Method, system and equipment for formulating emergency repair tower arrangement scheme based on point cloud data and medium

Abstract

The invention relates to the field of line first-aid repair, in particular to a first-aid repair tower arrangement scheme making method, system and device based on point cloud data and a medium, and the method comprises the steps: obtaining the point cloud data of a feasible region for carrying out first-aid repair operation, recognizing the point cloud data to obtain a non-obstacle region, and roughly dividing the non-obstacle region into a plurality of grids; based on the fact that each grid corresponds to one first-aid repair tower arrangement scheme, each first-aid repair tower arrangement scheme is scored based on transportation cost, material cost and safety, and a target grid corresponding to the first-aid repair tower arrangement scheme with the highest comprehensive score is obtained; continuously dividing the target grid into a plurality of grids, and further determining the target grid corresponding to the first-aid repair tower arrangement scheme with the highest comprehensive score until the scale of the target grid is smaller than or equal to the scale of the preset grid, thereby obtaining a target first-aid repair tower arrangement scheme; according to the method, grid division of different scales is carried out step by step based on the point cloud data, rapid exploration and site selection can be realized, and the first-aid repair efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of line emergency repair, and in particular to a method, system, equipment and medium for formulating an emergency repair tower layout plan based on point cloud data. Background Art

[0002] In recent years, global climate change has intensified, with frequent extreme weather events. Severe weather conditions such as strong winds, heavy rain, and hail pose a serious threat to the safe and stable operation of power systems, particularly overhead transmission lines. Severe weather can easily lead to tower collapses and line breaks, causing widespread power outages and severely impacting social production and people's lives.

[0003] Traditional power repair methods mainly rely on manual on-site surveys and experience-based judgments, which are inefficient and cannot meet the needs of quickly restoring power supply. This is especially true in mountainous areas with complex terrain and harsh environments. Manual surveys are difficult and time-consuming, which seriously restricts the progress of repairs. Summary of the Invention

[0004] In order to solve the problems of difficult, time-consuming and labor-intensive site selection and layout of existing emergency repair towers in the prior art, the present invention proposes a method for formulating an emergency repair tower layout plan based on point cloud data, comprising:

[0005] Obtaining point cloud data of a feasible area for emergency repair work, identifying the point cloud data to obtain a non-obstruction area, and roughly dividing the non-obstruction area into a plurality of grids;

[0006] Each grid corresponds to a repair tower layout plan, and each repair tower layout plan is scored based on transportation costs, material costs, and safety. The target grid corresponding to the repair tower layout plan with the highest comprehensive score is obtained.

[0007] The target grid is further divided into multiple grids, and the target grid corresponding to the emergency tower layout scheme with the highest comprehensive score is further determined until the scale of the target grid is less than or equal to the preset grid scale. The emergency tower layout scheme corresponding to the target grid at this time is the target emergency tower layout scheme.

[0008] Optionally, the steps of scoring each emergency tower layout plan based on transportation costs, material costs, and safety include:

[0009] Obtain the total cost based on the transportation cost and material cost of each repair tower layout plan;

[0010] Comparing the total cost of the emergency repair tower layout plan with the average cost of all emergency repair tower layout plans to obtain a price score for the emergency repair tower layout plan;

[0011] The safety score of the emergency repair tower arrangement scheme is obtained by comparing the maximum stress ratio under 110% to 130% design conditions with the maximum stress ratio under 100% design conditions;

[0012] The safety score of the emergency repair tower layout scheme is compared with the average safety score of all emergency repair tower layout schemes to obtain the technical score of the emergency repair tower layout scheme;

[0013] The price score and the technical score are weighted and summed to obtain a comprehensive score for the emergency repair tower layout plan.

[0014] Optionally, the feasible area is a polygonal area.

[0015] Optionally, the step of roughly dividing the non-obstruction area into a plurality of grids includes:

[0016] Determine whether the vertices of the polygonal area are non-obstruction areas. If so, grid the vertices according to the area of ​​the emergency repair tower.

[0017] The non-obstruction area within the polygonal area is divided into multiple grids by grid interpolation, and each grid corresponds to a repair tower layout plan.

[0018] Optionally, the step of obtaining point cloud data of a feasible area for carrying out emergency repair work includes:

[0019] The feasible area is divided according to the viewing range of the drone to obtain multiple partitions;

[0020] Use drones to collect point cloud data of multiple partitions;

[0021] The point cloud data of multiple partitions are spliced ​​together to obtain the point cloud data of the entire feasible area.

[0022] Optionally, the identifying and obtaining the non-obstruction area from the point cloud data also includes obtaining the obstacle area, and the steps include:

[0023] AI recognition technology is used to identify roads, buildings and rivers in point cloud data, and the roads, buildings and rivers are marked as obstacle areas, and the rest are non-obstacle areas.

[0024] Optionally, the material cost includes the cost of the emergency repair tower, the cost of the ground wire and the cost of the length of the wire, and the height of the emergency repair tower is the minimum height that meets the emergency repair tower layout plan obtained through simulation calculation.

[0025] Optionally, the emergency repair tower adopts a modular design and is obtained by splicing multiple modular standard sections.

[0026] A second aspect of the present invention provides a system for formulating a repair tower layout plan based on point cloud data, comprising:

[0027] A coarse grid division module is used to obtain point cloud data of a feasible area for carrying out emergency repair work, identify the point cloud data to obtain a non-obstruction area, and coarsely divide the non-obstruction area into multiple grids;

[0028] Target grid acquisition module: used to assign a repair tower layout plan to each grid, and score each repair tower layout plan based on transportation costs, material costs, and safety, to obtain the target grid corresponding to the repair tower layout plan with the highest comprehensive score;

[0029] Iterative division module: used to continue dividing the target grid into multiple grids, and further determine the target grid corresponding to the emergency tower layout plan with the highest comprehensive score, until the scale of the target grid is less than or equal to the preset grid scale. At this time, the emergency tower layout plan corresponding to the target grid is the target emergency tower layout plan.

[0030] Optionally, the target grid acquisition module scores each repair tower layout plan based on transportation costs, material costs, and safety, the steps including:

[0031] Obtain the total cost based on the transportation cost and material cost of each repair tower layout plan;

[0032] Comparing the total cost of the emergency repair tower layout plan with the average cost of all emergency repair tower layout plans to obtain a price score for the emergency repair tower layout plan;

[0033] The safety score of the emergency repair tower arrangement scheme is obtained by comparing the maximum stress ratio under 110% to 130% design conditions with the maximum stress ratio under 100% design conditions;

[0034] The safety score of the emergency repair tower layout scheme is compared with the average safety score of all emergency repair tower layout schemes to obtain the technical score of the emergency repair tower layout scheme;

[0035] The price score and the technical score are weighted and summed to obtain a comprehensive score for the emergency repair tower layout plan.

[0036] Optionally, the feasible area in the coarse grid division module is a polygonal area.

[0037] Optionally, the coarse grid division module coarsely divides the non-obstruction area into a plurality of grids, comprising the following steps:

[0038] Determine whether the vertices of the polygonal area are non-obstruction areas. If so, grid the vertices according to the area of ​​the emergency repair tower.

[0039] The non-obstruction area within the polygonal area is divided into multiple grids by grid interpolation, and each grid corresponds to a repair tower layout plan.

[0040] Optionally, the coarse grid division module obtains point cloud data of a feasible area for carrying out emergency repair work, and the steps include:

[0041] The feasible area is divided according to the viewing range of the drone to obtain multiple partitions;

[0042] Use drones to collect point cloud data of multiple partitions;

[0043] The point cloud data of multiple partitions are spliced ​​together to obtain the point cloud data of the entire feasible area.

[0044] Optionally, the coarse grid division module identifies the point cloud data to obtain a non-obstruction area and also obtains an obstacle area, the steps comprising:

[0045] AI recognition technology is used to identify roads, buildings and rivers in point cloud data, and the roads, buildings and rivers are marked as obstacle areas, and the rest are non-obstacle areas.

[0046] Optionally, the material costs in the target grid acquisition module include the cost of the emergency repair tower, the cost of the ground wire, and the cost of the length of the wire. The height of the emergency repair tower is the minimum height that meets the emergency repair tower layout plan obtained through simulation calculation.

[0047] Optionally, the emergency repair tower in the target grid acquisition module adopts a modular design and is obtained by splicing multiple modular standard segments.

[0048] A third aspect of the present invention provides a computer device, comprising: at least one processor and a memory; the memory and the processor are connected via a bus;

[0049] The memory is used to store one or more programs;

[0050] When the one or more programs are executed by the at least one processor, the above-mentioned method for formulating a layout plan of emergency towers based on point cloud data is implemented.

[0051] A fourth aspect of the present invention provides a computer-readable storage medium having an execution program stored thereon. When the execution program is executed, the method for formulating a layout plan of emergency towers based on point cloud data as described above is implemented.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] The present invention provides a method, system, device and medium for formulating a repair tower layout plan based on point cloud data, including: obtaining point cloud data of a feasible area for carrying out repair work, identifying the point cloud data to obtain a non-obstruction area, and roughly dividing the non-obstruction area into multiple grids; based on each grid corresponding to a repair tower layout plan, scoring each repair tower layout plan based on transportation costs, material costs and safety, and obtaining a target grid corresponding to the repair tower layout plan with the highest comprehensive score; continuing to divide the target grid into multiple grids, and further determining the target grid corresponding to the repair tower layout plan with the highest comprehensive score, until the scale of the target grid is smaller than Or equal to the preset grid scale, the emergency tower layout plan corresponding to the target grid at this time is the target emergency tower layout plan; the present invention uses the three-dimensional point cloud data of the accident site, obtains the non-obstruction area based on the point cloud data, first performs coarse grid division on the non-obstruction area to obtain a preliminary emergency tower layout plan, and then calculates the comprehensive score of each emergency tower layout plan, selects the emergency tower layout plan with the highest score, re-grids it, and performs the score again, in this way, gradually refines and selects the optimal emergency tower layout plan, so that rapid survey can be achieved based on the point cloud data of the emergency repair site, and the optimization plan can be automatically calculated based on the point cloud to quickly formulate a reasonable emergency repair plan, thereby improving the emergency repair speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A flow chart of the method for formulating a repair tower layout plan based on point cloud data proposed in the present invention;

[0055] Figure 2 This is a schematic diagram of the drone nest proposed in the present invention;

[0056] Figure 3 This is a point cloud diagram of the emergency repair area proposed by the present invention;

[0057] Figure 4 This is a schematic diagram of the structure of polygonal selection of feasible areas proposed by the present invention;

[0058] Figure 5 This is a schematic diagram of the structure for meshing multiple deformations proposed by the present invention;

[0059] Figure 6 This is a schematic diagram of the steps for obtaining the comprehensive score proposed in the present invention;

[0060] Figure 7 It is a modular standard section in the design process of the emergency repair tower proposed by the present invention;

[0061] Figure 8 A schematic diagram of the structure of the system for formulating a repair tower layout plan based on point cloud data proposed in the present invention;

[0062] Figure 9This is a schematic structural diagram of the electronic device proposed by the present invention. DETAILED DESCRIPTION

[0063] This invention proposes a method, system, device, and medium for developing emergency tower layout plans based on point cloud data. This method utilizes three-dimensional point cloud data from the accident site to obtain non-obstruction areas based on the point cloud data. First, a coarse grid is applied to the non-obstruction area to obtain a preliminary emergency tower layout plan. The comprehensive scores of each emergency tower layout plan are then calculated. The highest-scoring emergency tower layout plan is then re-gridded and re-scored to identify the optimal one. This method enables rapid surveying of repair site point clouds and automatically calculates an optimized plan based on the point cloud, allowing for the rapid development of a reasonable repair plan and improving repair speed.

[0064] Example 1:

[0065] A method for formulating a layout plan for emergency repair towers based on point cloud data, such as Figure 1 As shown, the process includes the following steps S1 to S3.

[0066] S1: Obtain point cloud data of a feasible area for emergency repair work, identify the point cloud data to obtain a non-obstruction area, and roughly divide the non-obstruction area into multiple grids.

[0067] When a tower collapse occurs on a line, a feasible area for emergency repairs is selected based on the experience of the line operation and maintenance personnel.

[0068] Using drones equipped with lidar technology to collect point cloud data, drone nests (such as Figure 2 )When receiving the patrol operation, the control system of the machine nest generates a flight plan, and the UAV starts the patrol operation and collects point cloud data.

[0069] In a further preferred solution, the step of obtaining point cloud data of a feasible area for carrying out emergency repair work includes:

[0070] The feasible area is divided according to the viewing range of the drone to obtain multiple partitions;

[0071] Use drones to collect point cloud data of multiple partitions;

[0072] The point cloud data of multiple partitions are spliced ​​together to obtain the point cloud data of the entire feasible area, such as Figure 3 As shown, the refined elevation data of the working area is generated, and the data is used to generate the emergency repair plan.

[0073] In a further preferred solution, the step of identifying the point cloud data to obtain a non-obstruction area also includes obtaining an obstacle area, and the steps include:

[0074] AI recognition technology is used to identify roads, buildings and rivers in point cloud data, and the roads, buildings and rivers are marked as obstacle areas. Emergency repair towers cannot be set up in such areas. The rest are non-obstacle areas, where emergency repair towers can be set up.

[0075] The non-obstruction area may be roughly divided into a plurality of grids by using a grid interpolation method, and each grid corresponds to a repair tower arrangement plan.

[0076] In a further preferred embodiment, the feasible area is a polygonal area, such as Figure 4 As shown, the step of roughly dividing the non-obstruction area into a plurality of grids includes:

[0077] Determine whether the vertices of the polygonal area are non-obstruction areas. If so, set the vertices to grids based on the area of ​​the repair tower, such as Figure 5 As shown;

[0078] The non-obstruction area within the polygonal area is divided into multiple grids by grid interpolation, for example, into 20×20 grids, and each grid corresponds to a repair tower layout plan.

[0079] S2: Based on each grid corresponding to a repair tower layout plan, each repair tower layout plan is scored based on transportation cost, material cost and safety, and the target grid corresponding to the repair tower layout plan with the highest comprehensive score is obtained.

[0080] In a further preferred solution, each emergency tower layout solution is scored based on transportation costs, material costs and safety, such as Figure 6 As shown, the steps include the following steps S21 to S25:

[0081] S21: Obtaining a total cost based on the transportation cost and material cost of each repair tower layout plan;

[0082] S22: Comparing the total cost of the emergency repair tower layout plan with the average cost of all emergency repair tower layout plans to obtain a price score for the emergency repair tower layout plan;

[0083] S23: Ratio the maximum stress ratio under 110% to 130% design conditions of the emergency repair tower layout scheme to the maximum stress ratio under 100% design conditions to obtain a safety score for the emergency repair tower layout scheme;

[0084] S24: Comparing the safety score of the emergency repair tower layout scheme with the average safety score of all emergency repair tower layout schemes to obtain a technical score of the emergency repair tower layout scheme;

[0085] S25: Perform weighted summation on the price score and the technical score to obtain a comprehensive score for the emergency repair tower layout plan.

[0086] In a further preferred solution, the material cost includes the cost of the repair tower, the cost of the ground wire, and the cost of the length of the wire. The calculation formula of the material cost is:

[0087] Material cost = weight of emergency tower * emergency tower price + ground wire * ground wire price + cable length * cable price

[0088] Among them, the emergency repair tower adopts modular standardized design, that is, the tower body is a standard section, such as Figure 7 As shown, the repair tower's height is changed by adding or removing standard sections. Calculation conditions are based on the actual line conditions and power specifications. Through simulation, the repair tower with the smallest height corresponding to the repair plan is selected. This module standardizes repair towers as guyed towers. After determining the height for each plan, the optimal guying layout is determined through simulation using ground elevation data obtained from point cloud data.

[0089] In this embodiment, the calculation formula for transportation costs is:

[0090] Transportation cost = distance from hard road * transportation unit price for that terrain

[0091] Total cost = material cost + transportation cost

[0092] Safety score = 120% of the maximum stress ratio under design conditions / 100% of the maximum stress under design conditions

[0093] For each repair tower layout plan:

[0094] Price score = total cost of the plan / average cost of all plans

[0095] Technical score = security score of the solution / average security score of all solutions

[0096] Comprehensive score = α*price score + β*technical score

[0097] Among them, α is the weight coefficient of price score, and β is the weight coefficient of technical score.

[0098] A comprehensive score is calculated for each repair tower layout scheme according to the above formula, and the repair tower layout scheme with the highest comprehensive score is set as the target grid for further subdivision.

[0099] S3: Continue to divide the target grid into multiple grids, and further determine the target grid corresponding to the emergency tower layout plan with the highest comprehensive score, until the scale of the target grid is less than or equal to the preset grid scale. At this time, the emergency tower layout plan corresponding to the target grid is the target emergency tower layout plan.

[0100] The target grid is further divided into smaller grids, for example, into 2×2 grids, to produce a more refined emergency repair plan. The above steps S2 and S3 are repeated until the scale of the target grid is less than or equal to the preset network scale. The emergency repair tower layout plan corresponding to the target grid at this time is the target emergency repair tower layout plan.

[0101] Example 2:

[0102] The present invention based on the same inventive concept also provides a system for formulating a layout plan of a repair tower based on point cloud data, such as Figure 8 Shown, including:

[0103] A coarse grid division module is used to obtain point cloud data of a feasible area for carrying out emergency repair work, identify the point cloud data to obtain a non-obstruction area, and coarsely divide the non-obstruction area into multiple grids;

[0104] Target grid acquisition module: used to assign a repair tower layout plan to each grid, and score each repair tower layout plan based on transportation costs, material costs, and safety, to obtain the target grid corresponding to the repair tower layout plan with the highest comprehensive score;

[0105] Iterative division module: used to continue dividing the target grid into multiple grids, and further determine the target grid corresponding to the emergency tower layout plan with the highest comprehensive score, until the scale of the target grid is less than or equal to the preset grid scale. At this time, the emergency tower layout plan corresponding to the target grid is the target emergency tower layout plan.

[0106] In a further preferred solution, the target grid acquisition module scores each repair tower layout plan based on transportation costs, material costs, and safety, and the steps include:

[0107] Obtain the total cost based on the transportation cost and material cost of each repair tower layout plan;

[0108] Comparing the total cost of the emergency repair tower layout plan with the average cost of all emergency repair tower layout plans to obtain a price score for the emergency repair tower layout plan;

[0109] The safety score of the emergency repair tower arrangement scheme is obtained by comparing the maximum stress ratio under 110% to 130% design conditions with the maximum stress ratio under 100% design conditions;

[0110] The safety score of the emergency repair tower layout scheme is compared with the average safety score of all emergency repair tower layout schemes to obtain the technical score of the emergency repair tower layout scheme;

[0111] The price score and the technical score are weighted and summed to obtain a comprehensive score for the emergency repair tower layout plan.

[0112] In a further preferred solution, the feasible area in the coarse grid division module is a polygonal area.

[0113] In a further preferred solution, the coarse grid division module roughly divides the non-obstruction area into a plurality of grids, the steps comprising:

[0114] Determine whether the vertices of the polygonal area are non-obstruction areas. If so, grid the vertices according to the area of ​​the emergency repair tower.

[0115] The non-obstruction area within the polygonal area is divided into multiple grids by grid interpolation, and each grid corresponds to a repair tower layout plan.

[0116] In a further preferred solution, the coarse grid division module obtains point cloud data of a feasible area for carrying out emergency repair work, and the steps include:

[0117] The feasible area is divided according to the viewing range of the drone to obtain multiple partitions;

[0118] Use drones to collect point cloud data of multiple partitions;

[0119] The point cloud data of multiple partitions are spliced ​​together to obtain the point cloud data of the entire feasible area.

[0120] In a further preferred solution, the coarse grid division module identifies the point cloud data to obtain non-obstruction areas and also obtains obstacle areas, the steps comprising:

[0121] AI recognition technology is used to identify roads, buildings and rivers in point cloud data, and the roads, buildings and rivers are marked as obstacle areas, and the rest are non-obstacle areas.

[0122] In a further preferred solution, the material costs in the target grid acquisition module include the cost of the emergency repair tower, the cost of the ground wire and the cost of the length of the wire, and the height of the emergency repair tower is the minimum height obtained by simulation calculation to meet the emergency repair tower layout plan.

[0123] In a further preferred solution, the emergency repair tower in the target grid acquisition module adopts a modular design and is obtained by splicing multiple modular standard segments.

[0124] Example 3

[0125] like Figure 9As shown, the present invention also provides an electronic device, which may be a computer, a single-chip microcomputer, a smart mobile device, or the like. The electronic device in this embodiment may include a processor, a memory, a transceiver component, and the like. The memory, processor, and transceiver component are connected via a bus; the memory may be used to store an execution program, which may include instructions; and the processor may be used to execute the instructions stored in the memory. The memory may also be used to store data, which may be accessed and / or modified during the execution of the instructions.

[0126] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in the storage medium to implement the corresponding method flow or corresponding function, so as to realize the steps of a method for formulating a repair tower layout plan based on point cloud data in the above embodiment.

[0127] Example 4

[0128] Based on the same inventive concept, the present invention also provides a readable storage medium, specifically an electronic device readable storage medium (Memory), which is a memory device in the electronic device for storing programs and data. It can be understood that the storage medium here can include both the built-in storage medium in the electronic device and, of course, the extended storage medium supported by the electronic device. The storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space. These instructions can be one or more execution programs (including program codes). It should be noted that the storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor loads and executes one or more instructions stored in the storage medium, which can realize the steps of a method for formulating a repair tower layout plan based on point cloud data in the above embodiment.

[0129] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0131] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0133] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A method for formulating a layout plan for a repair tower based on point cloud data, characterized in that: include: Obtaining point cloud data of a feasible area for emergency repair work, identifying the point cloud data to obtain a non-obstruction area, and roughly dividing the non-obstruction area into a plurality of grids; Each grid corresponds to a repair tower layout plan, and each repair tower layout plan is scored based on transportation costs, material costs, and safety. The target grid corresponding to the repair tower layout plan with the highest comprehensive score is obtained. The target grid is further divided into multiple grids, and the target grid corresponding to the emergency tower layout scheme with the highest comprehensive score is further determined until the scale of the target grid is less than or equal to the preset grid scale. The emergency tower layout scheme corresponding to the target grid at this time is the target emergency tower layout scheme.

2. The method for formulating a layout plan for emergency towers based on point cloud data according to claim 1, characterized in that: The steps of scoring each repair tower layout scheme based on transportation costs, material costs and safety include: Obtain the total cost based on the transportation cost and material cost of each repair tower layout plan; Comparing the total cost of the emergency repair tower layout plan with the average cost of all emergency repair tower layout plans to obtain a price score for the emergency repair tower layout plan; The safety score of the emergency repair tower arrangement scheme is obtained by comparing the maximum stress ratio under 110% to 130% design conditions with the maximum stress ratio under 100% design conditions; The safety score of the emergency repair tower layout scheme is compared with the average safety score of all emergency repair tower layout schemes to obtain the technical score of the emergency repair tower layout scheme; The price score and the technical score are weighted and summed to obtain a comprehensive score for the emergency repair tower layout plan.

3. The method for formulating a repair tower layout plan based on point cloud data according to claim 1, characterized in that: The feasible area is a polygonal area.

4. The method for formulating a layout plan for emergency towers based on point cloud data according to claim 3, characterized in that: The step of roughly dividing the non-obstruction area into a plurality of grids comprises: Determine whether the vertices of the polygonal area are non-obstruction areas. If so, grid the vertices according to the area of ​​the emergency repair tower. The non-obstruction area within the polygonal area is divided into multiple grids by grid interpolation, and each grid corresponds to a repair tower layout plan.

5. The method for formulating a layout plan for emergency repair towers based on point cloud data according to claim 1, characterized in that: The step of obtaining point cloud data of a feasible area for carrying out emergency repair work includes: The feasible area is divided according to the viewing range of the drone to obtain multiple partitions; Use drones to collect point cloud data of multiple partitions; The point cloud data of multiple partitions are spliced ​​together to obtain the point cloud data of the entire feasible area.

6. The method for formulating a layout plan for emergency towers based on point cloud data according to claim 5, characterized in that: The step of identifying the point cloud data to obtain a non-obstruction area and obtaining an obstacle area includes: AI recognition technology is used to identify roads, buildings and rivers in point cloud data, and the roads, buildings and rivers are marked as obstacle areas, and the rest are non-obstacle areas.

7. The method for formulating a layout plan for emergency towers based on point cloud data according to claim 2, characterized in that: The material cost includes the cost of the emergency repair tower, the cost of the ground wire and the cost of the length of the wire. The height of the emergency repair tower is the minimum height that meets the emergency repair tower layout plan obtained through simulation calculation.

8. The method for formulating a layout plan for emergency repair towers based on point cloud data according to claim 7, characterized in that: The emergency repair tower adopts a modular design and is obtained by splicing multiple modular standard sections.

9. A system for formulating a layout plan for emergency towers based on point cloud data, characterized in that: include: A coarse grid division module is used to obtain point cloud data of a feasible area for carrying out emergency repair work, identify the point cloud data to obtain a non-obstruction area, and coarsely divide the non-obstruction area into multiple grids; Target grid acquisition module: used to assign a repair tower layout plan to each grid, and score each repair tower layout plan based on transportation costs, material costs, and safety, to obtain the target grid corresponding to the repair tower layout plan with the highest comprehensive score; Iterative division module: used to continue dividing the target grid into multiple grids, and further determine the target grid corresponding to the emergency tower layout plan with the highest comprehensive score, until the scale of the target grid is less than or equal to the preset grid scale. At this time, the emergency tower layout plan corresponding to the target grid is the target emergency tower layout plan.

10. The system for formulating a layout plan for emergency towers based on point cloud data according to claim 9, characterized in that: The target grid acquisition module scores each repair tower layout plan based on transportation costs, material costs and safety, and the steps include: Obtain the total cost based on the transportation cost and material cost of each repair tower layout plan; Comparing the total cost of the emergency repair tower layout plan with the average cost of all emergency repair tower layout plans to obtain a price score for the emergency repair tower layout plan; The safety score of the emergency repair tower arrangement scheme is obtained by comparing the maximum stress ratio under 110% to 130% design conditions with the maximum stress ratio under 100% design conditions; The safety score of the emergency repair tower layout scheme is compared with the average safety score of all emergency repair tower layout schemes to obtain the technical score of the emergency repair tower layout scheme; The price score and the technical score are weighted and summed to obtain a comprehensive score for the emergency repair tower layout plan.

11. The system for formulating a layout plan for emergency towers based on point cloud data according to claim 9, characterized in that: The feasible area in the coarse grid division module is a polygonal area.

12. The system for formulating a layout plan for emergency towers based on point cloud data according to claim 11, characterized in that: The coarse grid division module roughly divides the non-obstruction area into a plurality of grids, and the steps include: Determine whether the vertices of the polygonal area are non-obstruction areas. If so, grid the vertices according to the area of ​​the emergency repair tower. The non-obstruction area within the polygonal area is divided into multiple grids by grid interpolation, and each grid corresponds to a repair tower layout plan.

13. The system for formulating a layout plan for emergency towers based on point cloud data according to claim 9, characterized in that: The coarse grid division module obtains point cloud data of a feasible area for emergency repair work, and the steps include: The feasible area is divided according to the viewing range of the drone to obtain multiple partitions; Use drones to collect point cloud data of multiple partitions; The point cloud data of multiple partitions are spliced ​​together to obtain the point cloud data of the entire feasible area.

14. The system for formulating a layout plan for emergency towers based on point cloud data according to claim 13, characterized in that: The coarse grid division module identifies the point cloud data to obtain non-obstruction areas and also obtains obstacle areas, and the steps include: AI recognition technology is used to identify roads, buildings and rivers in point cloud data, and the roads, buildings and rivers are marked as obstacle areas, and the rest are non-obstacle areas.

15. The system for formulating a layout plan for emergency towers based on point cloud data according to claim 10, characterized in that: The material costs in the target grid acquisition module include the cost of the emergency repair tower, the cost of the ground wire, and the cost of the length of the wire. The height of the emergency repair tower is the minimum height that meets the emergency repair tower layout plan obtained through simulation calculation.

16. The system for formulating a layout plan for emergency towers based on point cloud data according to claim 15, characterized in that: The emergency repair tower in the target grid acquisition module adopts a modular design and is obtained by splicing multiple modular standard sections.

17. A computer device, characterized in that: include: at least one processor and memory; The memory and the processor are connected via a bus; The memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, the method for formulating an emergency repair tower layout plan based on point cloud data according to any one of claims 1 to 8 is implemented.

18. A computer-readable storage medium, characterized in that An execution program is stored thereon, and when the execution program is executed, the method for formulating a layout plan of an emergency repair tower based on point cloud data as described in any one of claims 1 to 8 is implemented.

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