Lidar-based Electric Power Construction Safety Warning Method, Device, and Storage Medium

Abstract

The present invention discloses a power construction safety warning method, device, and storage medium based on lidar. The lidar is installed on the fixed rod of the mobile operation platform, the bearing base is provided with a positioning target, and the telescopic rod is provided with a target target. The method includes: in the initial state, the first and second lidars scan the same positioning target to identify the relative position offset between the two lidars and adjust them to the same initial coordinate system; taking the connection point of the extension line of the fixed rod and the bearing base as the origin, a reference coordinate system is established, and the initial coordinate system is converted to the reference coordinate system; the coordinates of the target live body in the reference coordinate system in the construction environment are scanned and identified by the first and second lidars; in the construction state, the real-time inclination angle of the fixed rod is extracted by an inclinometer, the coordinates of the target target in the reference coordinate system are identified by the inclination angle, and the distance between the target target and the target live body is calculated. When the distance exceeds the safety regulation threshold, a warning is issued.

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 a vital component of the power system. Its primary function is to transmit electricity generated by power plants to load centers or end users via high-voltage lines. By the end of 2023, the total length of China's 220 kV and above transmission lines was approximately 920,000 kilometers, an increase of approximately 69.1% since 2013. During the construction, maintenance, and overhaul of the transmission network, mobile operating platforms such as cranes and construction vehicles frequently come into contact with various live elements on the transmission network, posing a risk of contact with live elements such as power lines. Without pre-emptive monitoring measures, construction can easily result in serious damage to power facilities and casualties.

[0003] Lidar, or laser ranging (LAD), is a remote sensing technology that measures the distance, position, and other attributes of a target by firing pulsed laser light and measuring its echo. Its operating principle is based on the fact that light travels in straight lines at high speed. Due to its high precision and high resolution, LIDAR has been widely used in various fields.

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

[0005] By placing a LiDAR on the mobile platform, real-time distance information between the mobile platform's moving parts and charged objects can be obtained. Because this real-time distance information is obtained through measurement rather than calculation using image monitoring data, it is more accurate and requires less computation, enabling real-time early warning even in low-bandwidth environments.

[0006] What technicians in this field urgently need to solve is to design an efficient lidar-based safety warning method for power construction. Using lidar monitoring in power construction scenarios, an early warning is issued 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. 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, expand the monitoring field of view to further improve safety.

[0009] The present invention discloses a power construction safety warning method based on lidar. At least two lidars are installed on a fixed rod at the head of an operating rod of a mobile operating platform. A positioning target is provided on the bearing base of the mobile operating platform, and a target target is provided at the end of the telescopic rod of the operating rod head. The method includes:

[0010] Step 1, in the initial state, the first lidar and the second lidar scan the same positioning target, identify the relative position offset between the two lidars, and adjust the two lidars to the same initial coordinate system;

[0011] Step 2, taking the connection point of the extension line of the fixed rod and the bearing base as the origin, establish a reference coordinate system, and convert the initial coordinate system to the reference coordinate system;

[0012] Step 3, use the first lidar and the second lidar to scan and identify the coordinates of the target live conductor in the reference coordinate system in the construction environment;

[0013] Step 4, in the construction state, use an inclinometer to extract the real-time inclination angle of the fixed rod, use the real-time inclination angle to identify the coordinates of the target target in the reference coordinate system, calculate the distance between the target target and the target live conductor, and issue a warning when the distance exceeds the safety regulation threshold.

[0014] The two lidars are arranged on opposite sides of the fixed rod.

[0015] The mobile operating platform is a crane, the operating rod head is a boom, the boom includes a fixed boom and a telescopic boom, and the fixed rod is the fixed boom.

[0016] The step of identifying the relative position offset between the two lidars and adjusting the two lidars to the same initial coordinate system further includes: the first lidar obtains the first initial point cloud data D1, and identifies the coordinates of the positioning target from it , the second lidar obtains the second initial point cloud data D2, and identifies the coordinates of the positioning target from it ; the following conversion formula is used to convert the coordinate system where the second 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 lidar relative to the first lidar in the X, Z, and Y directions respectively; X, Y, Z are the position offsets of the second lidar relative to the first lidar in the X, Y, and Z directions respectively.

[0017] The steps of establishing a reference coordinate system and converting the initial coordinate system to the reference coordinate system further include:

[0018] Set the fixed rod at at least two preset positions. The first lidar 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, uses this connection point as the origin to establish a reference coordinate system, and converts the initial coordinate system to the reference coordinate system using the following formula; ; where is the coordinate of the i - group of positioning targets scanned by the first lidar at the first preset position, is the coordinate of the i - group of positioning targets scanned by the first lidar at the second preset position, is the origin coordinate of the reference coordinate system in the initial coordinate system.

[0019] The steps of using the first and second lidars to scan and identify the coordinates of the target live body in the reference coordinate system in the construction environment further include:

[0020] Set the fixed rod at a predetermined angular position, and the predetermined angular position corresponds to the pitch angle and the azimuth angle ; ;

[0021] is the coordinate of the target live body in the reference coordinate system, is the point cloud of the target live body in the initial coordinate system.

[0022] Step 4 further includes:

[0023] The first and second lidars scan the construction environment, and the scanning field of view covers the target target to obtain the real - time point cloud in the initial coordinate system;

[0024] Perform point cloud pre - processing on the real - time point cloud, including clearing the non - construction area; the setting position of the live body is usually on the 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.

[0025] Step 4 further includes: extracting the point cloud of the target target from the real - time point cloud ;

[0026] Detect the real - time inclination angle using an inclinometer ; ; is the real - time azimuth angle; ; are the coordinates of the target in this reference coordinate system.

[0027] The present invention discloses a power construction safety warning device based on lidar. At least two lidars are installed on the fixed rod at the head of the operating rod of a mobile operating platform. A positioning target is provided on the bearing base of the mobile operating platform, and a target target is provided at the end of the telescopic rod of the operating rod head. The device includes:

[0028] An initial coordinate conversion module, which is used to, in the initial state, scan the same positioning target by the first and second lidars, identify the relative position offset between the two lidars, and adjust the two lidars to the same initial coordinate system;

[0029] A reference coordinate establishment module, which is used to establish a reference coordinate system with the connection point of the extension line of the fixed rod and the bearing base as the origin, and convert the initial coordinate system to the reference coordinate system;

[0030] A target live body identification module, which is used to scan and identify the coordinates of the target live body in the construction environment in the reference coordinate system by using the first and second lidars;

[0031] A warning module, which is used to, in the construction state, extract the real-time inclination angle of the fixed rod by using an inclinometer, identify the coordinates of the target target in this reference coordinate system by using the real-time inclination angle, calculate the distance between the target target and the target live body, and issue a warning when the distance exceeds the safety regulation threshold.

[0032] The present invention discloses a computer-readable storage medium, which stores computer program codes. When the computer program codes run on a computer, the computer realizes the power construction safety warning method based on lidar.

[0033] The power construction safety warning method based on lidar provided by the present invention can monitor that the mobile operating platform enters the adjacent monitoring range of the power live body in the power construction scene only by using lidar, issue a warning in time, and avoid damage to power facilities caused by the mobile operating platform during construction.

[0034] The input values of the above method of the present invention are few, and the input is basically obtained through lidar and inclinometer, which can eliminate errors generated during the movement of the boom and the point cloud resolution process, improve the accuracy of power construction safety warning, and reduce the misjudgment probability. Description of the Drawings

[0035] Figure 1 The figure shows a schematic diagram of the application scenario of the present invention.

[0036] Figure 2 The figure shows a schematic flow diagram of the power construction safety warning method based on lidar of the present invention.

[0037] Figure 3 The following is a schematic diagram of the scanning field of view of the lidar of the present invention.

[0038] Figure 4 The following is a side view schematic diagram of the surrounding field of view of two lidars of the present invention. Specific implementation manners

[0039] The implementation process of the technical solution of the present invention will be described below in conjunction with specific embodiments, which shall not be construed as a limitation to the present invention.

[0040] In order to effectively warn when a mobile operation platform enters the adjacent monitoring range of a live electrical body and avoid damage to electrical facilities caused by the mobile operation platform during construction, the present invention proposes a power construction safety warning method based on lidar.

[0041] Mobile operation platforms such as cranes are large engineering equipment often used in power grid construction. As Figure 1 shown in the schematic diagram of the application scenario, taking the 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 moves telescopically 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 platform. The fixed boom 21 can rotate under the drive of the rotating platform, and the fixed boom 21 can change the pitch angle relative to the rotating platform. Then the telescopic boom 22 also changes the pitch angle or azimuth angle accordingly to perform mobile construction in a large range. When a crane appears near electrical facilities such as power poles and substations, it is possible that the end of the boom touches a live body during construction, causing an accident.

[0042] At least two lidars are provided at the fixed boom 21 of the present invention. Taking two as an example, the two lidars are arranged on the 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 setting directions of the two lidars are opposite but the scanning fields of view overlap.

[0043] As Figure 3 shown, the X1 direction is the extension direction of the boom, the rotation axis of the lidar is perpendicular to the X1 direction, and each lidar forms a 360-degree field of view around its rotation axis. As Figure 4 shown, the setting directions of the two lidars are back-to-back but the scanning fields of view overlap. The lidar 31 forms a field of view V1, the lidar 32 forms a field of view V2, V1 and V2 overlap, and the lidars 31 and 32 surround the boom 21 to form a 360-degree field of view to monitor the construction scene without dead angles.

[0044] If three lidars are set, they can be respectively set on three faces of the fixed boom 21 to form sequentially connected scanning fields of view.

[0045] The present invention further includes an inclinometer 50 for collecting the real-time inclination angle of the fixed boom. The inclinometer 50 is arranged on the fixed boom 21, that is, on the fixed rod of the operating lever head, and is relatively fixed in position with the lidar. The inclinometer 50 is arranged on the side of the fixed boom 21 where the lidar is not arranged, so that the structure of the inclinometer 50 does not block the scanning field of view of the lidar, making the coverage range of the surrounding environment wider and the anti-interference ability stronger.

[0046] In other mobile operating platforms except for the crane, the mobile operating platform has an operating lever head, and the operating lever head has a fixed rod and a telescopic rod. The telescopic rod can telescopically move 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 make pitching and azimuth movements.

[0047] In this embodiment, the mobile operating platform is a crane, the operating lever 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.

[0048] The bearing base 1 is provided with a plurality of positioning target marks 41, which can be dispersed at a plurality of positioning points on the bearing base 1. A target target mark 42 is arranged at the end of the telescopic boom 22.

[0049] As Figure 2 shown is a schematic flow chart of the power construction safety warning method based on lidar of the present invention.

[0050] Step 1, in the initial state, two lidars scan the same positioning target mark to identify the relative position offset between the two lidars, and adjust the two lidars to the same initial coordinate system.

[0051] Before actual construction, after the crane is fixed and parked at the construction position, the initialization step can be executed first.

[0052] The two lidars establish coordinate systems with their respective positions as the origin. The two lidars scan the same positioning target mark. The first lidar obtains the first initial point cloud data D1, and the second lidar obtains the second initial point cloud data D2. At this time, the two lidars are in their respective different coordinate systems and lack correlation. Therefore, it is necessary to first unify the two lidars to the same coordinate system so that the two lidars can perform subsequent operations with a unified azimuth system, ensure the accuracy of recognition, increase the acquisition of point cloud data with high correlation, and improve the convenience of target recognition.

[0053] Remove the point cloud data of the ground in D1 and D2 by filtering the plane, and then identify the coordinates of the positioning target in D1 using the average point cloud reflection intensity after point cloud clustering. And identify the coordinates of the positioning target in D2. .

[0054] Convert the second point cloud data D2 to the coordinate system of the first initial point cloud data D1 using the following conversion formula: (1)

[0055] 、 、 are the rotation angles of the second lidar relative to the first lidar in the 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 can remain unchanged in subsequent calculations.

[0056] X、 Y、 Z are the position offsets of the second lidar relative to the first lidar in the X, Y, and Z directions.

[0057] By collecting i groups and it is possible to calculate 、 、 、 X、 Y、 Z, and then determine and The conversion formula, that is, convert the second lidar to the coordinate system of the first lidar, and the coordinate system of this first lidar is used as the initial coordinate system.

[0058] In the optimized embodiment, in the initial coordinate system, the fields of view of the first and second lidars 31 and 32 surround the fixed boom 21 to form a 360-degree field of view, so as to expand the field of view monitoring range around the boom.

[0059] In the optimized embodiment, if three lidars are set, after unifying the first and second lidars to the initial coordinate system, then similarly unify the first and third lidars to the initial coordinate system to increase the number of point clouds in the field of view, enrich the judgment basis, and reduce false alarms.

[0060] Step 2, in the initial state, take the connection point of the extension line of the fixed rod and the bearing base as the origin, establish a reference coordinate system, and convert the initial coordinate system to the reference coordinate system.

[0061] To determine the reference coordinate system, the present invention can successively place the fixed rod at at least two different preset positions in the initial state. At the first preset position, the pitch angle of the fixed rod relative to the origin 3. At the second preset position, the pitch angle of the fixed rod relative to the origin 4. At the second preset position, the azimuth angle of the fixed rod relative to the origin values are all known.

[0062] The setting position of the first lidar on the fixed jib is already known in advance, so the initial relative position of the origin relative to the first lidar is known.

[0063] The first lidar still scans the positioning target. At the first preset position, it scans and extracts the coordinates D3 of the positioning target , and at the second preset position, the first lidar scans and extracts the coordinates D4 of the positioning target ;

[0064] Establish pose correlation formulas for different preset positions for the same positioning target:

[0065] (2)

[0066] By collecting the coordinates D3 of i groups of positioning targets at the first preset position and the coordinates D4 of i groups of positioning targets at the second preset position the origin coordinates of this reference coordinate system in the initial coordinate system can be calculated .

[0067] Establish a reference coordinate system at this origin coordinate, then the relative position relationship between the initial coordinate system and the reference coordinate system is known. The coordinate systems of the two lidars can be converted to the reference coordinate system according to this relative position relationship.

[0068] Collecting the origin of this connection point as the reference coordinate system can establish a stable relative relationship between the initial coordinate system and the reference coordinate system, and at the same time make the data of the inclinometer more logically enter the calculation system of the subsequent steps.

[0069] Step 3, in the initial state, use the first and second lidars to scan and identify the coordinates of the target live object in the construction environment under the reference coordinate system.

[0070] Specifically, when the jib is at a predetermined angular position, the first and second lidars collect the construction environment point cloud data D5. Since the first and second lidars can be converted to the same coordinate system according to formula (1), the data collected by the first and second lidars can both be regarded as the point cloud data D5. This point cloud data D5 is in the initial coordinate system.

[0071] This predetermined angle can be regarded as the pitch angle corresponding to the reference coordinate system and the azimuth angle , and both are known

[0072] Perform surface reconstruction on the point cloud data D5 obtained by acquisition through a surface reconstruction algorithm to obtain multiple continuous surfaces. Identify the point cloud data of the continuous surface extension model that conforms to the preset live object model as the target live object point cloud .

[0073] Based on the target live object point cloud and this predetermined angle in the reference coordinate system, the target live object coordinates in the reference coordinate system can be calculated through the following formula (3) .

[0074] (3)

[0075] Each target live object has a corresponding safety distance threshold. When an intrusion occurs within the range of the safety distance threshold of the target live object, it is regarded as an intrusion object and an alarm needs to be triggered

[0076] The target live object can include power lines or transformers, insulator strings, reactors, capacitors, lightning arresters, etc

[0077] Step 4: In the construction state, use an inclinometer to extract the real-time inclination angle of the fixed rod, use the inclination angle to identify the coordinates of the target target in this reference coordinate system, identify the distance between the target target and the target live object, and issue a warning when the distance exceeds the safety threshold

[0078] In the real-time construction state, the fixed jib 21 will adjust the pitch angle and azimuth angle as needed. The first and second lidars scan the construction environment, and the field of view covers the target target to obtain the real-time point cloud in the initial coordinate system. The real-time point cloud is converted to the initial coordinate system through formula (1)

[0079] Perform point cloud preprocessing on the collected real-time point cloud, including abnormal point removal and non-construction area removal

[0080] For each point in the collected real-time point cloud data frame, calculate its average distance from all adjacent points. Assume a Gaussian distribution based on the mean and standard deviation, and regard the points whose distance from the mean exceeds the standard range as outliers, and perform removal processing on the outliers

[0081] In addition, the installation position of the live object 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. Then, 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 removal of the non-construction area

[0082] Next, extract the point cloud of the target target from the preprocessed real-time point cloud .

[0083] Use the inclinometer to detect the real-time inclination angle , and the point cloud data D5 collected in step 3, and calculate the coordinates of the target target in the reference coordinate system through the following formula.

[0084] (4)

[0085] The 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 , the point cloud of the target target in the initial coordinate system The corresponding real-time azimuth angle in the reference coordinate system , the real-time inclination angle detected by the inclinometer . The inclination angle is also the pitch angle.

[0086] The real-time azimuth angle can be calculated through formula (4) .

[0087] The coordinates of the target target in the reference coordinate system can be calculated through formula (5) .

[0088] (5)

[0089] Identify the coordinates of the target target in the reference coordinate system 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 target and the target charged body can be calculated.

[0090] When the distance is less than or equal to the safety regulation threshold of the target charged body, a warning is issued. The warning can include various methods such as sound, light, electricity, communication signal, network signal, triggering of drones / unmanned vehicles, etc.

[0091] The power construction safety warning method based on lidar provided by the present invention can monitor the adjacent monitoring range of the mobile operation platform entering the power charged body in the power construction scene only by using lidar, and issue a warning in time to avoid damage to power facilities caused by the mobile operation platform during construction.

[0092] The input values of the above method of the present invention are less, and the input is basically obtained through lidar and inclinometer, which can eliminate the errors generated during the movement of the boom and the point cloud solution process, improve the accuracy of power construction safety warning, and reduce the probability of misjudgment.

[0093] The above embodiments are only used to describe the technical solutions of the present invention and are not regarded as limitations on the present invention.

Claims

1. A power construction safety warning method that only uses lidar, characterized in that Install at least two lidars on the fixed rod at the head of the operating rod 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 method includes: Step 1, in the initial state, the first lidar and the second lidar scan the same positioning target, identify the relative position offset between the two lidars, and adjust the two lidars to the same initial coordinate system; Step 2, taking the connection point of the extension line of the fixed rod and the bearing base as the origin, establish a reference coordinate system, and convert the initial coordinate system to the reference coordinate system; Step 3, use the first lidar and the second lidar to scan and identify the coordinates of the target live body in the reference coordinate system in the construction environment; Step 4, in the construction state, use an inclinometer to extract the real-time inclination angle of the fixed rod, use the real-time inclination angle to identify the coordinates of the target target in the reference coordinate system, calculate the distance between the target target and the target live body, and issue a warning when the distance exceeds the safety regulation threshold.

2. The power construction safety warning method that only uses lidar as described in claim 1, wherein The two lidars are arranged on opposite sides of the fixed rod.

3. The power construction safety warning method that only uses lidar as described in claim 1 or 2, characterized in that The mobile operating platform is a crane, the operating rod head is a boom, the boom includes a fixed boom and a telescopic boom, and the fixed rod is the fixed boom.

4. The power construction safety warning method that only uses lidar as described in claim 1, wherein The step of identifying the relative position offset between the two lidars and adjusting the two lidars to the same initial coordinate system further includes: The first lidar obtains the first initial point cloud data D1, and identifies i groups of coordinates of the positioning target therefrom , and the second lidar obtains the second initial point cloud data D2, and identifies i groups of coordinates of the positioning target therefrom ; The following conversion formula is used to convert 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 lidar relative to the first lidar in the X, Z, and Y directions respectively; X, Y, Z are the position offsets of the second lidar relative to the first lidar in the X, Y, and Z directions respectively.

5. The power construction safety warning method that only uses lidar as described 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 fixed rod is respectively arranged at at least two preset positions. The first lidar 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 uses the following formula to convert the initial coordinate system to the reference coordinate system; ； Among them, are the coordinates of i groups of positioning target points scanned by the first lidar at the first preset position, are the coordinates of i groups of positioning target points scanned by the first lidar at the second preset position, is the origin coordinate of the reference coordinate system in the initial coordinate system.

6. The power construction safety warning method using only lidar as described in claim 5, characterized in that, The step of using the first lidar and the second lidar to scan and identify the coordinates of the target live body in the reference coordinate system in the construction environment further includes: Set the fixed rod at a predetermined angular position corresponding to the pitch angle and the azimuth angle ; ； is the coordinate of the target charged object in the reference coordinate system, is the point cloud of the target charged object in the initial coordinate system.

7. The power construction safety warning method using only lidar as described in claim 6, characterized in that, Step 4 further includes: The first lidar and the second lidar scan the construction environment, and the scanning field of view covers the target target to obtain the real-time point cloud in the initial coordinate system; Perform point cloud preprocessing on the real-time point cloud, including the non-construction area clearing step; The non-construction area clearing step further includes: clearing the point cloud data with a Z value lower than the lowest installation height in the real-time point cloud to achieve the clearing of the non-construction area.

8. The power construction safety warning method using only lidar as described in claim 7, characterized in that Step 4 further includes: Extract the point cloud of the target target from the real-time point cloud ; The real-time inclination angle is detected by using an inclinometer ; ； is the real-time azimuth angle; ； are the coordinates of the target in this reference coordinate system.

9. An electric power construction safety warning device that only uses lidar, characterized in that, Install at least two lidars on the fixed rod at the head of the operating rod 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 includes: An initial coordinate conversion module, which is used to, in the initial state, the first lidar and the second lidar scan the same positioning target, identify the relative position offset between the two lidars, and adjust the two lidars to the same initial coordinate system; A reference coordinate system establishing module, which is used to establish a reference coordinate system with the connection point of the extension line of the fixed rod and the bearing base as the origin, and convert the initial coordinate system to the reference coordinate system; A target live body identifying module, which is used to scan and identify the coordinates of the target live body in the reference coordinate system in the construction environment by using the first lidar and the second lidar; An early warning module, which is used to extract the real-time inclination angle of the fixed rod by using an inclinometer under the construction state, identify the coordinates of the target target in the reference coordinate system by using the real-time inclination angle, calculate the distance between the target target and the target live body, and issue an early warning when the distance exceeds the safety regulation threshold.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program codes, and when the computer program codes run on a computer, the computer implements the power construction safety early warning method using only lidar as described in any one of claims 1-8.

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