Power transmission line and crane safety state early warning method and device based on Beidou positioning

Abstract

The invention provides a power transmission line and crane safety state early warning method and device based on Beidou positioning, and the method comprises the steps: collecting the coordinates of a tower, carrying out the meshing according to 5km * 5km, and binding the tower with a grid; after the crane is started, the single Beidou positioning module collects longitude and latitude data of the crane in real time and uploads the data to the cloud; calculating the nearest distance Dmin between the crane and the line based on the crane longitude and latitude data and the tower coordinates in the grid; and the safety level is judged in combination with the Dmin and the motion state of the crane. Dynamic tracking of the crane is achieved through Beidou meter-level positioning, the calculation amount is reduced through a gridding algorithm, and the early warning accuracy is improved through multi-dimensional criteria; the full-process automatic management reduces the labor cost, does not need to depend on camera hardware, realizes the full coverage of ultrahigh-voltage / extra-high-voltage lines at low cost, and effectively solves the problem of flow external breaking management and control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of power transmission channel risk intelligent identification, and particularly relates to a power transmission line and crane safety state early warning method and device based on Beidou positioning. BACKGROUND

[0002] Power transmission channel damage early warning has always been a pain point and difficulty in power transmission operation and management. Channel damage is divided into fixed damage and flow damage. For fixed damage, personnel can be stationed or mobile monitoring can be used for control, but for flow damage, such as mobile cranes and randomly flowing cranes, effective management cannot be performed.

[0003] At present, the main method is to perform image recognition analysis on the images returned by the cameras installed on the towers. On the one hand, image recognition has misjudgment and missed opportunities, and needs to be manually reviewed, which is low in accuracy and large in workload. On the other hand, due to the problem of funds, most areas of extra-high voltage and ultra-high voltage lines have not realized full-line visualization, and most of the existing devices are picture machines, which can only return pictures at intervals, and the coverage of the devices is small and the timeliness is poor. SUMMARY

[0004] The purpose of the present application is to provide a power transmission line and crane safety state early warning method and device based on Beidou positioning, which can effectively realize real-time control of damaged cranes, obtain the safety state of the power transmission line and the crane, and has high timeliness.

[0005] The technical scheme for realizing the purpose of the present application is as follows:

[0006] A power transmission line and crane safety state early warning method based on Beidou positioning, comprising the following steps:

[0007] Step 1: Tower coordinate information summary and line gridding

[0008] Collect the latitude and longitude coordinates of all power transmission line towers in the target area, classify them by line name to form a tower coordinate library, divide the area into grids with a size of 5km x 5km, bind the tower coordinates with the corresponding grids, and output the tower coordinate data set with grid labels;

[0009] Step 2: Real-time positioning data return of crane

[0010] When the crane starts, the vehicle-mounted special connector connects the power module, triggers the single Beidou positioning module to start and collects the latitude and longitude data of the crane, and uploads the latitude and longitude data of the crane to the cloud in real time through the communication module;

[0011] Step 3: Measurement of the closest distance between the crane and the power transmission line

[0012] Based on the grid-labeled tower coordinate dataset output in step 1, the crane's latitude and longitude data are retrieved from the cloud. The grid in which the crane is located and its eight adjacent grids are determined. Assuming each grid has n towers (n is a natural number), the distance S from the crane to the i-th tower is calculated based on the crane's latitude and longitude data and the tower coordinates within the grid. i Take n S i Minimum value S Y Set the minimum value S Y The corresponding tower is tower Y of line X. Obtain the coordinates of towers Y+1 and Y-1 to calculate the shortest distance D between the crane and the transmission line. min ;

[0013] Step 4: Safety Status Assessment

[0014] Based on the closest distance D between the crane and the power transmission line obtained in step 3 min The movement status of the crane is used to determine the safety status of the crane and the power transmission line.

[0015] Furthermore, in step 3, the distance S of the crane to the i-th tower is calculated based on the crane's latitude and longitude data and the tower coordinates within the grid. i The calculation formula is as follows:

[0016] (1); In the formula, J d W is the longitude of the crane. d J is the latitude of the crane. i Let W be the longitude of the i-th tower. i For the first

[0017] The latitude of i towers.

[0018] Furthermore, in step 3, the coordinates of towers Y+1 and Y-1 are obtained to calculate the closest distance D between the crane and the transmission line. min ,include:

[0019] (1) When the crane is located on the line connecting towers Y and Y+1, the shortest distance between the crane and the transmission line is D. min :

[0020] (2);

[0021] (3);

[0022] In the formula, D1 is the minimum distance between the crane and the line segment of towers Y and Y-1, and S Y S is the distance between the crane and tower Y. Y+1 S is the distance between the crane and tower Y+1. Y－1 D is the distance between the crane and tower Y-1. minD2 is the minimum distance between the crane and the transmission line when the crane is located on the line connecting the Y and Y+1 towers;

[0023] (2) When the crane is located on the line connecting the Y and Y+1 towers, the minimum distance between the crane and the transmission line is D min :

[0024] (4);

[0025] (5);

[0026] D2 is the minimum distance between the crane and the transmission line when the crane is located on the line connecting the Y and Y+1 towers;

[0027] (3) When the crane is not located on the line connecting the Y and Y+1 towers and the Y and Y-1 towers, the minimum distance between the crane and the transmission line is D min :

[0028] (6).

[0029] Further, step 4 determines the safety state of the crane and the transmission line based on the minimum distance D min between the crane and the transmission line obtained in step 3 and the movement state of the crane, including:

[0030] First, it is determined whether the crane is on the line. After the crane is displayed on the line, when n=0 or D min >5000m, it indicates that the crane and the transmission line are in a safe state; when 100m min <D min ≤100m and the crane is continuously moving, it indicates that the crane and the transmission line are in a warning state and attention should be paid; when D min ≤100m and the crane stops moving, it indicates that the crane and the transmission line are in a dangerous state and an alarm is triggered, and an operation and maintenance personnel is arranged to handle it.

[0031] A safety state early warning device for a transmission line and a crane based on Beidou positioning, comprising:

[0032] A tower coordinate information collection and line gridding module is used to collect the longitude and latitude coordinates of all transmission line towers in a target area, classify them by line name to form a tower coordinate library, divide the area into grids with a size of 5km×5km, bind the tower coordinates with the corresponding grids, and output the tower coordinate dataset with grid labels;

[0033] The crane real-time positioning data transmission module includes a vehicle-mounted dedicated connector, a power module, and a single Beidou positioning module, which are connected in sequence. When the crane starts, the vehicle-mounted dedicated connector connects to the power module, triggering the single Beidou positioning module to start and collect the crane's latitude and longitude data. The crane's latitude and longitude data is then uploaded to the cloud in real time through the communication module.

[0034] The crane-to-transmission line proximity calculation module is used to retrieve the crane's latitude and longitude data from the cloud based on a grid-labeled tower coordinate dataset. It determines the grid in which the crane is located and its eight adjacent grids. Given a grid with n towers (n being a natural number), the module calculates the distance S between the crane and the i-th tower based on the crane's latitude and longitude data and the tower coordinates within the grid. i Take n S i Minimum value S Y Set the minimum value S Y The corresponding tower is tower Y of line X. Obtain the coordinates of towers Y+1 and Y-1 to calculate the shortest distance D between the crane and the transmission line. min ;

[0035] The safety status judgment module is used to determine the safety status of the crane and the transmission line based on the closest distance Dmin between the crane and the transmission line and the crane's movement status.

[0036] Furthermore, the closest distance calculation module between the crane and the transmission line calculates the distance S of the crane to the i-th tower based on the crane's latitude and longitude data and the tower coordinates within the grid. i The calculation formula is as follows:

[0037] (1); In the formula, J d W is the longitude of the crane. d J is the latitude of the crane. i Let W be the longitude of the i-th tower. i For the first

[0038] The latitude of i towers.

[0039] Furthermore, the shortest distance calculation module between the crane and the transmission line obtains the coordinates of towers Y+1 and Y-1 to calculate the shortest distance D between the crane and the transmission line. min ,include:

[0040] (1) When the crane is located on the line connecting towers Y and Y+1, the shortest distance between the crane and the transmission line is D. min :

[0041] (2);

[0042] (3);

[0043] D1 is the minimum distance between the crane and the line section of Y and Y-1 tower, S Y D is the distance between the crane and Y tower, S Y+1 D is the distance between the crane and Y+1 tower, S Y－1 D is the distance between the crane and Y-1 tower, S min D is the minimum distance between the crane and the line section of Y and Y+1 tower, min is the minimum function of two numbers;

[0044] (2) When the crane is located on the line connecting Y and Y-1 tower, the minimum distance between the crane and the transmission line is D min :

[0045] (4);

[0046] (5);

[0047] D2 is the minimum distance between the crane and the line section of Y and Y+1 tower;

[0048] (3) When the crane is not on the line connecting Y and Y+1 tower and Y and Y-1 tower, the minimum distance between the crane and the transmission line is D min :

[0049] (6).

[0050] Further, the safety state judgment module judges the safety state of the crane and the transmission line based on the minimum distance Dmin between the crane and the transmission line and the movement state of the crane, comprising:

[0051] First, it is judged whether the crane is online. After the crane is displayed online, when n=0 or D min >5000m, it represents that the crane and the transmission line are in a safe state; when 100m min <5000m, it represents that the crane and the transmission line are in a sensitive state; when D min ≤100m and the crane does not move, it represents that the crane and the transmission line are in a warning state and attention should be paid; when D min ≤100m and the crane stops moving, it represents that the crane and the transmission line are in a dangerous state and an alarm is triggered to arrange operation and maintenance personnel to go to handle.

[0052] A power transmission line and crane safety state early warning system based on Beidou positioning, comprising: a computer readable storage medium and a processor;

[0053] The computer readable storage medium is used to store executable instructions;

[0054] The processor is used to read executable instructions stored in the computer-readable storage medium and execute the BeiDou positioning-based power transmission line and crane safety status early warning method.

[0055] A non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the aforementioned method for early warning of the safety status of power transmission lines and cranes based on BeiDou positioning.

[0056] The present invention has the following beneficial effects:

[0057] 1. Real-time and accurate positioning solves the problem of controlling mobile external damage.

[0058] By using the BeiDou positioning module, the crane can be positioned in real time with meter-level accuracy. Combined with the vehicle-mounted device to automatically trigger positioning and data transmission, it breaks through the limitations of traditional cameras that rely on manual verification and interval photography, and realizes dynamic tracking of mobile cranes, effectively filling the gap in the control of mobile external damage.

[0059] 2. Grid-based efficient calculation improves the efficiency of safe distance assessment.

[0060] By adopting a 5km×5km grid division and binding it with tower coordinates, only the distance between the crane and the towers in the grid and the adjacent 8 grids is calculated, which greatly reduces the amount of data processing, reduces the difficulty of platform construction, and ensures the efficiency and real-time performance of distance measurement.

[0061] 3. Multi-dimensional security criteria improve the accuracy of early warnings.

[0062] Combining the shortest distance between the crane and the power transmission line (D) min The system incorporates four safety status judgment logics, including static distance and dynamic trend, to avoid misjudgment and missed judgment issues caused by single image recognition and improve the accuracy and reliability of alarm logic.

[0063] 4. Full-process automated management reduces labor costs.

[0064] The entire process, from crane positioning and data uploading to distance calculation and status assessment, is automated, eliminating the need for manual verification. This solves the problem of high workload associated with traditional image recognition, which relies heavily on manual labor. At the same time, the cloud platform displays map information, alarm data, and ledger management in real time, making operation convenient and further improving maintenance efficiency.

[0065] 5. Low cost and wide coverage, overcoming equipment and funding limitations.

[0066] It does not rely on full-line visualization camera hardware, but achieves full coverage monitoring of ultra-high voltage / extra-high voltage lines through Beidou positioning and grid-based algorithms, avoiding the problem of insufficient equipment coverage due to funding issues, and is more applicable. Attached Figure Description

[0067] Figure 1 This is a schematic diagram of the crane real-time monitoring device according to an embodiment of the present invention;

[0068] Figure 2 This is a physical image of the crane real-time monitoring device according to an embodiment of the present invention;

[0069] Figure 3 This is a flowchart of a method for early warning of the safety status of power transmission lines and cranes based on BeiDou positioning, according to an embodiment of the present invention. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0071] like Figure 1 and Figure 2 As shown, this embodiment of the invention provides a crane real-time monitoring device, including: a retractable and rotatable mobile phone holder 01, a monitoring device main shell 02, a 15W wireless charging module 03, a 45W wired charging module 04, a single Beidou positioning module 05, a vehicle-mounted special connector 06, a power module 07, and a communication module 08.

[0072] Among them: the retractable and rotatable mobile phone holder 01 is connected to the main shell 02 of the monitoring device, the power input terminal of the retractable and rotatable mobile phone holder 01 is connected to the power module 07, and the retractable and rotatable mobile phone holder 01 can realize the functions of holder rotation, use angle adjustment and automatic unfolding when the mobile phone is close.

[0073] The 15W wireless charging module 03 is built into the retractable and rotatable mobile phone holder 01. The power input terminal of the 15W wireless charging module 03 is connected to the power module 07, which enables wireless charging of mobile phones.

[0074] The single Beidou positioning module 05 is built into the main shell 02 of the monitoring device. The power input terminal of the single Beidou positioning module 05 is connected to the power module 07, and the signal output terminal of the single Beidou positioning module 05 is connected to the communication module 08, which can realize the acquisition and uploading of high-precision positioning information.

[0075] The 45W wired charging module 04 is installed at the bottom of the main housing 02 of the monitoring device. The power input terminal of the 45W wired charging module 04 is connected to the power module 07 and can provide a USB wired charging interface.

[0076] The input end of the vehicle-mounted special connector 06 is connected to the special interface inside the crane, and the output end of the vehicle-mounted special connector 06 is connected to the power module 07. The power module 07 is built into the main shell 02 of the monitoring device and can provide power to the 15W wireless charging module 03, the 45W wired charging module 04, the single Beidou positioning module 05 and the communication module 08.

[0077] Please see Figure 3 This invention provides a method for early warning of the safety status of power transmission lines and cranes based on BeiDou positioning, comprising the following steps:

[0078] Step 1: Summarize tower coordinate information and grid the line

[0079] Collect the latitude and longitude coordinates of all transmission line towers in the target area, classify them by line name to form a tower coordinate library; divide the area into 5km×5km grids, bind the tower coordinates to the corresponding grids, and output a tower coordinate dataset with grid labels;

[0080] Step 2: Real-time positioning data transmission of the crane

[0081] When the crane starts, the vehicle-mounted special connector 06 connects to the power module 07, triggering the single Beidou positioning module 05 to start and collect the crane's latitude and longitude data. The crane's latitude and longitude data is then uploaded to the cloud in real time through the communication module 08.

[0082] Step 3: Calculate the closest distance between the crane and the power transmission line

[0083] Based on the grid-labeled tower coordinate dataset output in step 1, the crane's latitude and longitude data are retrieved from the cloud. The grid in which the crane is located and its eight adjacent grids are determined. Assuming each grid has n towers (n is a natural number), the distance S from the crane to the i-th tower is calculated based on the crane's latitude and longitude data and the tower coordinates within the grid. i The specific calculation formula is as follows:

[0084] (1); In the formula, J d W is the longitude of the crane. d J is the latitude of the crane. i Let W be the longitude of the i-th tower. i For the first

[0085] The latitude of i towers.

[0086] Take n S i Minimum value S Y Set the minimum value S Y The corresponding tower is tower Y of line X. Obtain the coordinates of towers Y+1 and Y-1 to calculate the shortest distance D between the crane and the transmission line. min Specifically,

[0087] (1) When the crane is located on the line connecting towers Y and Y+1, the shortest distance between the crane and the transmission line is D. min :

[0088] (2);

[0089] (3);

[0090] In the formula, D1 is the minimum distance between the crane and the line segment of towers Y and Y-1, and S Y S is the distance between the crane and tower Y. Y+1 S is the distance between the crane and tower Y+1. Y－1 D is the distance between the crane and tower Y-1. min Let X be the shortest distance for the crane along the X-line, and min is a function that takes the minimum value of the two numbers.

[0091] (2) When the crane is located on the line connecting towers Y and Y-1, the shortest distance between the crane and the transmission line is D. min :

[0092] (4);

[0093] (5);

[0094] In the formula, D2 is the minimum distance between the crane and the line segments of towers Y and Y+1;

[0095] (3) When the crane is not on the line connecting towers Y and Y+1 and towers Y and Y-1, the shortest distance between the crane and the transmission line is D. min :

[0096] (6).

[0097] Step 4: Safety Status Assessment

[0098] Based on the closest distance D between the crane and the power transmission line obtained in step 3 min The crane's movement status is used to determine the safety status of the crane and the power transmission line. The specific steps are as follows: First, determine if the crane is online. If the crane shows as online, when n=0 or D... min When the distance is greater than 5000m, it indicates that the crane and the power transmission line are in a safe state; when the distance is less than 100m, it indicates that the crane and the power transmission line are in a safe state. min When the depth is less than 5000m, the crane and transmission line are considered to be in a sensitive state; when D... min When the distance is ≤100m and the crane is constantly moving, it indicates that the crane and the power transmission line are in a warning state and should be closely monitored; when D minWhen the distance is ≤100m and the crane stops moving, it indicates that the crane and the power line are in a dangerous state and triggers an alarm, so maintenance personnel are dispatched to handle the situation.

[0099] This invention also provides a safety status early warning device for power transmission lines and cranes based on BeiDou positioning, comprising:

[0100] The tower coordinate information aggregation and line gridding module is used to collect the latitude and longitude coordinates of all transmission line towers in the target area, classify them by line name to form a tower coordinate library; divide the area into 5km×5km grids, bind the tower coordinates to the corresponding grids, and output a tower coordinate dataset with grid labels.

[0101] The crane real-time positioning data transmission module includes a vehicle-mounted dedicated connector 06, a power supply module 07, and a single Beidou positioning module 05, which are connected in sequence. When the crane starts, the vehicle-mounted dedicated connector 06 connects to the power supply module 07, triggering the single Beidou positioning module 05 to start and collect the crane's latitude and longitude data. The crane's latitude and longitude data is then uploaded to the cloud in real time through the communication module 08.

[0102] The crane-to-transmission line proximity calculation module is used to retrieve the crane's latitude and longitude data from the cloud based on a grid-labeled tower coordinate dataset. It determines the grid in which the crane is located and its eight adjacent grids. Given a grid with n towers (n being a natural number), the module calculates the distance S between the crane and the i-th tower based on the crane's latitude and longitude data and the tower coordinates within the grid. i Take n S i Minimum value S Y Set the minimum value S Y The corresponding tower is tower Y of line X. Obtain the coordinates of towers Y+1 and Y-1 to calculate the shortest distance D between the crane and the transmission line. min ;

[0103] The safety status judgment module is used to determine the safety status of the crane and the transmission line based on the closest distance Dmin between the crane and the transmission line and the crane's movement status.

[0104] This invention embodiment can also build a Beidou positioning-based power transmission line and crane safety status early warning platform. The platform includes a crane monitoring interface, a crane alarm interface, and a crane monitoring device ledger management system. The crane monitoring interface can display the real-time location of the crane on a map, reflecting the safety status of the crane and the line. The map has three modes: night view, image, and standard. The crane and line safety status are reflected by the crane color. For example, gray indicates that the crane is offline, green indicates that the crane and the line are in a safe state, yellow indicates that the crane and the line are in a sensitive state, orange indicates that the crane and the line are in a warning state, and red indicates that the crane and the line are in a dangerous state. The left side of the interface displays a list of real-time crane monitoring devices. Each device corresponds to the crane license plate number and device number, and displays the three statuses of the crane: online, offline, and alarm. The upper right corner of the interface contains the three most recent real-time crane alarm messages.

[0105] The crane alarm interface allows you to view detailed information about crane alarms. The upper left corner of the interface displays the current total number of devices, the total number of alarms, and the total number of alarms that have not yet been dispatched. The lower right corner of the interface allows you to select to view the total number of alarms, alarms that have not yet been dispatched, and alarms that have been dispatched for today, this week, and this month. The main interface displays alarm records, including an alarm record list and a map display. The alarm record list information includes: alarm line voltage level, line name, tower number, alarm distance, alarm time, dispatch time, dwell time, maintenance unit, and crane information, etc. The map display allows you to view the map location of each alarm crane.

[0106] The crane monitoring device ledger management system allows users to add, modify, and delete crane monitoring device information, as well as import and export crane monitoring device information in batches. The main interface displays information such as the crane monitoring device's operation and maintenance unit, equipment code, device name, IoT card number, corresponding crane license plate number, and crane operation time. The crane monitoring device ledger management system also allows users to set crane alarm logic, including alarm dwell time and alarm distance.

[0107] Another embodiment of the present invention provides a safety status early warning system for power transmission lines and cranes based on BeiDou positioning, comprising: a computer-readable storage medium and a processor;

[0108] The computer-readable storage medium is used to store executable instructions;

[0109] The processor is used to read executable instructions stored in the computer-readable storage medium and execute the BeiDou positioning-based power transmission line and crane safety status early warning method.

[0110] Another embodiment of the present invention provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the aforementioned method for early warning of the safety status of power transmission lines and cranes based on BeiDou positioning.

[0111] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A method for early warning of the safety status of power transmission lines and cranes based on BeiDou positioning, characterized in that, Includes the following steps: Step 1: Summarize tower coordinate information and grid the line Collect the latitude and longitude coordinates of all transmission line towers in the target area, classify them by line name to form a tower coordinate library; divide the area into 5km×5km grids, bind the tower coordinates to the corresponding grids, and output a tower coordinate dataset with grid labels; Step 2: Real-time positioning data transmission of the crane When the crane starts, the vehicle-mounted special connector (06) connects to the power module (07), triggering the single Beidou positioning module (05) to start and collect the crane's latitude and longitude data, and then uploads the crane's latitude and longitude data to the cloud in real time through the communication module (08); Step 3: Calculate the closest distance between the crane and the power transmission line Based on the grid-labeled tower coordinate dataset output in step 1, the crane's latitude and longitude data are retrieved from the cloud. The grid in which the crane is located and its eight adjacent grids are determined. Assuming each grid has n towers (n is a natural number), the distance S from the crane to the i-th tower is calculated based on the crane's latitude and longitude data and the tower coordinates within the grid. i Take n S i Minimum value S Y Set the minimum value S Y The corresponding tower is tower Y of line X. Obtain the coordinates of towers Y+1 and Y-1 to calculate the shortest distance D between the crane and the transmission line. min ; Step 4: Safety Status Assessment Based on the closest distance D between the crane and the power transmission line obtained in step 3 min The movement status of the crane is used to determine the safety status of the crane and the power transmission line.

2. The method according to claim 1, characterized in that, In step 3, the distance S between the crane and the i-th tower is calculated based on the crane's latitude and longitude data and the tower coordinates within the grid. i The calculation formula is as follows: （1）； In the formula, J d W is the longitude of the crane. d J is the latitude of the crane. i Let W be the longitude of the i-th tower. i For the first The latitude of i towers.

3. The method according to claim 1, characterized in that, In step 3, the coordinates of towers Y+1 and Y-1 are obtained, and the shortest distance D between the crane and the transmission line is calculated. min ,include: (1) When the crane is located on the line connecting towers Y and Y+1, the shortest distance between the crane and the transmission line is D. min : （2）； （3）； In the formula, D1 is the minimum distance between the crane and the line segment of towers Y and Y-1, and S Y S is the distance between the crane and tower Y. Y+1 S is the distance between the crane and tower Y+1. Y－1 D is the distance between the crane and tower Y-1. min Let X be the shortest distance for the crane along the X-line, and min is a function that takes the minimum value of the two numbers. (2) When the crane is located on the line connecting towers Y and Y-1, the shortest distance between the crane and the transmission line is D. min : （4）； （5）； In the formula, D2 is the minimum distance between the crane and the line segments of towers Y and Y+1; (3) When the crane is not on the line connecting towers Y and Y+1 and towers Y and Y-1, the shortest distance between the crane and the transmission line is D. min : （6）。 4. The method according to claim 1, characterized in that, Step 4: Based on the shortest distance D between the crane and the transmission line obtained in Step 3. min And the crane's movement status, to determine the safety status of the crane and the power transmission line, including: First, determine if the crane is online. If the crane is online, then when n=0 or D... min When the distance is greater than 5000m, it indicates that the crane and the power transmission line are in a safe state; when the distance is less than 100m, it indicates that the crane and the power transmission line are in a safe state. min When the depth is less than 5000m, the crane and transmission line are considered to be in a sensitive state; when D... min When the distance is ≤100m and the crane is constantly moving, it indicates that the crane and the power transmission line are in a warning state and should be closely monitored; when D min When the distance is ≤100m and the crane stops moving, it indicates that the crane and the power line are in a dangerous state and triggers an alarm, so maintenance personnel are dispatched to handle the situation.

5. A safety status early warning device for power transmission lines and cranes based on BeiDou positioning, characterized in that, include: The tower coordinate information aggregation and line gridding module is used to collect the latitude and longitude coordinates of all transmission line towers in the target area and form a tower coordinate library by line name; The area is divided into 5km×5km grids, and the tower coordinates are bound to the corresponding grids to output a tower coordinate dataset with grid labels. The crane real-time positioning data transmission module includes a vehicle-mounted dedicated connector (06), a power supply module (07), and a single Beidou positioning module (05) that are connected in sequence. When the crane starts, the vehicle-mounted dedicated connector (06) connects to the power supply module (07), triggering the single Beidou positioning module (05) to start and collect the crane's latitude and longitude data. The crane's latitude and longitude data is then uploaded to the cloud in real time through the communication module (08). The crane-to-transmission line proximity calculation module is used to retrieve the crane's latitude and longitude data from the cloud based on a grid-labeled tower coordinate dataset. It determines the grid in which the crane is located and its eight adjacent grids. Given a grid with n towers (n being a natural number), the module calculates the distance S between the crane and the i-th tower based on the crane's latitude and longitude data and the tower coordinates within the grid. i Take n S i Minimum value S Y Set the minimum value S Y The corresponding tower is tower Y of line X. Obtain the coordinates of towers Y+1 and Y-1 to calculate the shortest distance D between the crane and the transmission line. min ; The safety status judgment module is used to determine the safety status of the crane and the transmission line based on the closest distance Dmin between the crane and the transmission line and the crane's movement status.

6. The apparatus according to claim 5, characterized in that, The shortest distance calculation module between the crane and the transmission line calculates the distance S between the crane and the i-th tower based on the crane's latitude and longitude data and the tower coordinates within the grid. i The calculation formula is as follows: （1）； In the formula, J d W is the longitude of the crane. d J is the latitude of the crane. i Let W be the longitude of the i-th tower. i For the first The latitude of i towers.

7. The apparatus according to claim 5, characterized in that, The crane-to-transmission-line shortest distance calculation module obtains the coordinates of towers Y+1 and Y-1 to calculate the shortest distance D between the crane and the transmission line. min ,include: (1) When the crane is located on the line connecting towers Y and Y+1, the shortest distance between the crane and the transmission line is D. min : （2）； （3）； In the formula, D1 is the minimum distance between the crane and the line segment of towers Y and Y-1, and S Y S is the distance between the crane and tower Y. Y+1 S is the distance between the crane and tower Y+1. Y－1 D is the distance between the crane and tower Y-1. min Let X be the shortest distance for the crane along the X-line, and min is a function that takes the minimum value of the two numbers. (2) When the crane is located on the line connecting towers Y and Y-1, the shortest distance between the crane and the transmission line is D. min : （4）； （5）； In the formula, D2 is the minimum distance between the crane and the line segments of towers Y and Y+1; (3) When the crane is not on the line connecting towers Y and Y+1 and towers Y and Y-1, the shortest distance between the crane and the transmission line is D. min : （6）。 8. The apparatus according to claim 5, characterized in that, The safety status determination module determines the safety status of the crane and the transmission line based on the closest distance Dmin between the crane and the transmission line and the crane's movement status, including: First, determine if the crane is online. If the crane is online, then when n=0 or D... min When the distance is greater than 5000m, it indicates that the crane and the power transmission line are in a safe state; when the distance is less than 100m, it indicates that the crane and the power transmission line are in a safe state. min When the depth is less than 5000m, the crane and transmission line are considered to be in a sensitive state; when D... min When the distance is ≤100m and the crane is constantly moving, it indicates that the crane and the power transmission line are in a warning state and should be closely monitored; when D min When the distance is ≤100m and the crane stops moving, it indicates that the crane and the power line are in a dangerous state and triggers an alarm, so maintenance personnel are dispatched to handle the situation.

9. A safety status early warning system for power transmission lines and cranes based on BeiDou positioning, comprising: Computer-readable storage media and processors; The computer-readable storage medium is used to store executable instructions; The processor is used to read executable instructions stored in the computer-readable storage medium and execute the power transmission line and crane safety status early warning method based on Beidou positioning as described in any one of claims 1-4.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for early warning of the safety status of power transmission lines and cranes based on BeiDou positioning as described in any one of claims 1-4.

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