Grounded line perception method based on charged quantity time series analysis

Abstract

The application discloses a grounding line perception method based on charged quantity time sequence analysis, and the method realizes accurate judgment on whether equipment is electrified by collecting key parameters such as current, voltage and three-dimensional coordinates of the grounding line in real time and combining time sequence data analysis of the charged quantity, avoids the risk of misdisassembly caused by instantaneous fluctuation or misjudgment, and effectively improves the discrimination accuracy and operation decision scientificity of the disassembly link. The method fully integrates the power grid graphic platform and the power transmission topology structure information, dynamically evaluates the electrified risk area by constructing a spatial risk correlation diagram between the operation hanging point and the adjacent equipment, and superimposes personnel positioning information to comprehensively judge whether the operation personnel are within the safe distance range. This mechanism realizes dynamic linkage and joint discrimination of multi-source information, and significantly enhances the spatial risk identification and safety control ability of the operation site.

Description

Technical Field

[0001] This invention belongs to the field of power system operation safety monitoring technology, and particularly relates to a grounding line sensing method based on charge time sequence analysis. Background Technology

[0002] In current power system field operations, especially in distribution network operation and maintenance, grounding operations are a crucial link in ensuring operational safety. The standardization and accuracy of their execution directly affect personal safety and system stability. To implement the "two-ticket, three-system" management requirements, power grid companies generally rely on work permits to record and review grounding operations. However, in practice, there is still a significant reliance on manual judgment and recording, lacking a data-driven intelligent judgment mechanism. This leads to frequent problems such as inaccurate grounding status identification, incomplete operational risk assessment, and poor quality of permit information. Particularly in the grounding wire removal phase, operators often need to rely on experience to judge whether equipment is energized and whether personnel are at a safe distance, resulting in significant subjectivity and uncertainty.

[0003] While some regions have begun deploying intelligent grounding sensing methods in existing operational processes, most methods only achieve location reporting and connection status sensing, lacking historical time-series analysis of electrical conditions. This makes it difficult to effectively identify short-term voltage fluctuations in equipment, thus affecting the accuracy of determining whether grounding wires can be removed. Furthermore, current methods generally fail to establish a correlation between the spatial coordinates of the connection point and the power grid topology, making it difficult to form a calculable risk model. Consequently, they cannot comprehensively assess the risks by considering conductor topology, electrical connectivity, and the voltage risk of adjacent conductors. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention proposes a grounding line sensing method based on charge timing analysis.

[0005] The technical solution of the present invention is as follows:

[0006] A grounding line sensing method based on charge timing analysis includes:

[0007] Step 1) Obtain real-time sensing data of the grounding line and preprocess the sensing data; the sensing data includes the three-dimensional coordinates of the grounding line's connection point, connection status information, current value, and voltage value;

[0008] Step 2) Spatially match the three-dimensional coordinates of the attachment point with the pre-marked three-dimensional coordinates of the standard attachment point to obtain the attachment point position matching status and issue a risk alarm based on the attachment point position matching status;

[0009] Step 3) Construct a time series based on the current and voltage values, perform segmented analysis on the time series, extract feature parameters related to the energized state, obtain the energized state results of the grounding wire based on the feature parameters, and generate an electrical safety status report by combining the connection status information;

[0010] Step 4) Obtain the spatial layout and electrical connection relationship of the connection point and its adjacent towers and conductors, mark the associated conductors and equipment with energization risks, and form a spatial risk association diagram;

[0011] Step 5) Calculate the three-dimensional spatial distance between the location coordinates of the on-site workers and the attachment point, determine whether the on-site workers are within the preset safe distance range, and generate a personnel safety status label;

[0012] Step 6) Determine whether the preset grounding wire removal criteria are met based on the matching status of the connection point, the energized status of the grounding wire, and the personnel safety status label.

[0013] Step 7) After the preset grounding wire removal judgment conditions are met, a three-dimensional visualization image of the grounding wire removal is generated by combining the on-site status information and the spatial risk association diagram.

[0014] Furthermore, the specific methods for step 2) include:

[0015] Step 21) Preset the standard connection point information for each grounding operation task. The standard connection point information includes the unique identification number of the connection equipment, the power topology node identification corresponding to the tower, the three-dimensional coordinates of the standard connection point, and the maximum offset tolerance threshold range.

[0016] Step 22) Obtain the three-dimensional coordinates of the attachment point in the sensing data, wherein the three-dimensional coordinates of the attachment point include longitude, latitude and attachment height;

[0017] Step 23) Match the grounding operation task with the unique identifier of the hanging equipment corresponding to the grounding line and the power topology node identifier corresponding to the tower. In this way, obtain the standard hanging point information of the grounding operation task corresponding to the sensing data. Compare the three-dimensional coordinates of the hanging point with the three-dimensional coordinates of the standard hanging point dimension by dimension, and calculate the longitude difference, latitude difference and hanging height difference respectively, thereby generating a spatial offset vector.

[0018] Step 24) Calculate the magnitude of the spatial offset vector and compare it with the maximum offset tolerance threshold range. If the magnitude is within the maximum offset tolerance threshold range, the hook point position matching status is determined to be a valid hook point that conforms to the hooking specification; otherwise, it is determined to be an abnormal hook point.

[0019] Step 25) If the connection point is determined to be abnormal, trigger the risk alarm mechanism to issue a risk alarm.

[0020] Furthermore, the specific methods for step 3) include:

[0021] Step 31) Based on the current and voltage values ​​in the sensing data, arrange them in order according to the timestamps to construct a time series with charge.

[0022] Step 32) Preprocess the time series of the charge to form a standardized time series of the charge. The preprocessing includes outlier removal, time series completion, numerical smoothing and trend unification.

[0023] Step 33) Analyze the standardized time series and divide it into multiple continuous analysis windows according to the time dimension. Extract the characteristic parameters related to the charged state in each analysis window. The characteristic parameters related to the charged state include current value, voltage value and current change rate.

[0024] Step 34) Based on the feature parameters related to the charged state extracted from each analysis window and the preset charged state determination rules, perform window-by-window judgment and output the temporary charged state label for the time segment corresponding to each analysis window.

[0025] Step 35) Aggregate and analyze the temporary energized state labels of multiple continuous analysis windows, count the energized state labels of each analysis window, calculate the energized frequency, and determine whether it is a continuous energized state based on the set energized frequency threshold. If the energized frequency threshold is reached, the energized state result of the grounding line is energized; otherwise, the energized state result of the grounding line is not energized.

[0026] Step 36) Combine the current energized state result obtained from the determination with the connection status information to form a structured electrical safety status report.

[0027] Furthermore, the specific methods for step 4) include:

[0028] Step 41) Based on the transmission line topology data, obtain the unique identifier of the target grounding operation task, the line number to which it belongs, and the upstream and downstream connection relationships of the topology;

[0029] Step 42) Based on the three-dimensional coordinates of the connection point, filter out all adjacent tower nodes and conductor nodes within the set radius from the graphics platform according to the spatial association range;

[0030] Step 43) Construct an electrical connectivity map of the target tower node and adjacent tower nodes, and identify the conductor segments and all energized component nodes that are electrically connected to the target tower using the graph structure analysis method;

[0031] Step 44) Combine the real-time operating status information of each energized component node in the electrical connectivity diagram to obtain the current operating voltage level, conduction status and load information of each conductor segment, and mark the associated conductors and equipment with energization risks to form a set of energized risk nodes.

[0032] Step 45) Perform correlation analysis on the angle, distance and associated path between the set of energized risk nodes and the connection point in space to form a spatial risk correlation diagram between the current target tower node and the energized part.

[0033] Furthermore, the specific methods for step 5) include:

[0034] Step 51) Obtain the location coordinates of the on-site workers;

[0035] Step 52) Compare the position coordinates of the on-site workers with the three-dimensional coordinates of the attachment point, and calculate the spatial distance between the on-site workers and the attachment point. The spatial distance includes the horizontal projection distance and the vertical height difference distance.

[0036] Step 53) Based on the target tower node, the voltage level of the target equipment, and the weather conditions, determine the corresponding safety control threshold range and compare it with the calculated spatial distance;

[0037] Step 54) If the spatial distance is within the safe control threshold range, mark the on-site worker's safety status label as safe to work; otherwise, mark it as exceeding the safe distance.

[0038] Furthermore, the specific methods for step 6) include:

[0039] Step 61) Construct a data set for determining the dismantling conditions using the matching status of the connection point, the energized status of the grounding wire, and the personnel safety status label as judgment items;

[0040] Step 62) Compare the judgment items in the data set one by one to see if they all meet the preset grounding wire removal judgment conditions. The preset grounding wire removal judgment conditions include the connection point position matching status being a valid connection point that conforms to the connection specifications, the grounding wire energization status being a non-energized state, and the personnel safety status label being safe to work.

[0041] Step 63) If all the judgment items meet the preset grounding wire removal judgment conditions, the removal judgment result is "removal allowed"; if any judgment item does not meet the conditions, the removal judgment result is "removal prohibited".

[0042] Furthermore, the specific methods for step 7) include:

[0043] Step 71) After the preset grounding wire removal judgment conditions are met, a three-dimensional visualization model of grounding removal is constructed using the three-dimensional coordinates of the grounding device's connection point, the tower location, personnel location information, and the surrounding topology as input.

[0044] Step 72) Graphically label the grounding wire, connection position, workers, tower equipment and adjacent conductor elements in the 3D visualization model. When labeling, use different colors to indicate the grounding status, risk level and distribution of work roles.

[0045] Step 73) Synchronously overlay information on energized risk areas, safe operating ranges, and personnel movement trajectories;

[0046] Step 74) The construction results of the 3D visualization model are packaged into a standard format graphic data file, and the key state frames before, during and after demolition are extracted into a static image sequence to generate a complete 3D view record of the operation.

[0047] Furthermore, the preprocessing includes using Gaussian filtering to remove abnormal data caused by environmental interference, filling missing data that occurred during the acquisition process with mean interpolation, and performing Min-Max normalization.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] This invention proposes a grounding line sensing method based on charge timing analysis. This method overcomes the limitations of traditional grounding operations, which rely on manual judgment, suffer from severe information silos, and are disconnected from the ticket system and the actual situation on site. It significantly improves the intelligence level and safety assurance capability of the entire grounding operation process.

[0050] The method of this invention achieves accurate judgment of whether the equipment is energized by real-time acquisition of key parameters such as current, voltage and three-dimensional coordinates of the grounding point, combined with time-series data analysis of the charge, avoiding the risk of accidental dismantling caused by instantaneous fluctuations or misjudgments, and effectively improving the accuracy of judgment and the scientific nature of operation decision-making in the dismantling process.

[0051] This invention fully integrates power grid graphics platform and transmission topology information. By constructing a spatial risk correlation diagram between the work connection point and adjacent equipment, it dynamically assesses energized risk areas and overlays personnel location information to comprehensively determine whether workers are within a safe distance. This mechanism achieves dynamic linkage and joint discrimination of multi-source information, significantly enhancing the ability to identify spatial risks and manage safety at the work site.

[0052] The method of this invention also relies on the structured data generation and two-ticket system linkage mechanism to push the status perception results, demolition judgment results and operation three-dimensional view to the ticket system, automatically fill the safety measure execution record and form digital visual audit materials, and open up the whole-link closed loop from "equipment perception - status judgment - ticket generation - process recording", which greatly improves the standardization, timeliness and audit traceability of operation tickets.

[0053] The method of this invention adopts an integrated mechanism of perception, discrimination and graphic display, which has good system scalability and platform compatibility. It can be flexibly adapted to various voltage levels and different types of work sites, realizing the leap from static supervision to dynamic intelligent management and control of power grounding operations. It has significant engineering application value and promotion prospects. Attached Figure Description

[0054] Figure 1 This is a flowchart illustrating the grounding line sensing method based on charge timing analysis according to the present invention. Detailed Implementation

[0055] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. After reading this invention, any modifications of the invention in various equivalent forms by those skilled in the art will fall within the scope defined by the appended claims.

[0056] Example:

[0057] This invention provides a grounding line sensing method based on charge timing analysis, such as... Figure 1 As shown, it includes:

[0058] Step 1) Obtain real-time sensing data of the grounding line. The sensing data includes the three-dimensional coordinates of the grounding line's connection point, connection status information, current value, and voltage value. This sensing data can be collected by an intelligent grounding wire terminal equipped with Beidou positioning, live detection, and connection identification modules, and uploaded to the property management platform through an IoT communication module.

[0059] Step 2) Spatially match the three-dimensional coordinates of the attachment point with the pre-marked three-dimensional coordinates of the standard attachment point, obtain the attachment point position matching status, and issue a risk alarm based on the attachment point position matching status;

[0060] Step 3) Construct a time series based on the current and voltage values, perform segmented analysis on the time series, extract feature parameters related to the energized state, obtain the energized state results of the grounding wire based on the feature parameters, and generate an electrical safety status report by combining the connection status information.

[0061] Step 4) Obtain the spatial layout and electrical connection relationship of the grounding line connection points and their adjacent towers and conductors, mark the associated conductors and equipment with energization risks, and form a spatial risk association diagram;

[0062] Step 5) Calculate the three-dimensional spatial distance between the location coordinates of the on-site workers and the attachment point, determine whether the on-site workers are within the preset safe distance range, and generate a personnel safety status label;

[0063] Step 6) Determine whether the preset grounding wire removal criteria are met based on the matching status of the connection point, the energized status of the grounding wire, and the personnel safety status label.

[0064] Step 7) After the preset grounding wire removal judgment conditions are met, a three-dimensional visualization image of the grounding wire removal is generated by combining the on-site status information and the spatial risk association diagram.

[0065] This invention establishes a complete process for intelligent grounding operation management, encompassing equipment status perception, work environment assessment, personnel behavior control, and document system feedback. This process comprises multiple steps including grounding sensing and acquisition, coordinate comparison, live-line detection, risk identification, safe distance judgment, dismantling condition analysis, 3D modeling, and document linkage. This method not only achieves real-time dynamic perception and intelligent evaluation of the entire grounding operation process but also breaks down the existing system's "perception-management-control" gap, realizing hardware and software integration and data closure, effectively improving the safety, management standardization, and operational digitalization level of power distribution operations.

[0066] Furthermore, the preprocessing in step 1) includes using Gaussian filtering to remove abnormal data caused by environmental interference, filling missing data that occurred during the acquisition process with mean interpolation, and performing Min-Max normalization.

[0067] Furthermore, the specific methods for step 2) include:

[0068] Step 21) Preset the standard connection point information for each grounding operation task in the two-ticket system. The standard connection point information includes the unique identification number of the connection equipment, the power topology node identification of the tower, the three-dimensional coordinates of the standard connection point and the maximum offset tolerance threshold range.

[0069] Step 22) Obtain the three-dimensional coordinates of the connection point from the sensing data through the intelligent grounding wire terminal. The three-dimensional coordinates of the connection point include longitude, latitude and connection height, and are accompanied by a connection action timestamp and connection status confirmation mark.

[0070] Step 23) Match the grounding operation task with the unique identifier of the hanging equipment corresponding to the grounding line to which the sensing data belongs and the power topology node identifier corresponding to the tower. In this way, obtain the standard hanging point information of the grounding operation task corresponding to the sensing data. Compare the three-dimensional coordinates of the hanging point with the three-dimensional coordinates of the standard hanging point dimension by dimension, and calculate the longitude difference, latitude difference and hanging height difference respectively, thereby generating a spatial offset vector.

[0071] Step 24) Calculate the modulus of the spatial offset vector and compare the calculated modulus with the maximum offset tolerance threshold range. If the modulus is within the maximum offset tolerance threshold range, the hook point position matching status is determined to be a valid hook point that conforms to the hooking specification; otherwise, it is determined to be an abnormal hook point.

[0072] Step 25) If the connection point is determined to be abnormal, the risk alarm mechanism will be automatically triggered through the two-ticket terminal to issue a risk alarm. The risk alarm will prompt the operator to reconfirm the connection position and prohibit the continuation of the grounding subsequent steps until the connection point is verified as qualified and the data is collected and uploaded again.

[0073] Step 26) Bind the connection point location matching status to the current work ticket in the two ticket systems and write it into the safety measure execution record in the form of a flag bit. At the same time, upload the spatial offset vector, coordinate matching log and judgment result of the comparison process to the property management platform for remote recording and risk auditing.

[0074] By comparing the on-site grounding wire connection position with the preset standard coordinates in the system in three-dimensional space, and setting a spatial tolerance threshold range for compliance judgment, this invention effectively solves the problems of arbitrary grounding wire connection points, high subjective judgment errors by personnel, and inadequate standard implementation in existing technologies. This method improves the verifiability and standardized execution level of connection actions through real-time coordinate acquisition and precise spatial matching. Combined with two-ticket terminals to form a closed-loop control logic, it can automatically trigger alarms and block subsequent operations when abnormal connection behavior is detected, effectively reducing the risk of electrical work safety accidents caused by incorrect connection positions.

[0075] Furthermore, the specific methods for step 3) include:

[0076] Step 31) Based on the current and voltage values ​​in the sensing data, arrange them in order according to the timestamp to construct a time series with electrical charge. The time series dataset includes multiple sets of electrical parameter records within continuous time segments.

[0077] Step 32) Preprocess the time series of charge to form a standardized time series of charge. The preprocessing includes outlier removal, time series completion, numerical smoothing and trend unification.

[0078] Step 33) Analyze the standardized time series and divide it into multiple continuous analysis windows according to the time dimension. Extract the characteristic parameters related to the charged state in each analysis window. The characteristic parameters related to the charged state include the current value, voltage value and current change rate. The current change rate is the amount of current change per unit time.

[0079] Step 34) Based on the feature parameters related to the charged state extracted from each analysis window and the preset charged state determination rules, perform window-by-window judgment and output the temporary charged state label for the time segment corresponding to each analysis window.

[0080] Step 35) Aggregate and analyze the temporary energized state labels of multiple continuous analysis windows. The specific process is as follows: count the energized state labels of each analysis window, calculate the energized frequency, and determine whether it is a continuous energized state based on the set energized frequency threshold. If the energized frequency threshold is reached, the energized state result of the grounding line is energized; otherwise, the energized state result of the grounding line is not energized.

[0081] Step 36) Combine the current energized status result obtained from the determination with the connection status information to form a structured electrical safety status report, and upload it to the property management platform.

[0082] This invention overcomes the problem of traditional static sampling judgment failing to identify electrical state fluctuations by constructing a time-series data structure containing charged quantities, extracting multi-dimensional variation characteristics of parameters such as current and voltage, and performing dynamic label determination based on an analysis window. This discrimination mechanism possesses good temporal continuity and fluctuation sensitivity, effectively detecting abnormal charged states and short-term abrupt changes, thus improving the accuracy and robustness of judging the charged status of grounding equipment. In engineering applications, it can serve as an important data basis for determining whether grounding removal is permissible, providing a reliable criterion for removal operations and ensuring that operational behavior complies with safety regulations.

[0083] Furthermore, the specific methods for step 4) include:

[0084] Step 41) During the initialization of the task, based on the transmission line topology data stored in the power grid graphical operation platform, obtain the unique identifier of the target grounding operation task, the line number to which it belongs, and the upstream and downstream connection relationships of the topology.

[0085] Step 42) Based on the three-dimensional coordinates of the connection point, filter out all adjacent tower nodes and conductor nodes within the set radius from the graphics platform according to the spatial association range;

[0086] Step 43) Construct an electrical connectivity map of the target tower node and adjacent tower nodes, and identify the conductor segments and all energized component nodes that are electrically connected to the target tower using the graph structure analysis method;

[0087] Step 44) Combine the real-time operating status information of each energized component node in the electrical connectivity diagram to obtain the current operating voltage level, conduction status and load information of each conductor segment, and mark the associated conductors and equipment with energization risks to form a set of energized risk nodes.

[0088] Step 45) Perform correlation analysis on the angle, distance and associated path between the set of energized risk nodes and the connection point in space to form a spatial risk correlation diagram between the current target tower node and the energized part.

[0089] Step 46) Output the spatial risk correlation diagram in structured data form, write it into the safety risk assessment record of this grounding operation, and synchronize it to the two-ticket operation system.

[0090] By integrating with a power grid graphics platform, this method extracts the relationship between transmission topology and spatial coordinates, constructing a graphical risk correlation model between work points and energized components. This solves the problem that existing systems cannot intuitively identify the spatial distribution of energized risks and are difficult to conduct regional work assessments. This method supports coordinate- and topology-based spatial modeling, outputting structured risk area maps and providing workers with clear and visual risk prediction references. By identifying the location and status of energized nodes such as high-voltage conductors and power terminals, this invention enhances the dimensionality and depth of grounding operation environment awareness, providing key safety factors for subsequent decision-making.

[0091] Furthermore, the specific methods for step 5) include:

[0092] Step 51) Obtain the latitude and longitude coordinates of the on-site workers through the positioning module of the mobile operation terminal carried by the workers, and automatically record the acquisition timestamp and terminal identification code;

[0093] Step 52) Compare the position coordinates of the on-site workers with the three-dimensional coordinates of the attachment point, and calculate the spatial distance between the on-site workers and the attachment point. The spatial distance includes the horizontal projection distance and the vertical height difference distance.

[0094] Step 53) Call the preset safe distance judgment model for operators, determine the corresponding safety control threshold range based on the target tower node, the voltage level of the target equipment and the weather conditions, and compare it with the calculated spatial distance;

[0095] Step 54) If the spatial distance is within the safety control threshold range, mark the on-site worker's safety status label as safe to work; otherwise, mark it as exceeding the safe distance and lock the grounding operation permission.

[0096] Step 55) The current location of the operator, the judgment result and related judgment parameters are combined into a structured location information package and uploaded to the two-ticket operation system and the property management platform in real time;

[0097] Step 56) If the judgment result is "exceeding the safe distance", an alarm prompt interface will pop up on the work terminal to prompt the operator to adjust the position or request on-site verification. At the same time, the grounding or dismantling operation shall be prohibited until the alarm is cleared.

[0098] By fusing the spatial positioning information of workers with the coordinates of attachment points and dynamically comparing and judging this information with safety distance models under different work scenarios, this invention effectively solves the problems of opaque personnel behavior and delayed risk warnings. This method achieves real-time constraints on personnel behavior boundaries. When personnel enter an unsafe area, the system can immediately trigger an alarm, interrupting the work process and preventing electric shock accidents caused by personnel accidentally entering high-voltage areas. Simultaneously, the workers' trajectories can be completely recorded and linked to the work status, providing quantifiable evidence for full-process behavior auditing and accountability.

[0099] Furthermore, the specific methods for step 6) include:

[0100] Step 61) Construct a data set for determining the dismantling conditions using the matching status of the connection point, the energized status of the grounding wire, and the personnel safety status label as judgment items;

[0101] Step 62) Call the removal condition judgment engine and compare the judgment items in the data set in turn to see if they all meet the preset grounding wire removal judgment conditions. The preset grounding wire removal judgment conditions include the connection point position matching status being a valid connection point that conforms to the connection specifications, the grounding wire energization status being non-energized, and the personnel safety status label being safe to work.

[0102] Step 63) If all the judgment items meet the preset grounding wire removal judgment conditions, the removal judgment result is "removal allowed" and a removal operation suggestion is automatically generated; if any judgment item is not met, the removal judgment result is "removal prohibited" and the specific reason for the non-compliance is marked.

[0103] Step 64) Package the demolition judgment results and the status parameters during the judgment process into a structured demolition analysis report, upload it to the property management platform, and simultaneously write it into the two-ticket system operation process record;

[0104] Step 65) If the demolition condition is "demolition prohibited", the system prompt interface will be triggered through the work terminal to push an alarm that demolition is not allowed to the workers, and the subsequent operation process will be suspended, requiring manual review or waiting for the status to be restored to the compliance condition.

[0105] This invention summarizes three core parameters—the matching status of the connection point, the energized state of the grounding wire, and the personnel safety status label—into a dismantling judgment input set. The judgment engine then outputs a structured dismantling conclusion, forming a standard dismantling permit mechanism with rule constraints and data support. Compared to traditional subjective judgment methods relying primarily on human experience, this method possesses high logical consistency and reproducibility, avoiding errors caused by omitted judgment elements or neglect of on-site environmental factors. It can significantly improve the safety threshold for grounding dismantling operations and, through recording and comparing the process, forms an electronic evidence chain, enhancing the technical feasibility of post-event accountability.

[0106] Furthermore, the specific methods for step 7) include:

[0107] Step 71) After the preset grounding wire removal judgment conditions are met, call the three-dimensional graphics modeling module, and construct a three-dimensional visualization model of grounding removal with the three-dimensional coordinates of the grounding device's connection point, the tower position, personnel position information and the surrounding topology as input.

[0108] Step 72) Graphically label the grounding wire, connection position, workers, tower equipment and adjacent conductor elements in the 3D visualization model. When labeling, use different colors to indicate the grounding status, risk level and distribution of work roles.

[0109] Step 73) Synchronously overlay information on energized risk areas, safe operating ranges, and personnel movement trajectories;

[0110] Step 74) The construction results of the 3D visualization model are packaged into a standard format graphic data file, and the key state frames before, during and after demolition are extracted into a static image sequence to generate a complete 3D view record of the operation.

[0111] Step 75) Push the 3D graphic results and their corresponding text information to the work terminal interface and upload them to the property management platform;

[0112] Step 76) Embed a click-based element information linkage function in the 3D graphics to allow operators to click on any key point to obtain real-time data details, including the connection status, energized status, judgment time and operator identification.

[0113] By modeling the on-site status of grounding operations as a 3D graphical object and embedding key status frames and spatial path information, dynamic visual display and static multi-angle archiving of the operation process are achieved, overcoming the shortcomings of traditional document text records in expressing complex environments. This visualization model not only helps operators understand the work space and risk distribution but also serves as an important basis for supervisors to conduct remote inspections and image audits. The graphical model supports element click-based linkage and information pop-ups, enhancing operational interactivity and transparency, and demonstrating the technological path from "paper records" to "image auditing."

[0114] Furthermore, the method of the present invention also includes step 8) synchronizing the status perception results of the grounding line, the removal judgment conclusion and the three-dimensional image to the two-ticket operation system to assist in generating safety measure execution records, operation audit trajectories and safety operation prompts.

[0115] Furthermore, the specific methods for step 8) include:

[0116] Step 81) Encapsulate the grounding line status data, personnel location records, graphic display results, and energized status conclusions after completing the dismantling judgment and 3D graphic modeling into a standard structured data package;

[0117] Step 82) Call the data interface of the two-ticket operation system to write the structured data packet into the current operation ticket record, and automatically fill in the corresponding "Safety Measures Execution Record" field;

[0118] Step 83) The demolition judgment result is synchronously embedded into the operation process control logic as a prerequisite for whether the next operation is allowed. If the judgment result is "demolition allowed", the system will automatically allow the subsequent ticket process node; if it is "demolition prohibited", the ticket process will be blocked.

[0119] Step 84) Bind the structured result to the current ticket number and archive it into the electronic work ticket ledger system to support subsequent query, audit and work review;

[0120] Step 85) The data fields containing the location trajectory, judgment tag, dismantling time and operator information are synchronously output to the background operation visualization platform for centralized management and display by the management personnel;

[0121] Step 86) The generated demolition judgment result, image view and text description are pushed to the mobile terminal interface of the two-ticket operation system, so that the on-site operators can view them in real time and execute subsequent steps accordingly, ensuring the closed-loop transmission of operation decision information.

[0122] By structurally packaging job status information, judgment results, and graphical data, and integrating them with the two-ticket system, this invention achieves deep integration of the perception layer and the ticket layer, completely breaking down the fragmented situation where "perception and execution are on-site, and recording and filling are done in the system." The system can automatically fill in ticket content based on real-time job status, determine whether process nodes can proceed, and archive them to the ledger, achieving "automated execution + full traceability + auditable control" of the job management process. The mobile terminal push mechanism allows multiple roles to simultaneously grasp the current job risk and progress status, greatly improving job collaboration efficiency and safety transparency.

[0123] This example provides a grounding line sensing system based on charge time sequence analysis, including a sensing data acquisition module, a connection point location matching status acquisition module, a grounding line energized status result acquisition module, a spatial risk correlation diagram formation module, a personnel safety status label generation module, a grounding line removal judgment module, and a three-dimensional visualization module.

[0124] The sensing data acquisition module is used to acquire real-time sensing data of the grounding line. The sensing data includes the three-dimensional coordinates of the grounding line's connection point, connection status information, current value, and voltage value.

[0125] The attachment point location matching status acquisition module is used to spatially match the three-dimensional coordinates of the attachment point with the three-dimensional coordinates of the pre-marked standard attachment point, obtain the attachment point location matching status, and issue risk alarms based on the attachment point location matching status.

[0126] The grounding wire energized state result acquisition module is used to construct a time series based on current and voltage values, perform segmented analysis on the time series, extract feature parameters related to the energized state, acquire the grounding wire energized state result based on the feature parameters, and generate an electrical safety status report by combining the connection status information.

[0127] The spatial risk association diagram generation module is used to obtain the spatial layout and electrical connection relationship of the grounding line connection points and their adjacent towers and conductors, identify the associated conductors and equipment with energized risks, and generate a spatial risk association diagram.

[0128] The personnel safety status tag generation module is used to calculate the three-dimensional spatial distance between the location coordinates of on-site workers and the attachment point, determine whether on-site workers are within the preset safe distance range, and generate personnel safety status tags.

[0129] The grounding wire removal judgment module is used to determine whether the preset grounding wire removal judgment conditions are met based on the matching status of the connection point, the energized status of the grounding wire, and the personnel safety status label.

[0130] The 3D visualization module is used to generate a 3D visualization image of the grounding wire removal after the preset grounding wire removal judgment conditions are met, combining on-site status information and spatial risk correlation diagram.

[0131] To verify the feasibility of this invention in practice, this example applies the method of this invention to a power distribution company in a southern city. During a planned power outage maintenance operation on the 110kV Chengnan Substation-Nanhuan Road overhead line, the line is a main power supply line in a key urban area, surrounded by large commercial districts, densely populated residential areas and a subway transfer station. The working environment is complex, and the accuracy, safety and controllability of the grounding operation are extremely important.

[0132] Before the actual operation, the maintenance unit generated a work order through the two-ticket system and configured three sets of intelligent grounding wire devices. This device integrates a Beidou positioning module, a connection status detection unit, a live sensing module, and a LoRa IoT communication component. It can collect the three-dimensional coordinates of the grounding wire connection and current and voltage signals in real time, and upload them to the access property management platform through a gateway.

[0133] At the start of the operation, the grounding personnel scanned the work order QR code using a terminal to bind the equipment number. They then attached the smart grounding wire to the designated grounding bolt on tower number 15 of the Chengnan substation outgoing line. The equipment collected the real-time coordinates of the attachment point (N23.125471, E113.326594) and the attachment height (3.42 meters). After comparing these coordinates with the preset standard coordinates (N23.125467, E113.326599, H=3.40m) in the two-ticket system, the system determined the offset to be 0.74 meters, which meets the ±1 meter tolerance threshold standard. Therefore, the attachment position was valid, and the attachment point was a valid attachment point conforming to the attachment specifications. This information was automatically recorded as compliant and locked in the current work ticket's safety measure execution field.

[0134] Simultaneously, the grounding wire began continuously uploading current and voltage data, with a sampling frequency set to 1Hz. In the first 15 minutes, the average current was 0.13A, the highest was 0.21A, and the lowest was 0.05A, while the voltage remained stable below 1.4V, showing a slight fluctuation trend. The time-series analysis module slid in 10-second windows, extracting indicators such as the rate of change of current, average voltage, and duration of energization. After 80 seconds, it determined that the equipment was still slightly energized, and the removal conditions were not met. The system displayed a "Removal Prohibited" warning on the work terminal and pushed a risk alert. After this state lasted for approximately 22 minutes, the current fluctuations gradually disappeared. Within seven consecutive windows, the current was below 0.03A and the voltage approached zero. The system finally determined that the equipment had been stably de-energized, i.e., in a non-energized state, and the status was updated to "Removal Permitted." Before dismantling, the system automatically invokes the graphical modeling module. Using the connection coordinates as the center and the surrounding tower topology and the real-time location of the workers (N23.125481, E113.326581) as auxiliary data, a 3D scene map of the grounding environment is generated, identifying the spatial distribution and risk level zoning of the connection point, workers, and nearby conductors. The 3D image is simultaneously displayed on a web platform and the mobile work terminal, while generating three static keyframes (connection confirmation frame, energized state transition frame, and personnel approach frame), which are archived as images in the safety measure execution record. The final judgment result, the 3D model, and the analysis log are packaged into structured data and automatically written to the work order system through the two-ticket system interface for subsequent audit review.

[0135] Three sets of grounding wires were deployed at the work site, located on towers 15, 16, and 18 respectively. All operations were automatically performed according to the method of this invention, including coordinate comparison, live-line analysis, and safe distance calculation. Throughout the entire operation cycle, approximately 5280 pieces of positioning data and approximately 92,000 sets of electrical parameter data were uploaded, 12 graphic models were generated, and three instances of abnormal connection behavior were alerted and intervened, preventing two potential risks arising from personnel approaching live conductors. Compared to the previous method of manually judging connection locations and relying on experience to determine the timing of removal, this invention's system reduced the judgment time from an average of 4 minutes to less than 90 seconds, and lowered the false alarm rate to 0.8%. Workers reported that this method is "more visual, clearer in judgment, and provides faster feedback."

[0136] This scenario fully illustrates that the present invention effectively solves the existing technical bottlenecks such as non-standard grounding wire connection, high risk of misjudgment during removal, and delayed record keeping. It realizes a closed-loop intelligent grounding operation process from "perception-evaluation-feedback-recording", and has extremely high engineering promotion value and practical application effect.

[0137] To verify the feasibility of this invention in practice, this example applies the method of this invention to a power company that plans to replace insulators and conduct equipment inspection and maintenance on multiple towers along a transmission line. This line traverses several mountainous and farmland areas, with complex operating conditions and a variable environment. To ensure the safety of on-site personnel, it is essential to use grounding wires correctly and strictly determine their connection position, energized status, and safe distance for personnel. However, traditional manual verification methods suffer from data lag, high risk of misjudgment, and inability to track in real time, posing potential safety hazards. Therefore, this embodiment applies a grounding line sensing method based on charge-time sequence analysis proposed in this invention to intelligently monitor and analyze the entire grounding operation process.

[0138] Before the on-site operation began, the maintenance unit preset the standard connection point information for the grounding task through the "Two-Ticket Operation System," including the location of the conductor-ground wire connection plate on tower No. 38, with three-dimensional coordinates of longitude 115.236°, latitude 29.812°, connection height 7.5 meters, and a maximum allowable offset tolerance of 0.5 meters. The operators used an intelligent grounding wire terminal equipped with BeiDou positioning, connection identification, and live detection functions to perform the connection operation. After the connection was completed, the terminal automatically recorded its real-time spatial coordinate information and uploaded it to the property management platform.

[0139] System comparison and analysis showed that the actual connection coordinates of the grounding wire were 115.2357° longitude, 29.8123° latitude, and 7.48 meters altitude, which deviated from the standard point by 0.23 meters, within the allowable threshold. Therefore, the connection point was determined to be a valid connection point conforming to the connection specifications. Simultaneously, the connection time uploaded by the terminal was 08:36:21, and the connection action status was marked as "closed," conforming to the operating specifications.

[0140] After connecting the charge analysis module, the terminal began collecting current and voltage data in real time, recording once per second. After continuous monitoring for 10 minutes following connection, the system acquired 600 sets of data. After preprocessing and trend normalization, the system analysis revealed that the current fluctuation range was ±0.05A for the first 120 seconds, and the voltage value remained stable below 2.1V. Subsequently, there was no significant current flow for the next 380 seconds, and the voltage tended towards 0.4V. The characteristics of each analysis window showed no continuous charge signal, ultimately determining the state to be "non-charged."

[0141] By retrieving information from the power grid's "One Map" service platform, the system identified that the upstream and downstream of the line where the work site was located were towers No. 37 and No. 39, respectively. A branch line at tower No. 39 connected to a nearby substation. Combining 3D coordinate calculations and electrical connection analysis, the system identified six potentially energized devices near tower No. 38 and its branch line, and generated a spatial risk correlation diagram based on the map analysis. Data showed that there were two conductor segments with an angle of less than 30 degrees to the connection point, with a minimum spatial distance of 4.2 meters.

[0142] Meanwhile, the mobile terminal worn by the worker uploaded their real-time location. The system calculated that the horizontal distance between the worker and the grounding wire connection point was 1.2 meters, and the vertical height difference was 0.6 meters. Based on the current weather conditions (light rain), the type of grounding task (equipment replacement), and the voltage level (110kV), the system set the minimum safe control distance to 2.5 meters. Upon determination that the worker was "out of safe distance," the system immediately displayed a warning on the terminal, prompting the worker to retreat to a safe area.

[0143] After the personnel adjusted their positions, the system re-detected their location, recording a horizontal distance of 3.1 meters and a vertical height difference of 0.4 meters, thus determining it to be "safe for work." Simultaneously, the current energized state was changed to de-energized, and the connection point was a valid connection point conforming to the connection specifications, triggering the dismantling condition judgment module. The system automatically generated a judgment result of "dismantling permitted" and recommended proceeding with the dismantling operation.

[0144] Before the dismantling operation begins, the system uses the 3D modeling module to generate a 3D visualization image of the work site. The image shows the grounding wire status as green ("dismantling permitted"), personnel locations as blue markers, and adjacent live conductors as red risk zones, clearly displaying the structure. The system pushes this 3D image to the terminal for personnel to view and uploads it to the platform for archiving. The image integrates interactive functionality; clicking on any node allows users to view real-time information such as connection status, voltage trend graphs, and operator identity.

[0145] After the demolition was completed, the system automatically recorded the demolition time as 09:17:43 and generated a structured data package containing the judgment conclusion, personnel trajectory, 3D images, etc., which was automatically written into the "Safety Measures Execution Record" field of the two-ticket operation system. At the same time, the result was synchronized to the electronic ledger system of the operation ticket and output to the visualization backend.

[0146] Through this application, the present invention solves the problems of low efficiency in manual verification, delayed data acquisition, and inability to quantify the timing of removal in traditional grounding operations. It realizes intelligent closed-loop management integrating real-time status perception of grounding lines, time-series energization analysis, and safe distance judgment. According to statistics, in a total of 7 grounding operations on this line, the system successfully identified and warned of abnormal connection behavior 2 times and personnel standing beyond the designated distance 3 times. The accuracy rate of removal judgment reached 100%. On-site personnel reported that the system operation was simple and intuitive, greatly improving the standardization and safety of grounding operations.

[0147] To verify the feasibility of this invention in practice, this example also applies it to the operation and maintenance of a mountainous section of an ultra-high voltage transmission line. The maintenance unit organized multiple inspection teams to conduct high-frequency routine inspections and grounding safety measures on the towers along the line during the spring season. Because this section of the line traverses complex mountainous areas, communication signals are unstable in some areas, the climate is cold and humid, making personnel access difficult. Furthermore, many connection points are close to other lines or branch line equipment, posing safety hazards such as misjudgment of energized status or the risk of personnel approaching. Traditional manual recording and power outage confirmation methods are extremely inefficient and cannot meet the high-efficiency requirements of real-time monitoring and remote dispatch. To solve this problem, this operation fully adopted the "Grounding Line Sensing Method Based on Energy Quantity Time Sequence Analysis" proposed in this invention, implementing digital closed-loop management of processes such as connection identification, energized judgment, safety assessment, and removal confirmation.

[0148] During the initialization phase of the operation, the dispatch center issues operation task instructions through the two-ticket system, and simultaneously retrieves the standard attachment point information of the target towers (e.g., X351~X356), including the unique number of each attachment point (e.g., X351-GP1), three-dimensional spatial coordinates (accuracy ±0.1 meters), tower node number, electrical connection relationship, and allowable attachment error range (set to 0.4 meters). Meanwhile, the remote platform dispatches personnel from each shift to wear matching intelligent grounding wire terminal equipment, equipped with a Beidou positioning module, a live detection module, an attachment identification module, and an edge communication processing module. Even in mountainous areas with weak signal, data can still be transmitted via relay nodes.

[0149] During the actual operation, a work team completed the connection operation on tower X354 at 10:12 AM. The terminal equipment collected the current connection point's latitude and longitude as 116.02862°E, 29.78419°N, and height as 8.35 meters. The system compared this with the platform's preset standard connection point of 116.02859°E, 29.78422°N, and height as 8.30 meters. After three-dimensional offset calculation, the error was found to be 0.067 meters, indicating that the connection was compliant and the connection point was a valid connection point conforming to the connection specifications. The system immediately generated a matching confirmation flag and automatically wrote the "Connection Valid" field into the grounding ticket safety measure execution record. The on-site terminal interface synchronously updated the status to "Connection Qualified" and prompted the user to proceed to the next step of the electrical status monitoring process.

[0150] During the electrical condition monitoring phase, the terminal automatically collects current and voltage data and constructs a time series. A total of 720 data sets were acquired over the next 12 minutes. After preliminary data processing, signal abrupt changes and null values ​​were removed. The acquired curves showed that the maximum current was 0.05A in the first 200 seconds, while the voltage fluctuated slightly, reaching a maximum of 1.2V. Over the next 480 seconds, the curves stabilized, with the current dropping below 0.01A and the voltage below 0.2V. The system calculated the fluctuation trend and the rate of change of electrical quantity according to the analysis window, combined with the energized state determination logic, to determine that the current line was in a "de-energized state" and generated a structured energized state label.

[0151] Meanwhile, to prevent interference from other branch line equipment, the system invoked the "One Map" platform interface to retrieve a graphical line topology map of the area where tower X354 is located, and filtered adjacent towers and conductor nodes within a set range. Analysis results showed that tower X354 connects to X355 to the north and X353 to the south, and has a sag crossing section with branch line X254. The system automatically identified the electrical connection path and conductor voltage level, forming a spatial risk map of the current work point and energized areas. The 3D image displayed two energized nodes less than 5 meters from the connection point, with a voltage level of 220kV, which the system highlighted to guide safe operation.

[0152] The operator's location data was continuously transmitted back through the work terminal. At 10:24, the system determined that the spatial distance between a certain operator and the attachment point was only 1.4 meters, with a vertical height difference of 0.6 meters, exceeding the minimum safe distance (2.3 meters) under the preset 220kV conditions. The system immediately popped up an "over-distance operation alarm" on site and simultaneously pushed the alarm information to the dispatch backend. Following the prompt, the operator moved back to their position, and the system recorded the subsequent location as 2.7 meters, restoring the status to "safe for operation."

[0153] After the operation is completed, the system automatically triggers the dismantling condition judgment engine based on three conditions: the grounding point is in a "non-energized state," the connection point is a valid connection point that conforms to the connection specifications, and the personnel are "safe to work." The judgment result is "dismantling is allowed," and dismantling suggestions and operation time windows are output. The terminal simultaneously activates the 3D visualization modeling module to construct a 3D scene map including elements such as personnel, towers, grounding wires, connection points, and branch conductors. The image distinguishes between energized and safe areas by color. The system automatically generates a state map before dismantling, a change map during dismantling, and a state reset map after dismantling, extracting a total of 5 static images.

[0154] The graphical modeling data and the work judgment conclusions were packaged into a unified structured data package, which was simultaneously uploaded to the property management platform and the two-ticket system at 10:38 and written into the "demolition conclusion" field of the work ticket. The structured package also included: location trajectory, demolition time, personnel number, risk image, operation label, etc. The back-end platform generated a visual audit report based on this data and archived it.

[0155] After a week-long high-frequency operation test, the method of this invention was applied to nine grounding and removal processes on the same line. A total of three abnormal connection locations and five instances of accidental approaching risks were identified, and one accidental removal operation was successfully prevented, achieving a 100% accuracy rate in automatic judgment. Compared to traditional processes, this method can still achieve full-process monitoring, early warning, recording, and remote judgment even in mountainous environments with poor signal coverage. It provides extremely high safety and efficiency for remote power grid operations, effectively supporting the digital transformation of the UHV operation and maintenance system in the region.

[0156] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A grounding line sensing method based on charge timing analysis, characterized in that, include: Step 1) Obtain real-time sensing data of the grounding line and preprocess the sensing data; the sensing data includes the three-dimensional coordinates of the grounding line's connection point, connection status information, current value, and voltage value; Step 2) Spatially match the three-dimensional coordinates of the attachment point with the pre-marked three-dimensional coordinates of the standard attachment point to obtain the attachment point position matching status and issue a risk alarm based on the attachment point position matching status; Step 3) Construct a time series based on the current and voltage values, perform segmented analysis on the time series, extract feature parameters related to the energized state, obtain the energized state results of the grounding wire based on the feature parameters, and generate an electrical safety status report by combining the connection status information; Step 4) Obtain the spatial layout and electrical connection relationship of the connection point and its adjacent towers and conductors, mark the associated conductors and equipment with energization risks, and form a spatial risk association diagram; Step 5) Calculate the three-dimensional spatial distance between the location coordinates of the on-site workers and the attachment point, determine whether the on-site workers are within the preset safe distance range, and generate a personnel safety status label; Step 6) Determine whether the preset grounding wire removal criteria are met based on the matching status of the connection point, the energized status of the grounding wire, and the personnel safety status label. Step 7) After the preset grounding wire removal judgment conditions are met, a three-dimensional visualization image of the grounding wire removal is generated by combining the on-site status information and the spatial risk association diagram.

2. The grounding line sensing method based on charge timing analysis according to claim 1, characterized in that, The specific methods for step 2) include: Step 21) Preset the standard connection point information for each grounding operation task. The standard connection point information includes the unique identification number of the connection equipment, the power topology node identification corresponding to the tower, the three-dimensional coordinates of the standard connection point, and the maximum offset tolerance threshold range. Step 22) Obtain the three-dimensional coordinates of the attachment point in the sensing data, wherein the three-dimensional coordinates of the attachment point include longitude, latitude and attachment height; Step 23) Match the grounding operation task with the unique identifier of the grounding line and the power topology node identifier of the tower. In this way, obtain the standard connection point information of the grounding operation task corresponding to the sensing data. Compare the three-dimensional coordinates of the connection point with the three-dimensional coordinates of the standard connection point dimension by dimension, and calculate the longitude difference, latitude difference and connection height difference respectively to generate a spatial offset vector. Step 24) Calculate the magnitude of the spatial offset vector and compare it with the maximum offset tolerance threshold range. If the magnitude is within the maximum offset tolerance threshold range, the hook point position matching status is determined to be a valid hook point that conforms to the hooking specification; otherwise, it is determined to be an abnormal hook point. Step 25) If the connection point is determined to be abnormal, trigger the risk alarm mechanism to issue a risk alarm.

3. The grounding line sensing method based on charge timing analysis according to claim 2, characterized in that, The specific methods for step 3) include: Step 31) Based on the current and voltage values ​​in the sensing data, arrange them in order according to the timestamps to construct a time series with charge. Step 32) Preprocess the time series of the charge to form a standardized time series of the charge. The preprocessing includes outlier removal, time series completion, numerical smoothing and trend unification. Step 33) Analyze the standardized time series and divide it into multiple continuous analysis windows according to the time dimension. Extract the characteristic parameters related to the charged state in each analysis window. The characteristic parameters related to the charged state include current value, voltage value and current change rate. Step 34) Based on the feature parameters related to the charged state extracted from each analysis window and the preset charged state determination rules, perform window-by-window judgment and output the temporary charged state label for the time segment corresponding to each analysis window. Step 35) Aggregate and analyze the temporary energized state labels of multiple continuous analysis windows, count the energized state labels of each analysis window, calculate the energized frequency, and determine whether it is a continuous energized state based on the set energized frequency threshold. If the energized frequency threshold is reached, the energized state result of the grounding line is energized; otherwise, the energized state result of the grounding line is not energized. Step 36) Combine the current energized state result obtained from the determination with the connection status information to form a structured electrical safety status report.

4. The grounding line sensing method based on charge timing analysis according to claim 3, characterized in that, The specific methods for step 4) include: Step 41) Based on the transmission line topology data, obtain the unique identifier of the target grounding operation task, the line number to which it belongs, and the upstream and downstream connection relationships of the topology; Step 42) Based on the three-dimensional coordinates of the connection point, filter out all adjacent tower nodes and conductor nodes within the set radius from the graphics platform according to the spatial association range; Step 43) Construct an electrical connectivity map of the target tower node and adjacent tower nodes, and identify the conductor segments and all energized component nodes that are electrically connected to the target tower using the graph structure analysis method; Step 44) Combine the real-time operating status information of each energized component node in the electrical connectivity diagram to obtain the current operating voltage level, conduction status and load information of each conductor segment, and mark the associated conductors and equipment with energization risks to form a set of energized risk nodes. Step 45) Perform correlation analysis on the angle, distance and associated path between the set of energized risk nodes and the connection point in space to form a spatial risk correlation diagram between the current target tower node and the energized part.

5. The grounding line sensing method based on charge timing analysis according to claim 4, characterized in that, The specific methods for step 5) include: Step 51) Obtain the location coordinates of the on-site workers; Step 52) Compare the position coordinates of the on-site workers with the three-dimensional coordinates of the attachment point, and calculate the spatial distance between the on-site workers and the attachment point. The spatial distance includes the horizontal projection distance and the vertical height difference distance. Step 53) Based on the target tower node, the voltage level of the target equipment, and the weather conditions, determine the corresponding safety control threshold range and compare it with the calculated spatial distance; Step 54) If the spatial distance is within the safe control threshold range, mark the on-site worker's safety status label as safe to work; otherwise, mark it as exceeding the safe distance.

6. The grounding line sensing method based on charge timing analysis according to claim 5, characterized in that, The specific methods for step 6) include: Step 61) Construct a data set for determining the dismantling conditions using the matching status of the connection point, the energized status of the grounding wire, and the personnel safety status label as judgment items; Step 62) Compare the judgment items in the data set one by one to see if they all meet the preset grounding wire removal judgment conditions. The preset grounding wire removal judgment conditions include the connection point position matching status being a valid connection point that conforms to the connection specifications, the grounding wire energization status being a non-energized state, and the personnel safety status label being safe to work. Step 63) If all the judgment items meet the preset grounding wire removal judgment conditions, the removal judgment result is "removal allowed"; if any judgment item does not meet the conditions, the removal judgment result is "removal prohibited".

7. The grounding line sensing method based on charge timing analysis according to claim 6, characterized in that, The specific methods for step 7) include: Step 71) After the preset grounding wire removal judgment conditions are met, a three-dimensional visualization model of grounding removal is constructed using the three-dimensional coordinates of the grounding device's connection point, the tower location, personnel location information, and the surrounding topology as input. Step 72) Graphically label the grounding wire, connection position, workers, tower equipment and adjacent conductor elements in the 3D visualization model. When labeling, use different colors to indicate the grounding status, risk level and distribution of work roles. Step 73) Synchronously overlay information on energized risk areas, safe operating ranges, and personnel movement trajectories; Step 74) The construction results of the 3D visualization model are packaged into a standard format graphic data file, and the key state frames before, during and after demolition are extracted into a static image sequence to generate a complete 3D view record of the operation.

8. The grounding line sensing method based on charge timing analysis according to claim 1, characterized in that, The preprocessing includes using Gaussian filtering to remove abnormal data caused by environmental interference, filling missing data that occurred during the acquisition process with mean interpolation, and performing Min-Max normalization.

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