Millimeter wave radar combination-based external damage prevention monitoring system and method

Abstract

The invention provides an external damage prevention monitoring system and method based on millimeter wave radar combination, relates to the field of power system power transmission line protection, and solves the problem of limitation of an existing power transmission line external damage prevention technology in the aspects of video and manual monitoring. In the system, a 4D millimeter-wave radar combination comprises a plurality of 4D millimeter-wave radars which are respectively erected at a plurality of overhead power transmission towers along a power transmission line, and the field angle center line direction of each 4D millimeter-wave radar is parallel to the trend of the overhead power transmission line; the 4D millimeter wave radar combination is used for collecting millimeter wave point cloud data in real time; the data collection device is used for collecting, combining and associating all millimeter wave point cloud data collected by the 4D millimeter wave radar combination; and the data processing device is used for carrying out partition division according to all the millimeter wave point cloud data collected by the data collection device, and identifying a target object. According to the invention, active monitoring of external damage risk targets covered by areas along the overhead transmission line in different areas is realized.

Description

Technical Field

[0001] The present invention relates to the field of power system transmission line protection, and is applied to external damage prevention scenarios, and specifically to an external damage prevention monitoring system and method based on a millimeter wave radar combination. Background Art

[0002] The safety and stability of transmission lines are the top priority of power grid operation. On the one hand, protecting the stability of the power grid is a typical power application. External damage to high-voltage lines will lead to a decrease in the stability of the power grid and affect the normal operation of the power system. By strengthening the line protection against external damage, line failures caused by external damage can be reduced or avoided, ensuring the stability of power supply.

[0003] On the other hand, protecting personal and property safety is another important issue for the safe operation of power grids. External failure of high-voltage lines is usually caused by human factors, such as illegal construction and theft of tower materials, which may cause electric shock to the human body, resulting in casualties and property losses. Anti-external failure measures can effectively reduce the occurrence of such accidents.

[0004] Furthermore, reducing maintenance costs is an important requirement for the safe operation of the power grid. External damage to the line will cause damage to the equipment, which requires repair or replacement, which is expensive. Strengthening the prevention of external damage can reduce line damage, thereby reducing the cost of repair and replacement, and improving the economic benefits of the power system.

[0005] At present, the common power transmission line anti-extrinsic damage technology is often concentrated in the fields of video surveillance and manual inspection. The application of millimeter-wave radar for anti-extrinsic damage monitoring is still in the trial stage. In addition, the applied millimeter-wave radars are mostly non-ultra-high-resolution 3D millimeter-wave radars, which do not have high-density point cloud acquisition capabilities. At the same time, the application of a single 4D millimeter-wave radar for anti-extrinsic damage monitoring may affect the recognition accuracy and tracking ability of risk targets due to the limitation of the field of view of a single 4D millimeter-wave radar.

[0006] Therefore, it is necessary to provide a 4D millimeter-wave radar combination anti-external damage monitoring technology to improve the coverage of transmission line anti-external damage monitoring, and to increase the density of point cloud data monitored along the transmission line, so as to enhance the characteristics of risk targets and improve the ability to identify and track risk targets; and to provide alarms and warnings in the first time, so as to improve the overall technical defense capabilities of transmission line anti-external damage monitoring and reduce the risk of external damage. Summary of the invention

[0007] The purpose of the present invention is to solve the limitations of existing power transmission line anti-extrinsic damage technology in video and manual monitoring, and therefore proposes an anti-extrinsic damage monitoring system and method based on a combination of millimeter wave radars. The present invention realizes active monitoring of external damage risk targets in the area covered by the area along the overhead power transmission line by setting up a combined system of 4D millimeter wave radars, and the monitoring capability is significantly improved.

[0008] The present invention adopts the following technical solutions to achieve the purpose:

[0009] In a first aspect, the present invention provides an anti-external damage monitoring system based on a millimeter wave radar combination, the system comprising a 4D millimeter wave radar combination, a data collection device and a data processing device;

[0010] The 4D millimeter wave radar combination includes multiple 4D millimeter wave radars, which are respectively installed on multiple overhead transmission towers along the transmission line. The center line direction of the field of view of each 4D millimeter wave radar is parallel to the direction of the overhead transmission line. The 4D millimeter wave radar combination is used to collect millimeter wave point cloud data in real time.

[0011] The data collection device is used to collect and merge all the millimeter wave point cloud data collected by the associated 4D millimeter wave radar combination; the data processing device is used to partition and identify the target object based on all the millimeter wave point cloud data collected by the data collection device.

[0012] Specifically, two 4D millimeter-wave radars are installed on a single overhead transmission tower, with the centerline directions of their field of view angles facing the radial directions of the overhead transmission lines on both sides of the tower, and are used to collect millimeter-wave point cloud data in the corresponding radial directions; all 4D millimeter-wave radars installed on multiple overhead transmission towers together constitute a 4D millimeter-wave radar combination.

[0013] Specifically, the 4D millimeter-wave radar combination is also used to perform time synchronization settings for all 4D millimeter-wave radars before the system is started, and to calibrate the position and orientation.

[0014] Preferably, multiple 4D millimeter-wave radars in the 4D millimeter-wave radar combination are sequentially installed and arranged on multiple consecutive overhead transmission towers to perform continuous millimeter-wave point cloud data collection on overhead transmission lines along the transmission lines.

[0015] Specifically, multiple overhead transmission towers are arranged continuously along the transmission line, and there is a preset distance between two adjacent overhead transmission towers; each 4D millimeter-wave radar in the 4D millimeter-wave radar combination is used to set the ADC sampling rate corresponding to different preset distances according to the preset distance between two adjacent overhead transmission towers, and perform sampling coverage matching different preset distances.

[0016] Specifically, the data collection device is also used to associate each 4D millimeter-wave radar in the 4D millimeter-wave radar combination, extract the millimeter-wave point cloud data collected by each 4D millimeter-wave radar, and perform data collection.

[0017] Preferably, the data processing device is also used to perform partitioning based on all millimeter wave point cloud data, and issue an alarm or warning after identifying the target object.

[0018] Specifically, each 4D millimeter-wave radar has a horizontal field of view angle detection mode and a vertical field of view angle detection mode; the horizontal field of view angle of each 4D millimeter-wave radar is greater than the vertical field of view angle.

[0019] In a second aspect, the present invention provides an anti-external damage monitoring method based on a millimeter wave radar combination, the hardware basis of the method is the aforementioned anti-external damage monitoring system; the method comprises the following steps:

[0020] S1. Arrange a 4D millimeter wave radar combination for monitoring the damage of two adjacent towers along the transmission line, and calibrate the position and orientation of each 4D millimeter wave radar in the 4D millimeter wave radar combination;

[0021] S2, merging the millimeter wave point cloud data collected by a preset number of 4D millimeter wave radars into a data set, and correspondingly recording them as a 4D millimeter wave radar combination; forming the data sets corresponding to all combinations into a data set cluster, and placing the data set cluster into a data set device;

[0022] S3. In a single data set, the monitoring area is divided for the corresponding millimeter wave point cloud data, and the zones are isolated according to the core area, the radiation area and the edge area;

[0023] S4. Annotate the monitoring priority of the millimeter wave point cloud data in each monitoring area; the monitoring priority is arranged in descending order as follows: core area, radiation area, and edge area;

[0024] S5, transmitting all the millimeter wave point cloud data in the data collection device to the data processing device, and processing the millimeter wave point cloud data in real time;

[0025] S6. Identify and track the risk targets obtained through processing, and issue alarms or warnings for risk targets that meet the preset conditions.

[0026] In summary, due to the adoption of this technical solution, the beneficial effects of the present invention are as follows:

[0027] The present invention uses 4D millimeter wave radar to realize active detection of risk objects in a specific area, ensure large-area monitoring coverage, and effectively prevent external damage. By covering the areas along the overhead transmission lines in different regions and dividing the monitoring areas according to different characteristics, the recognition and tracking effects of potential risk targets in each area are enhanced. The present invention uses 4D millimeter wave radar technology to not only expand the monitoring range, but also increase the density of point cloud data. In complex environments, such as weather changes or undulating terrain, high-precision recognition and sensitive tracking of targets can be maintained.

[0028] In order to further improve the practicality and response efficiency of the system, the present invention introduces an alarm and early warning mechanism. When an activity or object that may threaten the safety of the transmission line is detected, the system can issue a warning message in time so that the relevant parties can take measures quickly to avoid potential damage. This mechanism strengthens the prevention of external damage and ensures the safety and stability of power transmission.

[0029] In summary, the present invention achieves efficient and accurate monitoring of areas along overhead power transmission lines by optimizing monitoring technologies and strategies. It not only improves the recognition accuracy and tracking sensitivity of risk targets, but also provides strong support for the safe operation of power facilities through reasonable alarm and early warning mechanism design. Therefore, the present invention has significant advantages in preventing external damage and is an important improvement on existing monitoring technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the anti-external damage monitoring system of the present invention;

[0031] Figure 2 It is a schematic diagram of the flow chart of the anti-external breakage monitoring method of the present invention;

[0032] Figure 3 This is a schematic diagram of the system architecture of the present invention viewed from above;

[0033] Figure 4 It is a schematic diagram of the system architecture of the present invention viewed from the horizontal side to the head. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Example 1

[0037] This embodiment provides an anti-external damage monitoring system based on a millimeter-wave radar combination, and the key equipment used in the system is a 4D millimeter-wave radar. Compared with traditional 3D millimeter-wave radars or low-resolution 4D millimeter-wave radars, 4D millimeter-wave radars with ultra-high resolution allow targets to have higher resolutions in distance, angle, and height dimensions. The number of scattered point clusters obtained is hundreds of times that of traditional millimeter-wave radars, reaching more than 10,000 points at 30 frames per second; thereby realizing the contour construction of the target object and achieving the effect of "imaging". The corresponding functional effects of this embodiment can be achieved by using a 4D millimeter-wave radar, but it is preferred to use a 4D millimeter-wave radar with ultra-high resolution.

[0038] The ultra-high-resolution 4D millimeter-wave radar is not affected by rain, snow, fog, dust and other environments, has excellent penetration ability, and its anti-interference ability is significantly improved. The point cloud density can realize the ability of object clustering and recognition, which can effectively help detect targets outside the transmission corridor. The preferred parameters of the 4D millimeter-wave radar used in this embodiment are: 48 transmissions and 48 receptions with a total of more than 2,000 channels of acquisition capacity, a frame rate of more than 20FPS, and a single-frame point cloud number of tens of thousands; this can greatly improve the point cloud density and imaging capabilities.

[0039] like Figure 1 As shown, the system of this embodiment includes a 4D millimeter wave radar combination, a data collection device and a data processing device. The 4D millimeter wave radar combination includes multiple 4D millimeter wave radars, which are respectively installed at multiple overhead transmission towers along the transmission line. The center line direction of the field of view angle of each 4D millimeter wave radar is parallel to the direction of the overhead transmission line; the 4D millimeter wave radar combination is used to collect millimeter wave point cloud data in real time.

[0040] The data collection device is used to collect and merge all the millimeter wave point cloud data collected by the associated 4D millimeter wave radar combination; the data processing device is used to partition and identify the target object based on all the millimeter wave point cloud data collected by the data collection device.

[0041] In this embodiment, two 4D millimeter-wave radars are installed on a single overhead transmission tower, and the centerline directions of their field of view angles are respectively directed toward the radial directions of the overhead transmission lines on both sides of the tower, and are used to collect millimeter-wave point cloud data in the corresponding radial directions; all 4D millimeter-wave radars installed on multiple overhead transmission towers together constitute a 4D millimeter-wave radar combination.

[0042] Before the system is started, all individual 4D millimeter-wave radars in the 4D millimeter-wave radar combination need to be time-synchronized and their positions and orientations calibrated to ensure the consistency of the data source in time and space in subsequent processes.

[0043] In this embodiment, multiple 4D millimeter wave radars in the 4D millimeter wave radar combination are sequentially arranged on multiple consecutive overhead transmission towers to continuously collect millimeter wave point cloud data of overhead transmission lines along the transmission line. Figure 3 and Figure 4 As shown in the figure, by looking down from the air and from the side, continuous point cloud data collection is formed along the tower, thus solving the problem that a single 4D millimeter-wave radar cannot cover the risk prevention range along the tower for data collection.

[0044] In this embodiment, a plurality of overhead transmission towers are arranged continuously along the transmission line, and a preset distance is provided between two adjacent overhead transmission towers; each 4D millimeter-wave radar in the 4D millimeter-wave radar combination is used to set an ADC sampling rate corresponding to different preset distances according to the preset distance between two adjacent overhead transmission towers, and to perform sampling coverage matching different preset distances; for example, short-range, medium-range, long-range and ultra-long-range long-distance sampling coverage can be adopted.

[0045] In this embodiment, the data collection device is also used to associate each 4D millimeter-wave radar in the 4D millimeter-wave radar combination, extract the millimeter-wave point cloud data collected by each 4D millimeter-wave radar, and perform data collection.

[0046] In this embodiment, the data processing device is also used to divide the data into zones based on all the millimeter wave point cloud data, and issue an alarm or warning after identifying the target object.

[0047] In this embodiment, each 4D millimeter wave radar has a horizontal field of view detection mode and a vertical field of view detection mode; the horizontal field of view of each 4D millimeter wave radar is greater than the vertical field of view. Specifically, a 4D millimeter wave radar with a horizontal field of view of 80 degrees and a vertical field of view of 30 degrees can be deployed and installed.

[0048] In summary, the anti-external damage monitoring system provided in this embodiment realizes the active detection of external damage risk targets in the area covered by the overhead transmission line by setting up 4D millimeter wave radar, thereby increasing the monitoring coverage; on the basis of this system, the monitoring area can be divided according to the characteristics, and the point cloud data density of the monitoring area can be improved, thereby improving the recognition accuracy and tracking sensitivity of risk targets in each area; by setting up an alarm and early warning mechanism, the monitoring capability of external damage risk targets can be significantly improved.

[0049] Example 2

[0050] Based on Example 1, this embodiment provides an anti-external damage monitoring method based on a millimeter wave radar combination. The hardware basis of this method is the anti-external damage monitoring system in Example 1; Figure 2 The process diagram is given, and the steps of the method are summarized as follows:

[0051] S1. Arrange a 4D millimeter wave radar combination for monitoring the damage of two adjacent towers along the transmission line, and calibrate the position and orientation of each 4D millimeter wave radar in the 4D millimeter wave radar combination;

[0052] S2, merging the millimeter wave point cloud data collected by a preset number of 4D millimeter wave radars into a data set, and correspondingly recording them as a 4D millimeter wave radar combination; forming the data sets corresponding to all combinations into a data set cluster, and placing the data set cluster into a data set device;

[0053] S3. In a single data set, the monitoring area is divided for the corresponding millimeter wave point cloud data, and the zones are isolated according to the core area, the radiation area and the edge area;

[0054] S4. Annotate the monitoring priority of the millimeter wave point cloud data in each monitoring area; the monitoring priority is arranged in descending order as follows: core area, radiation area, and edge area;

[0055] S5, transmitting all the millimeter wave point cloud data in the data collection device to the data processing device, and processing the millimeter wave point cloud data in real time;

[0056] S6. Identify and track the risk targets obtained through processing, and issue alarms or warnings for risk targets that meet the preset conditions.

[0057] This embodiment will introduce the details of each step in detail according to the step sequence of the above method.

[0058] Step S1 of this embodiment includes the following sub-steps:

[0059] S11. Calibrate the radar number, location and orientation of each 4D millimeter wave radar along the transmission line;

[0060] S12, arranging a 4D millimeter wave radar combination Z1 for monitoring against external damage between two iron towers at the beginning of the transmission line, and calibrating the position and orientation of each 4D millimeter wave radar in the combination Z1;

[0061] S13, arrange all adjacent two-level towers in the transmission line to prevent external damage monitoring 4D millimeter wave radar combination, forming Z1 to Z N A combination sequence is provided, where N is the total number of combinations; and the position and orientation of each 4D millimeter-wave radar in all 4D millimeter-wave radar combinations are calibrated.

[0062] Step S2 of this embodiment includes the following sub-steps:

[0063] S21, merging all millimeter wave point cloud data collected by 4D millimeter wave radars in a single 4D millimeter wave radar combination into the same data set D;

[0064] S22, merging the data sets D corresponding to all 4D millimeter wave radar combinations to form a data set cluster {D1~D N}, N is the total number of combinations;

[0065] S23, cluster the data set {D1~D N} is placed in the data collection device.

[0066] Step S3 of this embodiment includes the following sub-steps:

[0067] S31. In a single data set, the corresponding monitoring area is divided according to the horizontal field of view angle boundary and the vertical field of view angle boundary of the 4D millimeter wave radar;

[0068] S32. Carry out zoning isolation according to the categories of core area, radiation area and edge area;

[0069] S33. Uniquely label the millimeter wave point cloud data corresponding to each monitoring area with an ID to form an index corresponding to each monitoring area.

[0070] In this embodiment, the millimeter wave point cloud data in each monitoring area is derived from the 4D millimeter wave radar combination Z. x The point cloud density of multiple 4D millimeter wave radar acquisition sources in the combined image is significantly better than that of point cloud data captured by a single 4D millimeter wave radar. x , compared with the point cloud data volume S in a single frame captured by a single 4D millimeter-wave radar in the same area x In comparison, SUM x Can reach S x The point cloud density in a single area is greatly increased, which can enhance the significant features of risky targets and help data processing devices to quickly identify risky targets.

[0071] Step S5 of this embodiment includes the following sub-steps:

[0072] S51, transmitting all millimeter wave point cloud data in the data collection device to the data processing device;

[0073] S52, classifying and merging the millimeter wave point cloud data corresponding to each data set into different data subsets according to the monitoring area type, including a core area subset Dh, a radiation area subset Df, and an edge area subset Db;

[0074] S53, merge the data subsets of the same type to form corresponding subset clusters, including the core area subset cluster {Dh1~Dh N}、Radiation zone subset cluster {Df1~Df N} and edge area subset cluster {Db1~Db N}; N is the corresponding total number of each subset cluster;

[0075] S54, generating an index of a corresponding subset cluster for the partitioned millimeter wave point cloud data in each subset cluster according to a pre-marked unique ID;

[0076] S55, analyzing and processing the millimeter wave point cloud data in each subset cluster according to the order of monitoring priority to identify risk targets;

[0077] S56. During the analysis and processing, the millimeter wave point cloud data within the core area subset cluster is first processed and identified.

[0078] Step S6 of this embodiment includes the following sub-steps:

[0079] S61, marking the risk targets identified in the subset clusters of different monitoring areas, and simultaneously tracking them in real time;

[0080] S62, directly generate an alarm for the risk target objects identified in the core area subset cluster;

[0081] S63, generate an early warning for the risk target identified in the radiation zone subset cluster, and retain the early warning state when the risk target is at the boundary of the radiation zone and partially enters the core zone or the edge zone; when the risk target has completely entered the core zone or the edge zone, stop the early warning and handle it in the corresponding monitoring area that has entered;

[0082] S64. Track the risk targets identified in the edge area subset cluster without generating an alarm or warning.

[0083] Combination Figure 3 and Figure 4 In this embodiment, the method of this embodiment is exemplarily introduced and explained through the architecture diagram of the downward viewing angle from the air and the horizontal lateral viewing angle.

[0084] The four adjacent towers along the transmission line form a four-level tower arrangement, with tower 1 as the first tower and tower 4 as the last tower. First, to monitor the anti-external damage area between towers 1 and 2, it is necessary to combine a total of four 4D millimeter-wave radars, namely, 4D millimeter-wave radar 2 on tower 1, 4D millimeter-wave radars 3 and 4 on tower 2, and 4D millimeter-wave radar 5 on tower 3, to form a 4D millimeter-wave radar combination Z1 for monitoring.

[0085] To monitor the anti-external damage area between tower 2 and tower 3, it is necessary to combine a total of six 4D millimeter-wave radars, including 4D millimeter-wave radar 2 on tower 1, 4D millimeter-wave radars 3 and 4 on tower 2, 4D millimeter-wave radars 5 and 6 on tower 3, and 4D millimeter-wave radar 7 on tower 4, to form a 4D millimeter-wave radar combination Z2 for monitoring.

[0086] in accordance with Figure 3 and Figure 4 The corresponding example is in the core area between two adjacent towers. Figure 3 The amount of point cloud data in a single frame captured by a single 4D millimeter wave radar (taking 4D millimeter wave radar 5 as an example) is recorded as S x , after adding the point cloud data volume S in the same frame captured by a single 4D millimeter wave radar (i.e., 4D millimeter wave radar 4) that is shooting against it (x-1) Then, the point cloud density is significantly enhanced. Then, the point cloud data volume S captured by a single 4D millimeter wave radar (i.e., 4D millimeter wave radar 2) in the same frame is also added. (x-3) And the amount of point cloud data S in the same frame captured by a single 4D millimeter wave radar (ie, 4D millimeter wave radar 7) (x+2) After that, the amount of single-frame point cloud data in the core area after collection is:

[0087] SUM x =S x +S (x-1) +S (x-3) +S (x+2)

[0088] Since the core area is located in the central area of ​​the fan-shaped field of view monitored by the 4D millimeter-wave radar, the point cloud density will be better than the fan-shaped edges of the horizontal and vertical fields of view, which will be conducive to improving the key monitoring capabilities of the core area.

[0089] At the same time, as the distance from the center line of the radar field of view changes, the point cloud density will also increase inversely with the distance from the 4D millimeter wave radar, that is, the closer the distance to the 4D millimeter wave radar is, the greater the point cloud density is, and the farther the distance is, the smaller the point cloud density is. This feature is the core determining factor for dividing the core area, radiation area and edge area.

[0090] Similarly, the point cloud data density in the radiation zone and edge zone will also be better than the point cloud data in the corresponding area monitored by a single 4D millimeter wave radar. With the division of core zone, radiation zone and edge zone, the point cloud density in the core zone is usually better than that in the radiation zone, and the point cloud density in the radiation zone is usually better than that in the edge zone.

[0091] This embodiment also provides the following detailed description of the specific situation of step S3:

[0092] The monitoring priority of the core area is higher than that of the radiation area, and the monitoring priority of the radiation area is higher than that of the edge area. Combined with the characteristics of the point cloud density of each area, the characteristics of risk targets in the core area will be more significant, which is conducive to the rapid identification and continuous tracking of risk targets; therefore, the processing state after the appearance of risk targets in the core area is preset to the alarm state, and its accuracy will be higher than the recognition accuracy of risk targets in the radiation area and the edge area.

[0093] Similarly, the characteristics of risk targets in the radiation zone will be weaker than those in the core zone. Therefore, the processing state after the risk targets appear in the radiation zone is preset to the warning state, which meets the actual scenario requirements of preventing external damage to the transmission line. The edge zone itself is relatively far away from the tower body and the conductor, so the risk is the lowest, and the characteristics of risk targets in the edge zone are the least obvious. Therefore, the processing state after the risk targets appear in the edge zone is preset to the tracking state to meet the actual application requirements.

Claims

1. An anti-external damage monitoring system based on a millimeter wave radar combination, characterized in that: The system includes a 4D millimeter wave radar combination, a data collection device and a data processing device; The 4D millimeter wave radar combination includes multiple 4D millimeter wave radars, which are respectively installed on multiple overhead transmission towers along the transmission line. The center line direction of the field of view of each 4D millimeter wave radar is parallel to the direction of the overhead transmission line. The 4D millimeter wave radar combination is used to collect millimeter wave point cloud data in real time. The data collection device is used to collect and merge all the millimeter wave point cloud data collected by the associated 4D millimeter wave radar combination; the data processing device is used to partition and identify the target object based on all the millimeter wave point cloud data collected by the data collection device.

2. The anti-external damage monitoring system according to claim 1, characterized in that: Two 4D millimeter-wave radars are installed on a single overhead transmission tower. The center lines of their field of view angles are respectively directed towards the radial directions of the overhead transmission lines on both sides of the tower, and are used to collect millimeter-wave point cloud data in the corresponding radial directions; all 4D millimeter-wave radars installed on multiple overhead transmission towers together constitute a 4D millimeter-wave radar combination.

3. The anti-external damage monitoring system according to claim 2, characterized in that: The 4D millimeter-wave radar combination is also used to perform time synchronization settings on all 4D millimeter-wave radars before the system is started, and to calibrate the position and orientation.

4. The anti-external damage monitoring system according to claim 2, characterized in that: Multiple 4D millimeter-wave radars in the 4D millimeter-wave radar combination are sequentially installed and arranged on multiple consecutive overhead transmission towers to perform continuous millimeter-wave point cloud data collection on the overhead transmission lines along the transmission lines.

5. The anti-external damage monitoring system according to claim 2, characterized in that: Multiple overhead transmission towers are arranged continuously along the transmission line, and there is a preset distance between two adjacent overhead transmission towers; each 4D millimeter-wave radar in the 4D millimeter-wave radar combination is used to set the ADC sampling rate corresponding to different preset distances according to the preset distance between two adjacent overhead transmission towers, and perform sampling coverage matching different preset distances.

6. The anti-external damage monitoring system according to claim 1, characterized in that: The data collection device is also used to associate each 4D millimeter-wave radar in the 4D millimeter-wave radar combination, extract the millimeter-wave point cloud data collected by each 4D millimeter-wave radar, and perform data collection.

7. The anti-external damage monitoring system according to claim 1, characterized in that: The data processing device is also used to divide the area according to all millimeter wave point cloud data, and issue an alarm or warning after identifying the target object.

8. The anti-external damage monitoring system according to claim 2, characterized in that: Each 4D millimeter-wave radar has a horizontal field of view angle detection mode and a vertical field of view angle detection mode; the horizontal field of view angle of each 4D millimeter-wave radar is greater than the vertical field of view angle.

9. A method for preventing external damage based on a millimeter wave radar combination, characterized in that: The hardware basis of the method is the anti-external damage monitoring system according to claim 1; the method comprises the following steps: S1. Arrange a 4D millimeter wave radar combination for monitoring the damage of two adjacent towers along the transmission line, and calibrate the position and orientation of each 4D millimeter wave radar in the 4D millimeter wave radar combination; S2, merging the millimeter wave point cloud data collected by a preset number of 4D millimeter wave radars into a data set, and correspondingly recording them as a 4D millimeter wave radar combination; forming the data sets corresponding to all combinations into a data set cluster, and placing the data set cluster into a data set device; S3. In a single data set, the monitoring area is divided for the corresponding millimeter wave point cloud data, and the zones are isolated according to the core area, the radiation area and the edge area; S4. Annotate the monitoring priority of the millimeter wave point cloud data in each monitoring area; the monitoring priority is arranged in descending order as follows: core area, radiation area, and edge area; S5, transmitting all the millimeter wave point cloud data in the data collection device to the data processing device, and processing the millimeter wave point cloud data in real time; S6. Identify and track the risk targets obtained through processing, and issue alarms or warnings for risk targets that meet the preset conditions.

10. The anti-external damage monitoring method according to claim 9, characterized in that: Step S1 includes the following sub-steps: S11. Calibrate the radar number, location and orientation of each 4D millimeter wave radar along the transmission line; S12, arranging a 4D millimeter wave radar combination Z1 for monitoring against external damage between two iron towers at the beginning of the transmission line, and calibrating the position and orientation of each 4D millimeter wave radar in the combination Z1; S13, arrange all adjacent two-level towers in the transmission line to prevent external damage monitoring 4D millimeter wave radar combination, forming Z1 to Z N A combination sequence is provided, where N is the total number of combinations; and the position and orientation of each 4D millimeter-wave radar in all 4D millimeter-wave radar combinations are calibrated.

11. The anti-external damage monitoring method according to claim 9, characterized in that: Step S2 includes the following sub-steps: S21, merging all millimeter wave point cloud data collected by 4D millimeter wave radars in a single 4D millimeter wave radar combination into the same data set D; S22, merging the data sets D corresponding to all 4D millimeter wave radar combinations to form a data set cluster {D1~D N }, N is the total number of combinations; S23, cluster the data set {D1~D N } is placed in the data collection device.

12. The anti-external damage monitoring method according to claim 9, characterized in that: Step S3 includes the following sub-steps: S31. In a single data set, the corresponding monitoring area is divided according to the horizontal field of view angle boundary and the vertical field of view angle boundary of the 4D millimeter wave radar; S32. Carry out zoning isolation according to the categories of core area, radiation area and edge area; S33. Uniquely label the millimeter wave point cloud data corresponding to each monitoring area with an ID to form an index corresponding to each monitoring area.

13. The anti-external damage monitoring method according to claim 9, characterized in that: In step S3, while dividing the monitoring area, the processing state after the risk target appears in the core area is preset to the alarm state, the processing state after the risk target appears in the radiation area is preset to the early warning state, and the processing state after the risk target appears in the edge area is preset to the tracking state.

14. The anti-external damage monitoring method according to claim 9, characterized in that: Step S5 includes the following sub-steps: S51, transmitting all millimeter wave point cloud data in the data collection device to the data processing device; S52, classifying and merging the millimeter wave point cloud data corresponding to each data set into different data subsets according to the monitoring area type, including a core area subset Dh, a radiation area subset Df, and an edge area subset Db; S53, merge the data subsets of the same type to form corresponding subset clusters, including the core area subset cluster {Dh1~Dh N }、Radiation zone subset cluster {Df1~Df N } and edge area subset cluster {Db1~Db N }; N is the corresponding total number of each subset cluster; S54, generating an index of a corresponding subset cluster for the partitioned millimeter wave point cloud data in each subset cluster according to a pre-marked unique ID; S55, analyzing and processing the millimeter wave point cloud data in each subset cluster according to the order of monitoring priority to identify risk targets; S56. During the analysis and processing, the millimeter wave point cloud data within the core area subset cluster is first processed and identified.

15. The anti-external damage monitoring method according to claim 14, characterized in that: Step S6 includes the following sub-steps: S61, marking the risk targets identified in the subset clusters of different monitoring areas, and simultaneously tracking them in real time; S62, directly generate an alarm for the risk target objects identified in the core area subset cluster; S63, generate an early warning for the risk target identified in the radiation zone subset cluster, and retain the early warning state when the risk target is at the boundary of the radiation zone and partially enters the core zone or the edge zone; when the risk target has completely entered the core zone or the edge zone, stop the early warning and handle it in the corresponding monitoring area that has entered; S64. Track the risk targets identified in the edge area subset cluster without generating an alarm or warning.

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