platform, so that the monitoring platform configures a position range of the energized transmission line according to the three-dimensional point cloud data, and sends an early warning message to the mobile terminal when the first positioning position sent by the mobile terminal is within the position range of the energized transmission line; A mobile terminal is used to obtain a positioning signal with a preset accuracy and determine the first positioning position based on the positioning signal; send the first positioning position to a monitoring platform so that when the monitoring platform detects that the first positioning position is within the position range of an energized power transmission line, it sends an early warning message to the mobile terminal; receive the early warning message sent by the monitoring platform; and display the early warning message.

Images