An intelligent generation method for three graphs and one table of overhead transmission line mechanized construction

Abstract

The application discloses an overhead power transmission line mechanized construction three-diagrams and one-table intelligent generation method, which comprises the following steps: fusing a digital orthographic image model, elevation data and a power transmission and transformation engineering model through a coordinate transformation matrix to establish a three-dimensional scene with terrain curvature attributes; based on the terrain curvature and equipment coordinates of the three-dimensional scene, a multi-objective optimization algorithm is used to synchronously plan a composite path of a cableway, a track and a road, and a road network list diagram containing an obstacle avoidance topology is generated; a tower foundation projection polygon is identified in the three-dimensional scene, surface attached object categories are segmented in combination with the digital orthographic image model, and a ground object list diagram with soil and water conservation marks is generated; a mapping function of the terrain curvature and the water and soil conservation rules is established, equipment types and spatial poses are output according to hoisting safety margins and surface disturbance thresholds, and an equipment list diagram is generated. The application constructs a unified space reference and a multi-system dynamic coordination mechanism, and significantly improves the planning accuracy and construction compliance of the three-diagrams and one-table.

Description

Technical Field

[0001] This application relates to the field of intelligent power construction technology, and in particular to a mechanized construction method for overhead transmission lines. Figure 1 Intelligent table generation method. Background Technology

[0002] In the field of mechanized construction of overhead transmission lines, the collaborative planning of road network overview maps, feature overview maps, equipment overview maps, and single-site planning tables is a core element in ensuring project efficiency and ecological compliance. Currently, the industry generally suffers from a dual deficiency of inaccurate 3D scene construction and a lack of multi-system collaboration, as follows:

[0003] The inconsistency in coordinate systems between geographic information data and power transmission and transformation engineering models leads to severe distortion in terrain feature extraction. This data fragmentation disrupts the spatial correlation between the micro-topography of the tower base and the macro-landscape, resulting in frequent misalignments between cableway erection points and road interfaces, forcing construction teams to repeatedly open temporary access routes. Furthermore, water and soil conservation sensitive areas are often incorrectly planned as routine work areas due to terrain misjudgments, exacerbating the risk of ecological disturbance.

[0004] A deeper problem lies in the isolated operation of the planning system; path design focuses only on minimizing basic distances, ignoring the coupling constraints of terrain curvature and obstacle distribution, resulting in severe energy consumption exceeding limits during mechanical relocation; the selection of hoisting equipment relies on manual experience, lacking a dynamic adaptation mechanism for terrain features and equipment posture, leading to frequent equipment instability accidents in steep slope areas; environmental and water conservation management uses a static identification system, failing to link it to the dynamic operating characteristics of construction machinery, resulting in continuous spatiotemporal conflicts between hoisting operations and ecological protection projects. Although existing technologies attempt to integrate multi-source information, the lack of a unified spatial benchmark and collaborative optimization framework hinders the development of a comprehensive and effective system. Figure 1 The process of generating tables still suffers from industry pain points such as inefficiency and frequent conflicts. Summary of the Invention

[0005] To address the aforementioned problems, embodiments of the present invention provide a method for mechanized construction of overhead transmission lines. Figure 1 The table intelligent generation method includes:

[0006] By merging digital orthophoto models, elevation data, and power transmission and transformation engineering models through spatial registration operations, a 3D scene with terrain curvature attributes is established.

[0007] Based on the terrain curvature and equipment coordinates of the three-dimensional scene, a multi-objective optimization algorithm is used to simultaneously plan a composite path of cableway, track and road, and generate a road network overview map with obstacle avoidance topology.

[0008] In the three-dimensional scene, the projected polygons of the tower base are identified, and the surface attachment categories are segmented by combining the digital orthophoto model image to generate a list of ground features with soil and water conservation markings.

[0009] Establish a mapping function between terrain curvature and environmental protection rules, output equipment type and spatial pose based on hoisting safety margin and surface disturbance threshold, and generate an equipment overview map;

[0010] The path topology of the road network overview map, the soil and water conservation markers of the land feature overview map, and the spatial pose of the equipment overview map are input into the spatiotemporal conflict detection model, and a single-base planning table with mechanical transfer sequence is output.

[0011] Furthermore, spatial registration operations include:

[0012] The coordinate resolution of the digital orthophoto model and the power transmission and transformation engineering model is unified by a scale factor; the rotation angle and translation amount are calculated based on ground control points to achieve spatial coordinate alignment.

[0013] Furthermore, a multi-objective optimization algorithm is used to solve for the path set, dynamic constraints are applied to the path set, and a graph structure transformation is performed on the processed path set to generate a graph structure. This graph structure is then rendered as a 3D path network with topological relationships, i.e., a road network overview map. The path set solution includes:

[0014] ;

[0015] In the formula, This represents the segment path length. For curvature, As an obstacle intrusion factor, , and This is the path weight coefficient. This represents the total number of paths.

[0016] Furthermore, the methods for generating soil and water conservation markers include:

[0017] Based on the elevation data within the projected polygon of the tower base, the runoff direction vector of each grid point is calculated, and the runoff accumulation is obtained by integrating along the water flow direction; the slope change rate at the tower base boundary is identified, and the boundary segment with the slope change rate greater than the change rate threshold is marked as the retaining wall construction area. Based on the location of the retaining wall construction area and the runoff accumulation, a three-dimensional soil and water conservation label is generated.

[0018] Furthermore, the methods for generating the feature map and equipment map include:

[0019] Projecting the tower base model onto the ground surface generates a closed polygon, and high-precision terrain raster data within the polygon is extracted. For each raster point, the runoff direction vector is calculated, and the cumulative runoff is obtained by integrating along the flow direction. The slope change rate of the buffer zone extending outward from the tower base boundary is analyzed; boundary segments with a slope change rate greater than C1 are marked as primary retaining wall construction zones, and boundary segments with a slope change rate between C2 and C1 are marked as secondary retaining wall construction zones. The cumulative runoff and the location of the retaining wall construction zones are fused to dynamically generate soil and water conservation markers, i.e., a feature overview map, in the 3D scene, where:

[0020] The construction area of ​​the primary retaining wall is displayed as a red semi-transparent curved surface with a design wall height associated with it;

[0021] The runoff collection channel is rendered with a blue particle stream, reflecting the water flow intensity in terms of particle density.

[0022] Low-risk vegetation restoration areas are covered with green grids;

[0023] The work areas are divided according to the soil and water conservation markings, including: mapping flat areas as conventional hoisting equipment work areas, mapping steep slope areas as special hoisting equipment work areas, and mapping ecologically sensitive areas as avoidance areas.

[0024] The equipment outriggers are dynamically adjusted according to the hoisting safety margin, and the protective layer of the equipment support base is automatically generated according to the ground disturbance threshold. The equipment type selection scheme adapted to the terrain features is output, and an equipment distribution map including the spatial orientation of the equipment and protective measures is generated, i.e., an equipment overview map.

[0025] Furthermore, the spatiotemporal conflict detection model execution method includes:

[0026] Establish a homogeneous transformation matrix chain for equipment pose ,include:

[0027] ;

[0028] In the formula, For joint angle, This is the link offset. Let be the transformation matrix of the i-th joint. The total number of joints in the kinematic model;

[0029] The spatiotemporal interference between the equipment's working radius and the tower's safety domain is dynamically detected using a spatiotemporal trajectory function, which includes:

[0030] ;

[0031] The integral value of the spatiotemporal conflict; The three-dimensional spatial coordinate vector of the equipment at time t; The center coordinate vector of the tower location safety domain at time t; For the time-domain activation coefficient function of sensitive ground features; and This refers to the start and end times of the construction period.

[0032] Furthermore, the control coefficient for the surface disturbance threshold is the environmental protection and water conservation compliance coefficient, which is generated through multi-source rule fusion. The generation method includes:

[0033] Constructing vegetation-topography coupling factors include:

[0034] ;

[0035] In the formula, coordinate point Normalized vegetation cover density at the location; coordinate point The terrain gradient magnitude; The number of sampling points around the base of the tower;

[0036] Set dynamic threshold In the formula, For soil bearing capacity parameters, Distance from ecologically sensitive areas , and The adjustment coefficient is determined by the environmental protection and water conservation standards, where e is the natural constant; the output environmental protection and water conservation compliance coefficient is... .

[0037] Furthermore, the spatiotemporal conflict detection model includes:

[0038] The path topology of the road network overview map is discretized into a time window sequence. Simultaneously, the spatial pose of the equipment overview map is converted into a spatiotemporal envelope of equipment operations, and ecologically sensitive periods marked by soil and water conservation indicators are extracted from the terrain feature overview map. Three-dimensional conflict coupling detection is performed, including:

[0039] When the mechanical transfer path and the equipment operation time-space envelope have spatial overlap and time window overlap, the path is determined to be blocked and conflicted.

[0040] When the intersection of the equipment pose transformation matrix and the spatial mask of the ecologically sensitive area is greater than the preset safety threshold, a water and soil conservation conflict is determined.

[0041] When the interval between the hoisting period and the transfer period of adjacent equipment is less than the safety threshold, a timing interference conflict is determined.

[0042] For path blocking conflicts, the buffer zone is expanded outside the spatiotemporal envelope and temporary cableways are added; for water and soil conservation conflicts, an ecological isolation period is inserted and the equipment posture is adjusted; for temporal interference conflicts, the hoisting sequence is reconstructed and the transfer interval is extended; based on the resolved spatiotemporal topology, a directed graph of mechanical transfer is generated with the equipment utilization rate as the optimization objective, and a single-base planning table containing the entry time, transfer path and water and soil control points is output.

[0043] Furthermore, it also includes:

[0044] Adding ecologically sensitive period time constraints to the spatiotemporal conflict detection model transforms the time taboo interval associated with soil and water conservation markers into a spatiotemporal grid, dynamically intercepting mechanical scheduling instructions during conflict periods.

[0045] This invention provides a method for mechanized construction of overhead transmission lines. Figure 1 Technical effects and advantages of intelligent table generation methods:

[0046] This invention significantly improves the "three" by constructing a unified spatial benchmark and a dynamic collaborative mechanism among multiple systems. Figure 1 The invention addresses the issues of planning accuracy and construction compliance. It eliminates coordinate system discrepancies between geographic information and engineering models through multi-source data fusion, achieving accurate restoration of terrain curvature in 3D scenes and resolving problems such as cableway misplacement and misjudgment of water and soil sensitive areas. Furthermore, it overcomes the limitations of single-objective planning through multi-objective collaborative optimization of path, equipment, and environmental protection, simultaneously optimizing machinery transfer paths and hoisting points, significantly reducing equipment transfer energy consumption and the risk of instability in steep slopes. A dynamic adaptation mechanism for hoisting equipment automatically matches machinery models and outrigger positions based on terrain curvature characteristics, avoiding support failure accidents caused by human experience. Dynamic construction disturbance perception technology links equipment operation trajectories with the real-time status of ecologically sensitive areas, automatically avoiding spatiotemporal conflicts between hoisting operations and retaining wall construction areas. A conflict resolution engine intelligently corrects logical contradictions between road network planning, equipment scheduling, and environmental protection management schemes, generating a zero-conflict "three-way" solution. Figure 1 The table outputs the results. Attached Figure Description

[0047] Figure 1 This is a three-stage mechanized construction method for overhead transmission lines as described in Example 1. Figure 1 Flowchart of intelligent table generation method;

[0048] Figure 2 This is a three-stage mechanized construction method for overhead transmission lines, as described in Example 2. Figure 1 Flowchart of intelligent table generation method. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] Example 1:

[0051] Please see Figure 1 As shown, embodiments of the present invention provide a method for mechanized construction of overhead transmission lines. Figure 1 The table intelligent generation method includes:

[0052] S1. By merging the digital orthophoto model (DOM), elevation data (DEM), and power transmission and transformation engineering GIM model through spatial registration operation, a three-dimensional scene with terrain curvature attributes is established;

[0053] S2. Based on the terrain curvature and equipment coordinates of the three-dimensional scene, a multi-objective optimization algorithm is used to simultaneously plan the composite path of cableway, track and road, and generate a road network overview map with obstacle avoidance topology;

[0054] S3. Identify the tower base projection polygon in the three-dimensional scene, combine the DOM image to segment the surface attachment categories, and generate a list of ground features with soil and water conservation markings;

[0055] S4. Establish a mapping function between terrain curvature and environmental protection rules, output equipment type and spatial pose based on hoisting safety margin and surface disturbance threshold, and generate an equipment overview map;

[0056] S5. Input the path topology of the road network overview map, the soil and water conservation markers of the land feature overview map, and the spatial pose of the equipment overview map into the spatiotemporal conflict detection model, and output a single-base planning table with mechanical transfer sequence.

[0057] It should be noted that in this invention, i is only used as an integer index variable and is not used as an unknown quantity to solve.

[0058] In the process of constructing a 3D scene with terrain curvature attributes, it is necessary to perform spatial registration operations on the digital orthophoto model (DOM), elevation data (DEM), and power transmission and transformation engineering GIM model;

[0059] First, the coordinate system resolution is unified by scaling factor. Specifically, since DOM imagery uses a geographic coordinate system (such as WGS-84) while GIM model uses an engineering coordinate system, a scaling factor needs to be calculated to match the pixel size with the engineering unit. For example, when the DOM resolution is 0.3 meters / pixel, the corresponding scaling factor is approximately 3.33.

[0060] Next, spatial alignment is achieved based on ground control points. Specifically, three types of feature points are selected as registration references: terrain feature points (such as the intersection of ridgelines and contour lines), engineering marker points (such as the center coordinates of the tower base), and image feature points (such as the corner points of permanent buildings). The rotation angle and translation are calculated using the least squares method to construct a coordinate transformation matrix. The coordinate transformation matrix converts the DOM pixel coordinates and DEM elevation values ​​into the GIM engineering coordinate system, achieving millimeter-level precision alignment. For example, the coordinates of a certain tower base in the GIM (105.32, 26.78, 1021.5) after registration have a deviation of less than 0.1 meters from the DOM position.

[0061] Finally, the terrain curvature attribute is integrated, specifically including: mapping the registered DEM elevation curvature to the surface vertices of the GIM model to form a 3D scene with curvature attribute, which directly drives subsequent steps—avoiding steep slope areas during path planning (S2), considering ground stability during hoisting pose calculation (S4), and providing a terrain basis for soil and water conservation marking (S3).

[0062] This registration process eliminates coordinate system differences between different data sources, ensuring "three..." Figure 1 Spatial consistency of the generated "table".

[0063] A multi-objective optimization algorithm is used to solve the path set, which is then dynamically constrained. The processed path set is then transformed into a graph structure, which is rendered as a 3D path network with topological relationships, i.e., a road network overview. Path intersections are converted into topological nodes (including precise 3D coordinates), and path segments between adjacent nodes are converted into weighted edges (weight = comprehensive cost value). Warning signs are added to high-intrusion risk areas. Cableways are rendered with red wireframes (height ≥ 20 meters above the ground), tracks are represented by yellow solid models (slope ≤ 25°), and roads are drawn with blue striped curved surfaces (width ≥ 4 meters). The final road network overview dynamically marks the node spacing and provides color warnings for key areas such as soil and water conservation areas and steep slope sections.

[0064] Path set solving includes:

[0065] ;

[0066] In the formula, This represents the segment path length. For curvature, As an obstacle intrusion factor, , and This is the path weight coefficient. This represents the total number of paths.

[0067] The method for generating soil and water conservation markers in step S3 includes:

[0068] Based on the DEM data within the projected polygon of the tower base, the runoff direction vector of each grid point is calculated, and the runoff accumulation is obtained by integrating along the water flow direction; the slope change rate at the tower base boundary is identified, and the boundary segment with the slope change rate greater than the change rate threshold is marked as the retaining wall construction area. Based on the location of the retaining wall construction area and the runoff accumulation, a three-dimensional soil and water conservation label is generated.

[0069] The methods for generating terrain feature maps and equipment maps specifically include:

[0070] First, the tower base model is projected onto the ground to generate a closed polygon. High-precision terrain raster data is extracted from the polygon. The runoff direction vector (determined by the elevation gradient) is calculated for each raster point, and the runoff accumulation is obtained by integrating along the water flow direction. The intensity of surface water accumulation is quantified. For example, due to the terrain depression on the west side of a certain tower base, the runoff accumulation was detected to reach 8 m³ / s, and it was marked as a high erosion risk area.

[0071] Subsequently, the slope change rate (change in slope angle per unit distance) of the outer buffer zone of the tower base boundary was analyzed. When the change rate of the boundary segment exceeded the threshold, it was automatically marked as a retaining wall construction area, including:

[0072] Alternating Zone (rate of change > C1, C1 defaults to 0.35): Marked as a Level 1 construction zone, requiring rigid protective structures; Gradual Zone (rate of change between C2 and C1, C2 defaults to 0.2): Marked as a Level 2 construction zone, suitable for flexible structures; For example, the slope within 3 meters of the north boundary of a tower foundation suddenly increases from 15° to 32°, with a rate of change of 0.45, triggering the Level 1 construction indicator.

[0073] Finally, by integrating runoff accumulation with the location of the retaining wall construction area, warning signs, i.e., a feature overview map, are dynamically generated in the 3D scene, including:

[0074] The retaining wall area is displayed as a red semi-transparent curved surface, highly correlated with the designed wall height; the runoff collection channel is dynamically rendered with blue particle flow, and the particle density reflects the water flow intensity; the low-risk vegetation restoration area is covered with green grids to cover flat areas; the generated signs directly drive engineering applications.

[0075] The topographic map significantly improves the accuracy of soil and water loss risk identification and the efficiency of protective measure design in the tower foundation area of ​​power transmission and transformation projects, while also enhancing the ecological protection effect.

[0076] The equipment outriggers are dynamically adjusted according to the hoisting safety margin, and the protective layer of the equipment support base is automatically generated according to the ground disturbance threshold. The equipment type selection scheme adapted to the terrain features is output, and an equipment distribution map including the spatial orientation of the equipment and protective measures is generated, i.e., an equipment overview map.

[0077] The three artificially planned Figure 1The "table" is static and fragmented, making it impossible to predict the spatiotemporal coupling risks in dynamic construction. In traditional construction planning, equipment paths, tower site features, and hoisting postures are independently planned static elements, which may lead to the following problems during actual operations:

[0078] The crane boom rotation may encroach on the retaining wall construction area (causing structural damage);

[0079] The cableway transport and hoisting equipment overlapped in time and space (causing a collision);

[0080] Working in runoff collection areas during the rainy season (induces soil erosion).

[0081] These risks are often difficult to avoid in a timely manner during construction due to blind spots in planning, leading to safety hazards and environmental damage.

[0082] For example:

[0083] During the construction of a 500kV power line:

[0084] Lifting equipment: 650-ton crawler crane (72-meter boom);

[0085] Conflict object: Newly constructed retaining wall (coordinate range: x∈[105.6±0.5], y∈[27.3±0.5]);

[0086] High-risk period: 48 hours after concrete pouring (the structure is vulnerable during the curing period).

[0087] The process of the conflict:

[0088] The original plan was for the crane to reach a point 8 meters from the retaining wall and lift the tower components in the 48th hour.

[0089] As the boom rotates, its end trajectory gradually approaches the retaining wall;

[0090] When the boom is at an elevation angle of 60°, the end is only 3.8 meters away from the retaining wall;

[0091] The combination of hoisting vibration and structural fragility period results in an 82% risk of retaining wall cracking.

[0092] The above problems need to be addressed during the execution of the spatiotemporal conflict detection model. Therefore, the spatiotemporal conflict detection model execution method in step S5 includes:

[0093] Establish a homogeneous transformation matrix chain for equipment pose ,include:

[0094] ;

[0095] In the formula, For joint angle, This is the link offset. Let be the transformation matrix of the i-th joint. The total number of joints in the kinematic model.

[0096] The spatiotemporal interference between the equipment's working radius and the tower's safety domain is dynamically detected using a spatiotemporal trajectory function, which includes:

[0097] ;

[0098] The integral value of the spatiotemporal conflict; The three-dimensional spatial coordinate vector of the equipment at time t; The center coordinate vector of the tower location safety domain at time t; For the time-domain activation coefficient function of sensitive ground features; and This refers to the start and end times of the construction period.

[0099] Homogeneous transformation matrix chains are used to accurately quantify the motion state of equipment, transforming the multi-joint motion of complex equipment (such as cranes) into a computable pose chain. Traditional methods treat cranes as "point masses" and ignore the differences in multi-joint motion. This model is accurate to the hinge point level.

[0100] The spatiotemporal trajectory function is used to quantify the accumulation of dynamic risks, and captures the continuous interaction between equipment and the environment in the spatiotemporal dimension through the integral function;

[0101] For example:

[0102] A certain tower foundation is adjacent to a river and is scheduled to be hoisted on July 5th.

[0103] Dynamic risk injection:

[0104] Meteorological data trigger Heavy rain warning period (July 4-6), i.e. =0.9;

[0105] During this period, the increase in cumulative river runoff led to a risk coefficient of +0.3 in the soil and water conservation area, i.e. =0.9 + 0.3 = 1.2;

[0106] Spacetime integral calculation:

[0107] The equipment is expected to remain in the risk zone for 40 minutes, that is... =1.2 × 40 = 48, 48 exceeds the preset safe water and soil operation threshold of 30, therefore triggering an automatic decision to delay the hoisting until July 8th. =0.2, the integral decreases to =8.

[0108] When a spatial-temporal conflict is detected between the equipment trajectory and the retaining wall construction area (see above), the hoisting path is automatically corrected and the protective markings are encrypted to achieve dual protection of construction safety and ecological protection.

[0109] Surface disturbance threshold The control coefficient is the environmental protection compliance coefficient. Surface disturbance threshold The actual value is determined by the environmental protection compliance coefficient. Dynamic constraints, their functional relationships are as follows: In the formula, Based on the basic disturbance threshold (determined by equipment type and soil mechanical properties, for example, the benchmark value for a tracked crane on a hard clay foundation is 800 kPa), the control of the environmental and water conservation compliance coefficient is essentially... As a scaling factor, the engineering mechanics reference value Dynamic compression based on environmental sensitivity The lower the threshold, the lower the surface disturbance threshold. The stricter the regulations, the less ground pressure is required when operating equipment.

[0110] For example:

[0111] Assuming an environmental protection compliance coefficient of 0.4 and a soil natural bearing capacity (i.e., a foundation disturbance threshold) of 650 kPa, the surface disturbance threshold is 0.4 × 650 = 260 kPa. Therefore, the equipment control command bar includes:

[0112] A 650-ton crawler crane with a ground contact area of ​​11.2 m². 2 Then the grounding pressure is approximately 580 kPa. (260kPa), meaning the system automatically disables the equipment and activates the backup plan:

[0113] Replace with a 300-ton tire crane (grounding pressure 220kPa<260kPa);

[0114] A 2m×2m steel roadbed box is generated at the outrigger position (actual pressure after dispersion = 220 / 4 = 55kPa < 260 kPa).

[0115] Environmental protection and water conservation compliance coefficients are generated through multi-source rule fusion, and the generation methods include:

[0116] Constructing vegetation-topography coupling factors include:

[0117] ;

[0118] In the formula, coordinate point Normalized vegetation cover density at the location; coordinate point The terrain gradient magnitude; The number of sampling points around the base of the tower;

[0119] Set dynamic threshold In the formula, For soil bearing capacity parameters, Distance from ecologically sensitive areas , and The adjustment coefficient is determined by the environmental protection and water conservation standards, where e is the natural constant; the output environmental protection and water conservation compliance coefficient is... .

[0120] The compliance coefficient for water and soil conservation integrates three rules: vegetation status, topographic constraints, and soil carrying capacity. This avoids overly conservative or risky operations caused by traditional fixed thresholds. Through a spatiotemporal conflict model with parameter correlation (such as the automatic reduction in efficiency of heavy machinery during sensitive periods), it provides a dynamic control basis for the water and soil conservation labeling system.

[0121] In the intelligent construction scheduling system for power transmission and transformation projects, the spatiotemporal conflict detection model achieves full-process risk prevention and control through multi-dimensional data fusion and dynamic decision-making. Specific implementation includes:

[0122] The road network topology of the construction area is decomposed into a continuous sequence of time windows. Each window corresponds to the passable time period of a specific path segment. For example, the mountain transport road is only open from 9:00 to 15:00 every day during the rainy season.

[0123] Based on the kinematic chain pose transformation matrix, a dynamic spatial envelope of equipment operation is generated. This envelope represents the maximum operating range of the equipment in the time dimension (such as the three-dimensional spatial domain defined by the hook when the crane rotates).

[0124] The activation periods of ecologically sensitive areas are dynamically obtained from the soil and water conservation identification system. For example, mechanical noise is prohibited in wetland reserves from 7:00 to 10:00 every day during the bird breeding season.

[0125] When the mechanical transfer path and the equipment operation envelope overlap spatially within the same time period (e.g., the transport truck route crosses the crane operation radius), the system determines that the path is blocked. The resolution measures include: generating a buffer isolation zone (typically 3 meters wide) outside the envelope, and automatically planning a temporary cableway or detour path.

[0126] When the intersection area between the equipment pose transformation matrix and the spatial mask of the ecologically sensitive area (such as the vegetation restoration area marked by soil and water conservation markers) exceeds the safety threshold, a soil and water conservation conflict is triggered. The mitigation measures include: inserting an ecological isolation period (such as suspending construction for 72 hours) and reducing the operating range by adjusting the boom elevation angle.

[0127] When the interval between the hoisting period and the relocation period of adjacent equipment is less than the safety threshold (e.g., the interval between two cranes operating at the same tower position is less than 30 minutes), it is determined that there is a timing interference. The mitigation measures include: reconstructing the hoisting task sequence and extending the relocation time buffer (typically increasing by 30%).

[0128] Spatiotemporal topology networks based on conflict resolution include:

[0129] With the goal of maximizing the comprehensive utilization rate of equipment, a directed graph for mechanical relocation is constructed: nodes represent the construction period of tower sites (such as tower assembly operation at T17 from 9:00 to 12:00); the weights of directed edges integrate the relocation time and the environmental protection compliance coefficient.

[0130] The core commands for generating a single-base planning table include:

[0131] Entry time: accurate to the 15-minute mark;

[0132] Transfer route: Associate with temporary cableways or buffer routes (e.g., "Cableway P3 → Branch Line L2 → Crossing Section");

[0133] Soil and water control points: key monitoring locations of the binding and marking system (such as retaining wall stress sensors).

[0134] For example:

[0135] Under construction of a mountain railway line:

[0136] The system detected that the tensioner assembly period (8:00-10:00) overlapped with the traction machine transfer path in the L3 curve space, triggering a path blockage conflict. It automatically generated an outward expansion buffer zone and activated a temporary cableway plan, increasing the transfer time from 40 minutes to 52 minutes. Simultaneously, it linked the environmental protection compliance coefficient and added instructions to the planning table, namely, to set up the aforementioned soil and water loss monitoring markers at the cableway anchor points before entering the site; and to limit the hoisting elevation angle to ≥65° to avoid the vegetation restoration area below.

[0137] By coupling analysis of spatial envelope, road network window, and ecological time period, collision and ecological violation risks are avoided; conflict resolution measures are dynamically linked with soil and water conservation signage system, equipment pose model, and compliance coefficient; the output planning table improves the precision of machinery scheduling to the process level, thereby reducing construction downtime.

[0138] Example 2:

[0139] like Figure 2 As shown, this embodiment further improves the design based on Embodiment 1. The difference is that in the actual operation of Embodiment 1, it was found that the dynamic changes of the ecologically sensitive period were not included in the conflict detection, resulting in the construction plan overlapping with the prohibited period of the protected area, and failing to avoid the risk of ecological violations. Based on this, a mechanized construction method for overhead transmission lines is proposed. Figure 1The intelligent table generation method also includes:

[0140] Adding ecologically sensitive period time constraints to the spatiotemporal conflict detection model transforms the time taboo interval associated with soil and water conservation markers into a spatiotemporal grid, dynamically intercepting mechanical scheduling instructions during conflict periods.

[0141] In the spatiotemporal conflict detection model, a temporal constraint module for ecologically sensitive periods is added, including:

[0142] Extract the ecologically sensitive attributes (such as bird breeding season and vegetation recovery period) of the soil and water conservation markers in the land cover map generated by S3, and encode the associated taboo time windows (such as mechanical operation is prohibited in a certain protected area from 7:00 to 10:00 every day) as time axis constraints.

[0143] By coupling three-dimensional spatial coordinates with the time dimension, a four-dimensional spatiotemporal grid model is established, including:

[0144] The spatial layer inherits the terrain curvature attributes of S1 and the equipment spatial pose of S4. The temporal layer divides the dynamic activation area according to the taboo window (such as the breeding period activation area marked as a red spacetime unit).

[0145] When the spatiotemporal trajectory of the mechanical transfer sequence (from the original S5 model) overlaps with the active area, an instruction interception is triggered, which automatically delays the operation to a non-sensitive time period (example: the hoisting originally scheduled for 9:00 is postponed to 10:30); and links the S2 path topology update to reroute the detour route (such as adjusting the cableway fulcrum to avoid the projection range of the active area).

[0146] This improvement solves the problem of the lack of timeliness in ecological protection in the original embodiment by transforming static soil and water conservation markers into dynamic spatiotemporal constraints.

[0147] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0148] The above description is merely a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present application, based on the technical solution and concept of the present application, should be covered within the scope of protection of the present application.

Claims

1. A method for intelligently generating three drawings and one table for mechanized construction of overhead transmission lines, characterized in that the method... include: By merging digital orthophoto models, elevation data, and power transmission and transformation engineering models through spatial registration operations, a 3D scene with terrain curvature attributes is established. Based on the terrain curvature and equipment coordinates of the three-dimensional scene, a multi-objective optimization algorithm is used to simultaneously plan a composite path of cableway, track and road, and generate a road network overview map with obstacle avoidance topology. In the three-dimensional scene, the projected polygons of the tower base are identified, and the surface attachment categories are segmented by combining the digital orthophoto model image to generate a list of ground features with soil and water conservation markings. Establish a mapping function between terrain curvature and environmental protection rules, output equipment type and spatial pose based on hoisting safety margin and surface disturbance threshold, and generate an equipment overview map; The path topology of the road network overview map, the soil and water conservation markers of the land feature overview map, and the spatial pose of the equipment overview map are input into the spatiotemporal conflict detection model, and a single-base planning table with mechanical transfer sequence is output. The spatiotemporal conflict detection model includes: The path topology of the road network overview map is discretized into a time window sequence. Simultaneously, the spatial pose of the equipment overview map is converted into a spatiotemporal envelope of equipment operations, and ecologically sensitive periods marked by soil and water conservation indicators are extracted from the terrain feature overview map. Three-dimensional conflict coupling detection is performed, including: When the mechanical transfer path and the equipment operation time-space envelope have spatial overlap and time window overlap, the path is determined to be blocked and conflicted. When the intersection of the equipment pose transformation matrix and the spatial mask of the ecologically sensitive area is greater than the preset safety threshold, a water and soil conservation conflict is determined. When the interval between the hoisting period and the transfer period of adjacent equipment is less than the safety threshold, a timing interference conflict is determined. For path blocking conflicts, the buffer zone is expanded outside the spatiotemporal envelope and temporary cableways are added; for water and soil conservation conflicts, an ecological isolation period is inserted and the equipment posture is adjusted; for temporal interference conflicts, the hoisting sequence is reconstructed and the transfer interval is extended; based on the resolved spatiotemporal topology, a directed graph of mechanical transfer is generated with the equipment utilization rate as the optimization objective, and a single-base planning table containing the entry time, transfer path and water and soil control points is output.

2. The intelligent generation method for three drawings and one table in mechanized construction of overhead transmission lines according to claim 1, characterized in that, Spatial registration operations include: The coordinate resolution of the digital orthophoto model and the power transmission and transformation engineering model is unified by a scale factor; the rotation angle and translation amount are calculated based on ground control points to achieve spatial coordinate alignment.

3. The intelligent generation method for three drawings and one table in mechanized construction of overhead transmission lines according to claim 1, characterized in that, A multi-objective optimization algorithm is used to solve for the path set. Dynamic constraints are applied to the path set, and a graph structure transformation is performed on the transformed path set to generate a graph structure. This graph structure is then rendered as a 3D path network with topological relationships, i.e., a road network overview. The path set solution includes: ； In the formula, This represents the segment path length. For curvature, As an obstacle intrusion factor, , and This is the path weight coefficient. This represents the total number of paths.

4. The intelligent generation method for three drawings and one table in mechanized construction of overhead transmission lines according to claim 1, characterized in that, Methods for generating soil and water conservation labels include: Based on the elevation data within the projected polygon of the tower base, the runoff direction vector of each grid point is calculated, and the runoff accumulation is obtained by integrating along the water flow direction; the slope change rate at the tower base boundary is identified, and the boundary segment with the slope change rate greater than the change rate threshold is marked as the retaining wall construction area. Based on the location of the retaining wall construction area and the runoff accumulation, a three-dimensional soil and water conservation label is generated.

5. The intelligent generation method for three drawings and one table in mechanized construction of overhead transmission lines according to claim 1, characterized in that, The methods for generating terrain feature maps and equipment maps include: Projecting the tower base model onto the ground surface generates a closed polygon, and high-precision terrain raster data within the polygon is extracted. For each raster point, the runoff direction vector is calculated, and the cumulative runoff is obtained by integrating along the flow direction. The slope change rate of the buffer zone extending outward from the tower base boundary is analyzed; boundary segments with a slope change rate greater than C1 are marked as primary retaining wall construction zones, and boundary segments with a slope change rate between C2 and C1 are marked as secondary retaining wall construction zones. The cumulative runoff and the location of the retaining wall construction zones are fused to dynamically generate soil and water conservation markers, i.e., a feature overview map, in the 3D scene, where: The construction area of ​​the primary retaining wall is displayed as a red semi-transparent curved surface with a design wall height associated with it; The runoff collection channel is rendered with a blue particle stream, reflecting the water flow intensity in terms of particle density. Low-risk vegetation restoration areas are covered with green grids; The work areas are divided according to the soil and water conservation markings, including: mapping flat areas as conventional hoisting equipment work areas, mapping steep slope areas as special hoisting equipment work areas, and mapping ecologically sensitive areas as avoidance areas. The equipment outriggers are dynamically adjusted according to the hoisting safety margin, and the protective layer of the equipment support base is automatically generated according to the ground disturbance threshold. The equipment type selection scheme adapted to the terrain features is output, and an equipment distribution map including the spatial orientation of the equipment and protective measures is generated, i.e., an equipment overview map.

6. The intelligent generation method for three drawings and one table in mechanized construction of overhead transmission lines according to claim 1, characterized in that, The spatiotemporal conflict detection model execution methods include: Establish a homogeneous transformation matrix chain for equipment pose ,include: ； In the formula, For joint angle, This is the link offset. Let be the transformation matrix of the i-th joint. The total number of joints in the kinematic model; The spatiotemporal interference between the equipment's working radius and the tower's safety domain is dynamically detected using a spatiotemporal trajectory function, which includes: ； The integral value of the spatiotemporal conflict; The three-dimensional spatial coordinate vector of the equipment at time t; The center coordinate vector of the tower location safety domain at time t; For the time-domain activation coefficient function of sensitive ground features; and This refers to the start and end times of the construction period.

7. The intelligent generation method for three drawings and one table in mechanized construction of overhead transmission lines according to claim 1, characterized in that, The control coefficient for the surface disturbance threshold is the environmental protection and water conservation compliance coefficient. This coefficient is generated through multi-source rule fusion, and the generation method includes: Constructing vegetation-topography coupling factors include: ； In the formula, coordinate point Normalized vegetation cover density at the location; coordinate point The terrain gradient magnitude; The number of sampling points around the base of the tower; Set dynamic threshold In the formula, For soil bearing capacity parameters, Distance from ecologically sensitive areas , and The adjustment coefficient is determined by the environmental protection and water conservation standards, where e is the natural constant; the output environmental protection and water conservation compliance coefficient is... .

8. The intelligent generation method for three drawings and one table in mechanized construction of overhead transmission lines according to claim 1, characterized in that, Also includes: Adding ecologically sensitive period time constraints to the spatiotemporal conflict detection model transforms the time taboo interval associated with soil and water conservation markers into a spatiotemporal grid, dynamically intercepting mechanical scheduling instructions during conflict periods.

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