Electric power construction safety early warning method and device based on laser radar, and storage medium

Abstract

The invention discloses a power construction safety early warning method and device based on a laser radar, and a storage medium. The laser radars are installed on a fixed rod of the mobile operation table, the bearing base table is provided with a positioning target, the telescopic rod is provided with a target target, and the method comprises the following steps: in an initial state, the first laser radar and the second laser radar scan the same positioning target, identify the relative position offset between the two laser radars, and adjust the relative position offset to the same initial coordinate system; establishing a reference coordinate system by taking a connecting point of an extension line of the fixed rod and the bearing base station as an original point, and converting the initial coordinate system into the reference coordinate system; the first laser radar and the second laser radar are used for scanning and identifying to obtain coordinates of a target charged body under a reference coordinate system in the construction environment; and in a construction state, extracting a real-time inclination angle of the fixed rod by using an inclinometer, identifying the coordinate of the target target in the reference coordinate system by using the inclination angle, calculating the distance of the target target relative to the target electrified body, and giving out an early warning when the distance exceeds a safety threshold value.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar based on photoelectric detection, and in particular to a laser radar-based electric power construction safety early warning method, device, and storage medium. Background Art

[0002] The transmission network is an important part of the power system. Its main function is to transmit the electricity generated by power plants to load centers or user ends through high-voltage lines. By the end of 2023, the total length of China's 220 kV and above transmission lines will be about 920,000 kilometers, an increase of about 69.1% from 2013. During the construction, maintenance and overhaul of the transmission network, mobile operating platforms such as cranes or construction vehicles will frequently enter and exit various live objects in the transmission network during the operation process, and there is a risk of touching live objects such as power lines. If monitoring measures are not set up in advance, it is easy to cause serious consequences such as damage to power facilities and casualties during the actual construction process.

[0003] Laser radar, or Lidar for short, is a remote sensing technology that measures the distance, position, and other properties of a target by shooting pulsed lasers and measuring their echoes. Its working principle is based on the fact that light travels very fast and in a straight line. Due to its high precision, high resolution and other measurement advantages, laser radar has been widely used in various fields.

[0004] LiDAR can obtain three-dimensional spatial data of surrounding objects by actively emitting laser pulses to the surrounding environment and receiving echo pulses, thereby perceiving the size, position and other information of surrounding objects in real time.

[0005] By installing the laser radar on the mobile operating table, the real-time distance information between the moving part of the mobile operating table and the charged object can be obtained. Since the real-time distance information is obtained by measurement rather than by data calculation from image monitoring, it has higher accuracy and lower subsequent calculation amount, and can achieve real-time warning under low calculation bandwidth on site.

[0006] What the technical personnel in this field urgently need to solve is to design an efficient laser radar power construction safety early warning method, which uses laser radar monitoring in power construction scenarios to issue early warnings when the movement of the mobile operating platform enters the adjacent monitoring range of the live power body, thereby preventing the mobile operating platform during construction from causing damage to the power facilities. Summary of the invention

[0007] The technical problem solved by the present invention is to provide a laser radar-based power construction safety early warning method, which is used to use laser radar monitoring in power construction scenarios to issue an early warning when the movement of a mobile operating platform enters the adjacent monitoring range of a live power body, thereby preventing the mobile operating platform during construction from causing damage to power facilities.

[0008] Furthermore, the monitoring field of view is expanded to further improve safety.

[0009] The present invention discloses a safety early warning method for electric power construction based on laser radar, wherein at least two laser radars are installed on a fixed rod of an operating rod head of a mobile operating platform, a bearing base of the mobile operating platform is provided with a positioning target, and a telescopic rod end of the operating rod head is provided with a target target, and the method comprises: Step 1: In the initial state, the first laser radar and the second laser radar scan the same positioning target, identify the relative position offset between the two laser radars, and adjust the two laser radars to the same initial coordinate system; Step 2, taking the connection point between the extension line of the fixing rod and the bearing base as the origin, establishing a reference coordinate system, and converting the initial coordinate system to the reference coordinate system; Step 3, using the first laser radar and the second laser radar to scan and identify the coordinates of the target charged body in the reference coordinate system in the construction environment; Step 4, under construction, use an inclinometer to extract the real-time inclination of the fixed rod, use the real-time inclination to identify the coordinates of the target in the reference coordinate system, calculate the distance of the target relative to the target charged body, and issue an early warning when the distance exceeds the safety threshold.

[0010] The two laser radars are arranged on opposite sides of the fixing rod.

[0011] The mobile operating platform is a crane, the operating rod head is a boom, the boom comprises a fixed boom and a telescopic boom, and the fixed rod is the fixed boom.

[0012] The step of identifying the relative position offset between the two laser radars and adjusting the two laser radars to the same initial coordinate system further includes: the first laser radar obtains the first initial point cloud data D1, and identifies the coordinates of the positioning target therefrom. The second laser radar obtains the second initial point cloud data D2, from which the coordinates of the positioning target are identified ; The following conversion formula converts the coordinate system of the second point cloud data D2 to the initial coordinate system of the first initial point cloud data D1: ; , , are the rotation angles of the second laser radar relative to the first laser radar in the X, Z, and Y directions, respectively; X. Y. Z is the position offset of the second laser radar relative to the first laser radar in the X, Y, and Z directions respectively.

[0013] The step of establishing a reference coordinate system and converting the initial coordinate system to the reference coordinate system further includes: The fixing rod is set at at least two preset positions, and the first laser radar scans the same positioning target respectively, identifies the coordinates of the connection point between the operating rod head and the bearing base in the initial coordinate system, takes the connection point as the origin, establishes a reference coordinate system, and converts the initial coordinate system to the reference coordinate system using the following formula; ;in, is the i-group positioning target coordinates scanned by the first laser radar at the first preset position, are the coordinates of the i-group positioning targets scanned by the first laser radar at the second preset position, is the origin coordinate of the reference coordinate system in the initial coordinate system.

[0014] The step of using the first and second laser radars to scan and identify the coordinates of the target charged body in the reference coordinate system in the construction environment further includes: The fixing rod is set at a predetermined angle position, which corresponds to the pitch angle and azimuth ; ; is the coordinate of the charged target body in the reference coordinate system, It is the point cloud of the target charged body in the initial coordinate system.

[0015] Step 4 further includes: The first and second laser radars scan the construction environment, and the scanning field of view covers the target, to obtain a real-time point cloud in an initial coordinate system; The real-time point cloud is pre-processed, including clearing the non-construction area. The location of the live body is usually located above the pole tower, and there are certain requirements for the height, that is, there is a minimum installation height. The clearing of the non-construction area further includes: clearing the point cloud data with a Z value lower than the minimum installation height in the real-time point cloud to achieve the clearing of the non-construction area.

[0016] Step 4 further includes: extracting the point cloud of the target from the real-time point cloud ; Real-time inclination detected by inclinometer ; ; is the real-time azimuth; ; is the coordinate of the target in the reference coordinate system.

[0017] The present invention discloses a safety early warning device for electric power construction based on laser radar. At least two laser radars are installed on a fixed rod of an operating rod head of a mobile operating platform. A positioning target is arranged on a bearing base of the mobile operating platform. A target target is arranged at the end of a telescopic rod of the operating rod head. The device comprises: The initial coordinate conversion module is used to enable the first and second laser radars to scan the same positioning target in the initial state, identify the relative position offset between the two laser radars, and adjust the two laser radars to the same initial coordinate system; A reference coordinate establishment module is used to establish a reference coordinate system with the connection point between the extension line of the fixed rod and the bearing base as the origin, and to convert the initial coordinate system into the reference coordinate system; A module for identifying a target charged body is used to use the first and second laser radars to scan and identify the coordinates of the target charged body in the reference coordinate system in the construction environment; The early warning module is used to extract the real-time inclination of the fixed rod using an inclinometer under construction, identify the coordinates of the target in the reference coordinate system using the real-time inclination, calculate the distance of the target relative to the target charged body, and issue an early warning when the distance exceeds the safety threshold.

[0018] The present invention discloses a computer-readable storage medium, wherein the computer-readable storage medium stores computer program code. When the computer program code runs on a computer, the computer implements the laser radar-based electric power construction safety early warning method.

[0019] The laser radar-based power construction safety early warning method provided by the present invention can monitor the mobile operating platform entering the vicinity monitoring range of the live power body in the power construction scene by only using the laser radar, and issue early warning in time to prevent the mobile operating platform during construction from causing damage to the power facilities.

[0020] The above method of the present invention has fewer input values, and the input is basically obtained through laser radar and inclinometer. It can eliminate the errors generated in the boom movement process and point cloud solution process, improve the accuracy of power construction safety warning, and reduce the probability of misjudgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Shown is a schematic diagram of an application scenario of the present invention.

[0022] Figure 2 Shown is a schematic flow chart of the laser radar-based electric power construction safety early warning method of the present invention.

[0023] Figure 3 Shown is a schematic diagram of the scanning field of view of the laser radar of the present invention.

[0024] Figure 4Shown is a side view schematic diagram of the surround field of view of two laser radars of the present invention. DETAILED DESCRIPTION

[0025] The implementation process of the technical solution of the present invention is described below in conjunction with specific embodiments, which is not intended to limit the present invention.

[0026] In order to provide effective early warning when a mobile operating platform enters the vicinity monitoring range of a live power body and prevent the mobile operating platform during construction from causing damage to power facilities, the present invention proposes a power construction safety early warning method based on laser radar.

[0027] Mobile operating platforms such as cranes are large-scale engineering equipment often used in power grid construction. Figure 1 As shown in the schematic diagram of the application scenario, the mobile operating platform takes a crane as an example. The crane has a fixed bearing base 1 and a boom 2. The boom 2 has a fixed boom 21 and a telescopic boom 22. The telescopic boom 22 telescopes and moves along the extension line of the fixed boom 21. One end of the fixed boom 21 is connected to the bearing base 1 through a rotating table. The fixed boom 21 can rotate driven by the rotating table, and the fixed boom 21 can change the pitch angle relative to the rotating table, and the telescopic boom 22 also changes the pitch angle or azimuth angle accordingly, so as to carry out mobile construction in a large range. The crane appears near power facilities such as power poles and substations. It is possible that the end of the boom touches a live object during construction, causing an accident.

[0028] The present invention is provided with at least two laser radars at the fixed boom 21. Taking two laser radars as an example, the two laser radars are provided on opposite sides of the fixed boom 21 to expand the scanning field of view as much as possible, expand the monitoring field of view, and further improve safety. In another embodiment, the two laser radars are provided in opposite directions but the scanning fields of view overlap.

[0029] like Figure 3 As shown in the figure, the X1 direction is the extension direction of the boom, the rotation axis of the laser radar is perpendicular to the X1 direction, and each laser radar forms a 360-degree field of view around its rotation axis. Figure 4 As shown, the two laser radars are set back to back but their scanning fields overlap. The laser radar 31 forms a field of view V1, and the laser radar 32 forms a field of view V2. V1 and V2 overlap. The laser radars 31 and 32 surround the boom 21 to form a 360-degree field of view, so as to monitor the construction scene without blind spots.

[0030] If three laser radars are provided, they can be respectively arranged on three surfaces of the fixed boom 21 to form scanning fields that are connected in sequence.

[0031] The present invention also includes an inclinometer 50 for collecting the real-time inclination of the fixed boom. The inclinometer 50 is arranged on the fixed boom 21, that is, the fixed rod arranged at the head of the operating rod, and is relatively fixed with the laser radar. The inclinometer 50 is arranged on the side of the fixed boom 21 where the laser radar is not arranged, so that the structure of the inclinometer 50 does not block the scanning field of view of the laser radar, so that the coverage of the surrounding environment is wider and the anti-interference ability is strong.

[0032] In other mobile operating platforms other than cranes, the mobile operating platform has an operating rod head, the operating rod head has a fixed rod and a telescopic rod, and the telescopic rod can be telescopically moved along the extension line of the fixed rod. The fixed rod is connected to the bearing base, and the fixed rod can drive the telescopic rod to move in pitch and azimuth.

[0033] In this embodiment, the mobile operating platform is a crane, the operating rod head is a boom, the boom includes a fixed boom and a telescopic boom, the fixed rod is the fixed boom, and the telescopic rod is the telescopic boom.

[0034] The support base 1 is provided with a plurality of positioning targets 41, which can be dispersed at a plurality of positioning points of the support base 1. The end of the telescopic boom 22 is provided with a target 42.

[0035] like Figure 2 Shown is a schematic flow chart of the laser radar-based electric power construction safety early warning method of the present invention.

[0036] Step 1: In the initial state, two laser radars are used to scan the same positioning target, identify the relative position offset between the two laser radars, and adjust the two laser radars to the same initial coordinate system.

[0037] Before the actual construction, after the crane is fixed and parked at the construction location, an initialization step can be performed first.

[0038] The two laser radars establish a coordinate system with their respective locations as the origin. The two laser radars scan the same positioning target, and the first laser radar obtains the first initial point cloud data D1, and the second laser radar obtains the second initial point cloud data D2. At this time, the two laser radars are in different coordinate systems and lack correlation. It is necessary to first unify the two laser radars to the same coordinate system so that the two laser radars can perform subsequent operations with a unified orientation system, ensure the accuracy of recognition, increase the acquisition of highly correlated point cloud data, and improve the convenience of target recognition.

[0039] The ground point cloud data is removed in D1 and D2 by filtering the plane, and then the coordinates of the positioning target are identified in D1 using the average point cloud reflection intensity after point cloud clustering. And identify the coordinates of the positioning target in D2 .

[0040] The second point cloud data D2 is converted to the coordinate system of the first initial point cloud data D1 using the following conversion formula: (1) , , They are the rotation angles of the second laser radar relative to the first laser radar in pitch, azimuth, and roll directions, that is, the rotation angles in the X, Z, and Y directions. The boom cannot rotate in the roll direction, so It can remain unchanged in subsequent calculations.

[0041] X. Y. Z is the position offset of the second laser radar relative to the first laser radar in the X, Y, and Z directions respectively.

[0042] By collecting i group as well as It can be calculated , , , X. Y. Z, and then determine and The conversion formula is to convert the second laser radar into the coordinate system of the first laser radar, and the coordinate system of the first laser radar is used as the initial coordinate system.

[0043] In the optimized embodiment, in the initial coordinate system, the field of view of the first and second laser radars 31 and 32 surrounds the fixed boom 21 to form a 360-degree field of view to expand the field of view monitoring range around the boom.

[0044] In the optimized embodiment, if three laser radars are set up, the first and second laser radars can be unified into the initial coordinate system, and then the first and third laser radars can be unified into the initial coordinate system in the same way to increase the number of point clouds in the field of view, enrich the judgment basis, and reduce false alarms.

[0045] Step 2: In the initial state, a reference coordinate system is established with the connection point between the extension line of the fixing rod and the bearing base as the origin, and the initial coordinate system is converted to the reference coordinate system.

[0046] In order to determine the reference coordinate system, the present invention can successively place the fixing rod at at least two different preset positions in the initial state, and the pitch angle of the fixing rod relative to the origin at the first preset position is 3. The pitch angle of the fixed rod relative to the origin at the second preset position 4. The azimuth of the fixed rod relative to the origin at the second preset position The values ​​are known.

[0047] The setting position of the first laser radar on the fixed boom is known in advance, so the initial relative position of the origin relative to the first laser radar is known.

[0048] The first laser radar continues to scan the positioning target, and at the first preset position, scans and extracts the coordinates D3 of the positioning target At the second preset position, the first laser radar scans and extracts the coordinates D4 of the positioning target ; Establish the posture association formula of different preset positions for the same positioning target: (2) By collecting the coordinates D3 of the i-th group of positioning targets at the first preset position and the coordinates D4 of the i-th group of positioning targets at the second preset position The origin coordinates of the reference coordinate system in the initial coordinate system can be calculated .

[0049] The reference coordinate system is established at the origin coordinate, and the relative position relationship between the initial coordinate system and the reference coordinate system is known. The coordinate systems of the two laser radars can be converted to the reference coordinate system based on the relative position relationship.

[0050] By collecting the connection point as the origin of the reference coordinate system, a stable relative relationship between the initial coordinate system and the reference coordinate system can be established, and at the same time, the inclinometer data can enter the calculation system of the subsequent steps more naturally.

[0051] Step 3: In the initial state, the first and second laser radars are used to scan and identify the coordinates of the target charged body in the reference coordinate system in the construction environment.

[0052] Specifically, when the boom is at a predetermined angle, the first and second laser radars collect construction environment point cloud data D5. Since the first and second laser radars can be converted to the same coordinate system according to formula (1), the data collected by the first and second laser radars can be regarded as point cloud data D5. The point cloud data D5 is in the initial coordinate system.

[0053] The predetermined angle can be regarded as the pitch angle corresponding to the reference coordinates. and azimuth , and are all known.

[0054] The point cloud data D5 obtained by the acquisition is reconstructed by the surface reconstruction algorithm to obtain multiple continuous surfaces. The extended model of the continuous surface conforms to the point cloud data of the preset charged body model and is identified as the target charged body point cloud. .

[0055] Through the target charged body point cloud and the predetermined angle in the reference coordinate system, the target charged body coordinates in the reference coordinate system can be calculated by the following formula (3): .

[0056] (3) Each target charged object has a corresponding safety distance threshold. When an intrusion enters the safety distance threshold range of the target charged object, it is regarded as an intrusion and an alarm needs to be triggered.

[0057] The target charged object may include a power line or a transformer, an insulator string, a reactor, a capacitor, a lightning arrester, etc.

[0058] Step 4, under construction, use an inclinometer to extract the real-time inclination of the fixed rod, use the inclination to identify the coordinates of the target in the reference coordinate system, identify the distance of the target relative to the target charged body, and issue an early warning when the distance exceeds the safety threshold.

[0059] In the real-time state of construction, the fixed boom 21 will adjust the pitch angle and azimuth angle as needed. The first and second laser radars scan the construction environment, and the field of view covers the target, to obtain a real-time point cloud in the initial coordinate system, which is converted to the initial coordinate system by formula (1).

[0060] The collected real-time point cloud is pre-processed, including the removal of abnormal points and non-construction areas.

[0061] For each point in the real-time point cloud data frame collected, the average distance between it and all adjacent points is calculated. According to the mean and standard deviation, a Gaussian distribution is assumed. Points whose distance from the mean exceeds the standard range are regarded as outliers, and outliers are cleared.

[0062] In addition, the location of the live body is usually located on the pole tower, and there are certain requirements for the height, that is, there is a minimum installation height. In the reference coordinate system, the origin is located on the bearing base, and the Z axis corresponds to the height direction. The point cloud data with a Z value lower than the minimum installation height in the real-time point cloud is cleared to achieve the clearing of non-construction areas.

[0063] Next, extract the point cloud of the target target based on the preprocessed real-time point cloud .

[0064] Real-time inclination detected by inclinometer , and the point cloud data D5 collected in step 3, the coordinates of the target in the reference coordinate system are calculated using the following formula.

[0065] (4) Point cloud data D5 includes a set of specific data , the pitch angle in the reference coordinate system corresponding to the point cloud data D5 is , point cloud of the target in the initial coordinate system The corresponding real-time azimuth in the reference coordinate system , the inclinometer detects the real-time inclination The inclination angle is also called the pitch angle.

[0066] The real-time azimuth can be calculated by formula (4): .

[0067] The target coordinates in the reference coordinate system can be calculated by formula (5): .

[0068] (5)

[0069] The coordinates of the target in the reference coordinate system are identified through the above steps. Since the coordinates of the target charged body in the reference coordinate system have been obtained through step 3, the distance between the target and the target charged body can be calculated.

[0070] When the distance is less than or equal to the safety threshold of the target charged object, an early warning is issued. The early warning can be in the form of sound, light, electricity, communication signal, network signal, triggering drones / unmanned vehicles, etc.

[0071] The laser radar-based power construction safety early warning method provided by the present invention can monitor the mobile operating platform entering the vicinity monitoring range of the live power body in the power construction scene by only using the laser radar, and issue early warning in time to prevent the mobile operating platform during construction from causing damage to the power facilities.

[0072] The above method of the present invention has fewer input values, and the input is basically obtained through laser radar and inclinometer. It can eliminate the errors generated in the boom movement process and point cloud solution process, improve the accuracy of power construction safety warning, and reduce the probability of misjudgment.

[0073] The above embodiments are only used to describe the technical solutions of the present invention and are not to be regarded as limitations of the present invention.

Claims

1. A laser radar-based power construction safety early warning method, characterized in that: At least two laser radars are mounted on a fixed rod of an operating rod head of a mobile operating platform, the bearing base of the mobile operating platform is provided with a positioning target, and the end of a telescopic rod of the operating rod head is provided with a target target; the method comprises: Step 1: In the initial state, the first laser radar and the second laser radar scan the same positioning target, identify the relative position offset between the two laser radars, and adjust the two laser radars to the same initial coordinate system; Step 2, taking the connection point between the extension line of the fixing rod and the bearing base as the origin, establishing a reference coordinate system, and converting the initial coordinate system to the reference coordinate system; Step 3, using the first laser radar and the second laser radar to scan and identify the coordinates of the target charged body in the reference coordinate system in the construction environment; Step 4, under construction, use an inclinometer to extract the real-time inclination of the fixed rod, use the real-time inclination to identify the coordinates of the target in the reference coordinate system, calculate the distance between the target and the target charged body, and issue an early warning when the distance exceeds the safety threshold.

2. The electric power construction safety early warning method based on laser radar as claimed in claim 1 is characterized in that: The two laser radars are arranged on opposite sides of the fixing rod.

3. The laser radar-based electric power construction safety early warning method according to claim 1 or 2, characterized in that: The mobile operating platform is a crane, the operating rod head is a boom, the boom comprises a fixed boom and a telescopic boom, and the fixed rod is the fixed boom.

4. The electric power construction safety early warning method based on laser radar as claimed in claim 1, characterized in that: The step of identifying the relative position offset between the two laser radars and adjusting the two laser radars to the same initial coordinate system further includes: the first laser radar obtains the first initial point cloud data D1, and identifies the i-group coordinates of the positioning target from it. The second laser radar obtains the second initial point cloud data D2, from which the i-group coordinates of the positioning target are identified ; The following conversion formula converts the coordinate system where the second initial point cloud data D2 is located to the initial coordinate system where the first initial point cloud data D1 is located: ; , , are the rotation angles of the second laser radar relative to the first laser radar in the X, Z, and Y directions, respectively; X. Y. Z is the position offset of the second laser radar relative to the first laser radar in the X, Y, and Z directions respectively.

5. The electric power construction safety early warning method based on laser radar as claimed in claim 1, characterized in that: The step of establishing a reference coordinate system and converting the initial coordinate system to the reference coordinate system further includes: The fixing rods are respectively set at at least two preset positions, and the first laser radar scans the same positioning target respectively, identifies the coordinates of the connection point between the operating rod head and the bearing base in the initial coordinate system, takes the connection point as the origin, establishes a reference coordinate system, and converts the initial coordinate system to the reference coordinate system using the following formula; ； in, is the i-group positioning target coordinates scanned by the first laser radar at the first preset position, are the coordinates of the i-group positioning targets scanned by the first laser radar at the second preset position, is the origin coordinate of the reference coordinate system in the initial coordinate system.

6. The electric power construction safety early warning method based on laser radar as claimed in claim 5, characterized in that: The step of using the first laser radar and the second laser radar to scan and identify the coordinates of the target charged body in the reference coordinate system in the construction environment further includes: The fixing rod is set at a predetermined angle position, which corresponds to the pitch angle and azimuth , ; is the coordinate of the charged target body in the reference coordinate system, It is the point cloud of the target charged body in the initial coordinate system.

7. The laser radar-based electric power construction safety early warning method according to claim 6, characterized in that: Step 4 further includes: The first laser radar and the second laser radar scan the construction environment, and the scanning field of view covers the target, so as to obtain a real-time point cloud in an initial coordinate system; Performing point cloud preprocessing on the real-time point cloud, including a non-construction area clearing step; The non-construction area clearing step further includes: clearing point cloud data in the real-time point cloud whose Z value is lower than the minimum installation height, thereby clearing the non-construction area.

8. The laser radar-based electric power construction safety early warning method according to claim 7, characterized in that: Step 4 further includes: Extract the point cloud of the target from the real-time point cloud ; Real-time inclination detected by inclinometer ; ; is the real-time azimuth; ; is the coordinate of the target in the reference coordinate system.

9. A laser radar-based electric power construction safety early warning device, characterized in that: At least two laser radars are installed on the fixed rod of the operating rod head of the mobile operating platform, the bearing base of the mobile operating platform is provided with a positioning target, and the end of the telescopic rod of the operating rod head is provided with a target target. The device comprises: The initial coordinate conversion module is used to enable the first laser radar and the second laser radar to scan the same positioning target in the initial state, identify the relative position offset between the two laser radars, and adjust the two laser radars to the same initial coordinate system; A reference coordinate establishment module is used to establish a reference coordinate system with the connection point between the extension line of the fixed rod and the bearing base as the origin, and to convert the initial coordinate system into the reference coordinate system; A module for identifying a target charged body is used to scan and identify the coordinates of the target charged body in a reference coordinate system in a construction environment using a first laser radar and a second laser radar; The early warning module is used to extract the real-time inclination of the fixed rod using an inclinometer under construction, identify the coordinates of the target in the reference coordinate system using the real-time inclination, calculate the distance of the target relative to the target charged body, and issue an early warning when the distance exceeds the safety threshold.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program code, and when the computer program code runs on a computer, the computer implements the laser radar-based electric power construction safety early warning method as described in any one of claims 1-8.

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