External damage prevention stereoscopic monitoring system and method for power transmission line

Abstract

The invention provides a power transmission line external damage prevention stereo monitoring system and method, and belongs to the technical field of image recognition, and the method specifically comprises the steps: determining a verification processing method of a millimeter wave radar in a verification power transmission line according to the switching data between the millimeter wave radar in the verification power transmission line and a monitoring device, based on the verification processing method, verification processing of the millimeter-wave radar in the power transmission line is carried out to obtain a verification processing result, and verification processing data when a monitoring target exists in a monitoring range of the millimeter-wave radar is determined according to the verification processing result; and when the verification processing reliability degree of the power transmission line is determined not to meet the requirement based on the verification processing data, based on the verification processing data of different millimeter-wave radars, the anti-external-damage cooperative monitoring method based on the millimeter-wave radars and the monitoring device is determined, and the reliability degree of anti-external-damage monitoring processing is improved.

Description

Technical Field

[0001] This invention belongs to the field of image recognition technology, and in particular relates to a three-dimensional monitoring system and method for preventing external damage to power transmission lines. Background Technology

[0002] During construction near power transmission lines, the unauthorized use of construction machinery and other equipment often leads to the risk of external damage to the transmission lines. Once external damage occurs, it is inevitable that the transmission lines will need to be shut down for maintenance, which in turn makes it difficult to meet the requirements for the stability and reliability of power transmission.

[0003] To address the aforementioned technical problems, existing solutions utilize power transmission visualization monitoring devices to identify and process external damage risks, enabling timely and effective switching control when such risks exist. However, these solutions have the following drawbacks: Visual monitoring devices struggle to accurately determine the four dimensions of information—distance, horizontal azimuth, velocity, and pitch (height)—of monitoring targets that may pose an external damage risk. This makes it difficult to accurately identify external damage risks. Furthermore, the time periods during which external damage risks exist are often limited. Therefore, by coordinating millimeter-wave radar with monitoring devices, the monitoring devices can remain idle most of the time. However, determining a collaborative monitoring and handling method for external damage risks using millimeter-wave radar and monitoring devices based on monitoring data from transmission lines is crucial for improving the reliability of monitoring external damage risk events on transmission lines.

[0004] To address the aforementioned technical problems, this application provides a three-dimensional monitoring system and method for preventing external damage to power transmission lines. Summary of the Invention

[0005] To achieve the objectives of this invention, the following technical solution is adopted: Specifically, this application provides a three-dimensional monitoring method for preventing external damage to transmission lines, which includes: S1 uses the millimeter-wave radar setting data of the transmission line to determine the transmission line that needs to be verified by the millimeter-wave radar, and uses it as the verification transmission line. Based on the switching data between the millimeter-wave radar and the monitoring device in the verification transmission line, S1 determines the verification processing method for the millimeter-wave radar in the verification transmission line. S2 performs verification processing on the millimeter-wave radar in the verification transmission line based on the verification processing method to obtain the verification processing result. The verification processing result determines the verification processing data when there is a monitoring target within the monitoring range of the millimeter-wave radar. Based on the verification processing data, if the verification processing reliability of the verification transmission line does not meet the requirements, a collaborative monitoring method for preventing external damage based on the millimeter-wave radar and the monitoring device is determined based on the verification processing data of different millimeter-wave radars.

[0006] The beneficial effects of this invention are as follows: Based on the switching data between the millimeter-wave radar and the monitoring device in the verification transmission line, the verification processing method for the millimeter-wave radar in the verification transmission line is determined. This allows for the determination of the verification processing method for the millimeter-wave radar based on the difference in the number of external damage risk events detected by the millimeter-wave radar in the verification transmission line, which leads to the difference in the number of times the monitoring device is turned on. This avoids the technical problem of not being able to accurately know the true operating status of the monitoring device due to long-term lack of switching.

[0007] Based on the verification data of different millimeter-wave radars, a collaborative monitoring method for preventing external damage based on millimeter-wave radar and monitoring devices was determined. This method enables the determination of the verification results of the operational reliability of millimeter-wave radar in transmission lines from the verification data of millimeter-wave radar. It ensures that when the actual operating status of millimeter-wave radar cannot be accurately determined, the system can switch to simultaneous identification and processing of external damage risks by millimeter-wave radar and monitoring devices, thereby improving the reliability of external damage risk identification and processing.

[0008] Furthermore, the millimeter-wave radar is a 4D millimeter-wave radar. Based on traditional millimeter-wave radar, the 4D millimeter-wave radar adds precise perception of the target's height dimension, thereby enabling it to output information in four dimensions, including distance, horizontal azimuth, velocity, and pitch angle (height). When the monitoring data of the millimeter-wave radar determines that there is equipment that poses a risk of external damage, the monitoring device is automatically activated, thereby enabling timely and effective identification and early warning.

[0009] Furthermore, the millimeter-wave radar setup data includes the locations of the power transmission line towers where the millimeter-wave radar is installed.

[0010] Furthermore, the method for determining the verification transmission line is as follows: Using the millimeter-wave radar setup data of the transmission line, determine the location of the transmission line where the millimeter-wave radar and monitoring device are used for collaborative monitoring to prevent external damage, and use this location as the collaborative monitoring location. Based on the distribution data of the collaborative monitoring locations, the length of the transmission line for which collaborative monitoring of the collaborative monitoring locations is used to prevent external damage is determined, and this length is taken as the collaborative monitoring length. Based on the collaborative monitoring length, it is determined whether the transmission line belongs to the verification transmission line.

[0011] Furthermore, the method for determining the collaborative monitoring method for preventing external damage based on the millimeter-wave radar and monitoring device is as follows: Based on the verification data of different millimeter-wave radars, a collaborative monitoring method for preventing external damage based on the millimeter-wave radars and monitoring devices is determined. Based on the verification data of the millimeter-wave radar, the verification period when a monitoring target exists within the monitoring range of the millimeter-wave radar at the collaborative monitoring location is determined and taken as the valid verification period. Based on the verification and processing methods for different collaborative monitoring locations, determine the monitoring duration for verification and processing at different collaborative monitoring locations; Based on the effective verification period within the most recent preset time period of different collaborative monitoring locations and the monitoring time used for verification processing, the collaborative monitoring method for preventing external damage to the verification transmission line based on the millimeter-wave radar and monitoring device is determined.

[0012] Specifically, the monitoring duration for verification processing at the collaborative monitoring location is determined by the monitoring device at the collaborative monitoring location being activated within a future unit of time when the millimeter-wave radar does not detect an object within the monitoring duration. It should be noted that the monitoring duration includes a first duration and a second duration.

[0013] Secondly, the present invention provides a three-dimensional monitoring system for preventing external damage to transmission lines, employing the aforementioned three-dimensional monitoring method for preventing external damage to transmission lines, specifically including: The verification processing strategy determination module is responsible for determining the verification processing method for millimeter-wave radar in the verification transmission line; The verification result analysis module is responsible for determining whether the reliability of the verification process for the transmission line meets the requirements based on the verification processing data. The collaborative monitoring module is responsible for determining the collaborative monitoring method for preventing external damage based on millimeter-wave radar and monitoring devices.

[0014] Other features and advantages will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0015] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] The above and other features and advantages of the present invention will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0017] Figure 1 This is a flowchart of a three-dimensional monitoring method for preventing external damage to transmission lines; Figure 2 This is a flowchart of the method for verifying the determination of transmission lines; Figure 3 This is a flowchart illustrating the method for determining the verification processing method for millimeter-wave radar in power transmission lines. Detailed Implementation

[0018] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0019] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that other elements / components / etc. may exist in addition to the listed elements / components / etc.

[0020] Example 1 To solve the above problems, according to one aspect of the present invention, such as Figure 1 As shown, a three-dimensional monitoring method for preventing external damage to transmission lines is provided, specifically including: S1 uses the millimeter-wave radar setting data of the transmission line to determine the transmission line that needs to be verified by the millimeter-wave radar, and uses it as the verification transmission line. Based on the switching data between the millimeter-wave radar and the monitoring device in the verification transmission line, S1 determines the verification processing method for the millimeter-wave radar in the verification transmission line. S2 performs verification processing on the millimeter-wave radar in the verification transmission line based on the verification processing method to obtain the verification processing result. The verification processing result determines the verification processing data when there is a monitoring target within the monitoring range of the millimeter-wave radar. Based on the verification processing data, if the verification processing reliability of the verification transmission line does not meet the requirements, a collaborative monitoring method for preventing external damage based on the millimeter-wave radar and the monitoring device is determined based on the verification processing data of different millimeter-wave radars.

[0021] Furthermore, the millimeter-wave radar is a 4D millimeter-wave radar. Based on traditional millimeter-wave radar, the 4D millimeter-wave radar adds precise perception of the target's height dimension, thereby enabling it to output information in four dimensions, including distance, horizontal azimuth, velocity, and pitch angle (height). When the monitoring data of the millimeter-wave radar determines that there is equipment that poses a risk of external damage, the monitoring device is automatically activated, thereby enabling timely and effective identification and early warning.

[0022] Furthermore, the millimeter-wave radar setup data includes the locations of the power transmission line towers where the millimeter-wave radar is installed.

[0023] Specifically, such as Figure 2 As shown, the method for determining the verification transmission line is as follows: Using the millimeter-wave radar setup data of the transmission line, determine the location of the transmission line where the millimeter-wave radar and monitoring device are used for collaborative monitoring to prevent external damage, and use this location as the collaborative monitoring location. Based on the distribution data of the collaborative monitoring locations, the length of the transmission line for which collaborative monitoring of the collaborative monitoring locations is used to prevent external damage is determined, and this length is taken as the collaborative monitoring length. Based on the collaborative monitoring length, it is determined whether the transmission line belongs to the verification transmission line.

[0024] It is understandable that when the collaborative monitoring length of the transmission line is greater than the preset monitoring length threshold, if the millimeter-wave radar cannot effectively identify the nearby construction equipment, the monitoring reliability of external damage prevention within the collaborative monitoring length will be reduced. Therefore, the transmission line is determined to be a verification transmission line.

[0025] Specifically, this implementation aims to accurately identify high-risk line sections (i.e., verification transmission lines) whose external damage prevention capabilities are significantly reduced due to radar failure by quantitatively analyzing the coverage integrity of the "millimeter-wave radar-monitoring device" collaborative monitoring system, so as to conduct key inspections or maintenance. The first step is to determine the collaborative monitoring location. Data Input: Acquire and import millimeter-wave radar setup data for the transmission lines. This data should at least include the latitude and longitude coordinates of each millimeter-wave radar and the preset effective monitoring radius R. Spatial Analysis: In the power grid geographic information system or digital map, generate a circular buffer zone with the location of each millimeter-wave radar as the center and its monitoring radius R as the buffer radius. Location Determination: The collaborative monitoring location is the location where both millimeter-wave radar and video monitoring devices are used for external damage prevention monitoring. Its monitoring range is the aforementioned circular buffer zone. [Output Result]: A set of line sections containing all "collaborative monitoring locations". These sections are theoretically the core areas for external damage prevention, where millimeter-wave radar provides primary detection and monitoring devices perform video verification.

[0026] Step 2: Calculate the Cooperative Monitoring Length: Data Integration: Spatially merge all the "cooperative monitoring location" intervals obtained in the previous step. If the monitoring ranges of multiple radars overlap on the transmission line, they are merged into a continuous monitoring segment. Length Measurement: Use the spatial measurement function of GIS to accurately calculate the actual length of each merged continuous monitoring segment. Cumulative Calculation: Add up the lengths of all continuous monitoring segments on the transmission line to obtain the "total cooperative monitoring length" (L_total) of the entire line. [Output Result]: A precise value L_total, representing the total length of the transmission line protected by the cooperative system.

[0027] Step 3: Verify the power transmission lines Preset Threshold: Set a "preset monitoring length threshold" (L_threshold). This threshold should be determined comprehensively based on factors such as the importance level of the line, the frequency of historical external damage incidents, and the activity level of surrounding construction. For example, it can be set as a certain percentage of the total line length (e.g., 3%), or an absolute length (e.g., 20 kilometers). Logical Judgment: Execute the following judgment logic: If IFL_total>L_threshold, then the transmission line is determined to be a "verification transmission line," triggering an early warning or generating a verification task work order. In other cases, the transmission line is determined not to be a verification transmission line, and its external damage prevention system has low sensitivity to single radar failures.

[0028] Implementation Examples Suppose we analyze a transmission line named "220kV Qinglong Line" to determine the collaborative monitoring locations. Input data: Three millimeter-wave radars (radars A, B, and C) are installed on the Qinglong Line, each with a monitoring radius of 500 meters. Spatial analysis reveals that radar A covers the line segment K5-K6, radar B covers K7-K8, and radar C covers K8.5-K9.5. The coverage areas of radars B and C overlap in the K8-K8.5 segment. Therefore, the collaborative monitoring locations are: K5-K6 and K7-K9.5 (two consecutive intervals).

[0029] Calculate the length of the collaborative monitoring: K5-K6 segment length: 1 km, K7-K9.5 segment length: 2.5 km, total collaborative monitoring length L_total = 1 + 2.5 = 3.5 km.

[0030] Verification of the transmission line: Assuming the company's preset monitoring length threshold L_threshold is 3.0 km, the judgment is: 3.5 km > 3.0 km → the condition is met, and the conclusion is: "220kV Qinglong Line" is identified as the verification transmission line.

[0031] This implementation transforms qualitative management needs into quantitative, spatial data-based automated judgment processes, enabling maintenance resources to be precisely allocated to the transmission line segments with the highest risk and most reliant on automated monitoring equipment, thereby greatly improving the intelligence level and maintenance efficiency of power grid protection against external damage.

[0032] Furthermore, such as Figure 3 As shown, the method for determining the verification processing method for millimeter-wave radar in the verification transmission line is as follows: Based on the switching data between the millimeter-wave radar and the monitoring device in the verification transmission line, the moment when the millimeter-wave radar senses an object in the collaborative monitoring position of the verification transmission line is activated and the monitoring device is awakened for collaborative monitoring is determined, and this moment is taken as the switching moment. The interval between the switching time of the collaborative monitoring location and the current time is determined based on the switching time of the collaborative monitoring location, and this interval is used as the switching interval duration. The verification processing method for the millimeter-wave radar in the verification transmission line is determined based on the switching interval of different collaborative monitoring locations.

[0033] It is understandable that the verification processing method for the millimeter-wave radar in the verification transmission line is determined based on the average interval between adjacent switching times of different collaborative monitoring locations, specifically including: In the verification transmission line, the cooperative monitoring locations between the millimeter-wave radar and the monitoring device that have not been switched in the past are designated as unswitched locations. When the number of unswitched locations exceeds a preset threshold, due to the large number of unswitched locations, in order to improve the monitoring reliability of the verification transmission line against external damage, it is determined that the monitoring device needs to be periodically activated to determine whether there are any approaching objects at the cooperative monitoring locations, thereby realizing the verification of the monitoring reliability of the millimeter-wave radar. Therefore, based on this, the verification processing method of the millimeter-wave radar in the verification transmission line is as follows: for all cooperative monitoring locations in the verification transmission line, if the millimeter-wave radar does not detect any objects at the cooperative monitoring location within a first time period, the monitoring device of the cooperative monitoring location is activated within a future unit time period, thereby determining whether the millimeter-wave radar can successfully detect objects within its monitoring range.

[0034] When the number of unswitched locations is not greater than a preset location number threshold, the switching interval duration of different collaborative monitoring locations is obtained. When the average switching interval duration of collaborative monitoring locations excluding unswitched locations is greater than a preset interval duration threshold, the verification processing method of the millimeter-wave radar in the verification transmission line is as follows: for all collaborative monitoring locations in the verification transmission line, if the millimeter-wave radar does not detect an object within the first time period, the monitoring device of the collaborative monitoring location is activated within the next unit time period, thereby determining whether the millimeter-wave radar can successfully detect an object within its monitoring range.

[0035] Additionally, it can be understood that when the average switching interval of the collaborative monitoring positions excluding those that have not been switched is not greater than a preset interval threshold, if the switching interval of the collaborative monitoring positions is greater than the preset interval threshold, then the verification processing method for the millimeter-wave radar in the verification transmission line is as follows: for the collaborative monitoring position, if the millimeter-wave radar does not detect an object within the first time period, the monitoring device of the collaborative monitoring position is activated within the next unit time period, thereby determining whether the millimeter-wave radar can successfully detect an object within its monitoring range.

[0036] Furthermore, if the switching interval of the collaborative monitoring location is not greater than a preset interval threshold, the verification processing method for the millimeter-wave radar in the verification transmission line is as follows: for the collaborative monitoring location, if the millimeter-wave radar does not detect an object within the second time period, the monitoring device of the collaborative monitoring location is activated within the next unit time period, thereby determining whether the millimeter-wave radar can successfully detect an object within its monitoring range.

[0037] It is understandable that the first duration is shorter than the second duration.

[0038] The objective of this implementation is to dynamically adjust the method for verifying millimeter-wave radar on "verification transmission lines" when it is in a silent state, using monitoring devices for verification processing. By analyzing historical collaborative monitoring data, areas where the radar may be "silent" or have reduced sensitivity are identified, and verification strategies with different urgency are implemented for areas with different risk levels.

[0039] Step 1: Data Preparation and Parameter Definition Input data: Obtain the "switching data" of the verification transmission line at the collaborative monitoring location, that is, all timestamps in the historical record of millimeter-wave radar sensing an object and successfully waking up the monitoring device.

[0040] Define key parameters: Preset number threshold of positions (N_threshold): For example, set it to 3. When the number of "silent points" without triggers for a long time exceeds this number, the risk of the entire line is considered high. Preset interval duration threshold (T_threshold): For example, set it to 7 days. It is used to judge whether the triggering frequency of a monitoring point is too low.

[0041] First duration (T1): A shorter verification trigger period, such as 24 hours. It represents a high verification frequency. Second duration (T2): A longer verification trigger period, such as 72 hours. It represents a low verification frequency. (T1 < T2). Unit duration: The duration of the verification action, for example, each time the monitoring device is triggered, it remains on for 10 minutes.

[0042] Step 2: Identify "unchanged positions" and perform the first-level judgment Identify unchanged positions: Traverse all collaborative monitoring positions on the verified transmission line. If a position has never had a record of the millimeter-wave radar waking up the monitoring device in historical data (for example, within the past 30 days), then mark this position as an "unchanged position".

[0043] First-level judgment - Overall risk judgment: IF the number of unchanged positions > N_threshold (for example, > 3), then determine that the risk of the entire line is high and comprehensive and high-frequency verification is required. Verification processing method A (global high-frequency verification): For all collaborative monitoring positions on the verified transmission line, as long as the millimeter-wave radar does not sense an object at a certain position within the past T1 (24 hours), the system will automatically force the monitoring device at this position to turn on within a certain period in the future (such as the next 10 minutes) to check whether there is actually an object, so as to verify whether the radar fails.

[0044] Step 3: When the number of unchanged positions is small, perform the second-level judgment: Premise: The number of unchanged positions ≤ N_threshold (for example, ≤ 3). At this time, calculate the average switching interval of the collaborative monitoring positions except for the unchanged positions. Exclude the "unchanged positions" identified in the previous step from all collaborative monitoring positions. The remaining ones are called "active positions". For each "active position", calculate the interval between its recent switching times and obtain the "average switching interval duration" of this position. Then calculate the average value of the average switching interval durations of all "active positions" to obtain the "global average switching interval (G_avg)".

[0045] If G_avg > T_threshold (e.g., > 7 days), the activity level of the entire line is very low. Although there are not many quiescent points, the overall triggering is infrequent, which poses a risk. At this time, a verification period of T1 (24 hours) is applied to all collaborative monitoring locations. As long as a certain location has not detected an object by the millimeter-wave radar in the past T1 (24 hours), the system will automatically force the monitoring device of that location to be turned on within a certain period of time in the future (such as the next 10 minutes) to check whether there is actually an object, thereby verifying whether the radar is malfunctioning.

[0046] Step 4: When the overall network activity is high, execute the third-level judgment (refined classification). Premise: The number of unswitched locations ≤ N_threshold AND G_avg ≤ T_threshold. In this case, each collaborative monitoring location on the line is judged separately. For each collaborative monitoring location, if the average switching interval of the location is > T_threshold (e.g., > 7 days), then the collaborative monitoring location itself has low activity and is a risk point. Therefore, for the collaborative monitoring location, if it has not detected any object in the past T1 (24 hours), the monitoring device will be forcibly turned on for verification in the next unit of time.

[0047] If the average switching interval of the location is less than or equal to T_threshold, then low-frequency verification will be performed on the location to save resources. For this specific collaborative monitoring location, if no object is detected in the past T2 (72 hours), the monitoring device will be forcibly turned on for verification in the next unit of time.

[0048] Furthermore, the verification processing data when a target is present within the monitoring range of the millimeter-wave radar includes the verification period when a target is present within the monitoring range of the millimeter-wave radar and the identification result of the millimeter-wave radar during the verification period.

[0049] It should be noted that the monitoring range of the millimeter-wave radar is determined according to the equipment parameters of the millimeter-wave radar, specifically based on the distance range of the target that the millimeter-wave radar can sense at the time of manufacture.

[0050] Furthermore, determining that the reliability of the verification process for the aforementioned transmission line does not meet the requirements specifically includes: Based on the verification processing data, the verification period when a monitoring target exists within the monitoring range of the millimeter-wave radar at the collaborative monitoring location is determined, and this period is taken as the valid verification period. Based on the collaborative monitoring location data during the valid verification period, it is determined whether the reliability of the verification processing of the verification transmission line meets the requirements.

[0051] It is understandable that if the millimeter-wave radar fails to detect the cooperative monitoring position of the monitored target during the valid verification period, then the reliability of the verification processing of the transmission line is determined to be unsatisfactory.

[0052] Additionally, it should be noted that if there is no cooperative monitoring location where the millimeter-wave radar does not sense the monitored target during a valid verification period, then the number of cooperative monitoring locations with valid verification periods is determined. If the proportion of the number of cooperative monitoring locations with valid verification periods to the total number of cooperative monitoring locations for the verified transmission line is greater than a preset cooperative location proportion threshold, then the reliability of the verification process for the verified transmission line is determined to be unsatisfactory.

[0053] It should be noted that when the reliability of the verification process of the transmission line meets the requirements, the monitoring and processing of external damage prevention will still be carried out according to the original collaborative monitoring method for different collaborative monitoring locations. Specifically, after the millimeter-wave radar senses the monitoring target, the monitoring device will be activated to monitor and warn of external damage prevention.

[0054] This implementation aims to evaluate the effectiveness of the previously performed "millimeter-wave radar verification process." By analyzing the data collected during the verification process, the reliability of the current external damage prevention monitoring system is determined. If reliable, the system reverts to its normal low-power operation mode; if unreliable, a higher-level alarm or maintenance procedure must be triggered. Part 1: Verification Process Reliability Assessment Process Step 1: Identify the "Valid Verification Period". Data Input: Collect the "Verification Processing Data" generated during the verification process. This mainly refers to the monitoring video or image analysis results within the "unit duration" (e.g., 10 minutes) when the monitoring device is forcibly activated. Time Period Determination: The system analyzes the images captured by the monitoring device within the verification period.

[0055] If video analysis (such as target recognition algorithms) confirms that there are indeed monitoring targets such as construction machinery, vehicles, and large equipment within the monitoring range of the millimeter-wave radar during that time period, then that time period is marked as a "valid verification period" for the collaborative monitoring location. In layman's terms, it is the moment when "when we actively go to check, we do find something right under the radar's nose".

[0056] Step 2: Evaluation based on "valid verification period". The system makes judgments according to the following logical flow based on the analysis results of the "valid verification period": When the system is judged to be "unreliable": that is, during the effective verification period, at least one millimeter-wave radar at one location failed to detect the actual monitoring target. This results in "missed detection", which is the most serious defect and directly proves that the radar is malfunctioning or the sensitivity setting is improper, making the system unreliable.

[0057] Scenario 2: Although there are no missed reports, the percentage of locations that have successfully undergone valid verification is too low (for example, if there are 20 monitoring points on a line, only 2 points have the opportunity to be verified, accounting for 10%). This means that we do not have enough data samples to demonstrate that the radar is functioning well along the entire line, and the system is in a state of "unknown or insufficiently verified reliability".

[0058] When the system is determined to be "reliability meets the requirements", the following conditions apply: no false negatives are found, and a sufficiently high proportion (exceeding the preset threshold) of monitoring points are confirmed to be working normally. This verification process provides sufficient evidence to show that the overall working status of the millimeter-wave radar on the current verification transmission line is good, the monitoring system is reliable, and the system automatically restores to the regular collaborative monitoring mode of this verification transmission line.

[0059] When the reliability of the verification process meets the requirements, the system switches back to normal mode. Its workflow is as follows: Normal Standby: Monitoring devices (such as high-definition PTZ cameras) are in low-power standby or off state by default to save energy and equipment lifespan. The millimeter-wave radar continues to operate online, scanning the monitoring range; Radar Trigger: When the millimeter-wave radar senses an object (especially a moving target with characteristics of engineering machinery) entering its preset monitoring range, it immediately generates a trigger signal; Device Wake-up and Linkage: After receiving the radar's trigger signal, the system immediately sends wake-up and commands to the monitoring device at the corresponding location.

[0060] Specifically: A verification process was performed on the "220kV Qinglong Line" (for example, mandatory verification was performed on locations P3 and P7 every 24 hours, and mandatory verification was performed on other locations every 72 hours). Analysis of the verification data: During a mandatory verification at location P5 within a week, the monitoring screen clearly captured an excavator in operation (valid verification period), but historical records show that the millimeter-wave radar at P5 did not report any sensing signals during that period.

[0061] If "Situation 1" is triggered and there is a missed report, it is determined that the reliability of the verification and processing of the "220kV Qinglong Line" does not meet the requirements.

[0062] Analysis of verification data: During the verification period, the system captured valid verification time periods (i.e., vehicles or machinery passing through) at four locations: P2, P4, P7, and P8. Records show that the millimeter-wave radar at these locations successfully sensed and triggered recording during the corresponding time periods. The percentage of valid verification locations is 4 / 10 = 40%. Preset threshold determination: Assuming the preset collaborative location percentage threshold is 30%, the determination is: no missed reports, and the percentage of valid verifications (40%) > the threshold (30%). Therefore, the reliability of the verification processing meets the requirements, and the system automatically switches the "220kV Qinglong Line" back to the regular collaborative monitoring mode. All monitoring devices return to low-power standby, only activated by the millimeter-wave radar.

[0063] Specifically, the method for determining the collaborative monitoring method for preventing external damage based on the millimeter-wave radar and monitoring device is as follows: Based on the verification data of the millimeter-wave radar, the verification period when a monitoring target exists within the monitoring range of the millimeter-wave radar at the collaborative monitoring location is determined and taken as the valid verification period. Based on the verification and processing methods for different collaborative monitoring locations, determine the monitoring duration for verification and processing at different collaborative monitoring locations; Based on the effective verification period within the most recent preset time period of different collaborative monitoring locations and the monitoring time used for verification processing, the collaborative monitoring method for preventing external damage to the verification transmission line based on the millimeter-wave radar and monitoring device is determined.

[0064] Specifically, the monitoring duration for verification processing at the collaborative monitoring location is determined by the monitoring device at the collaborative monitoring location being activated within a future unit of time when the millimeter-wave radar does not detect an object within the monitoring duration. It should be noted that the monitoring duration includes a first duration and a second duration.

[0065] Furthermore, the preset duration is determined based on the number of collaborative monitoring locations in the verification transmission line, wherein the more collaborative monitoring locations there are, the shorter the preset duration.

[0066] Specifically, when the number of collaborative monitoring locations with valid verification periods within the most recent preset time period does not meet the requirements, that is, when the number of collaborative monitoring locations with valid verification periods is less than the preset threshold for the number of collaborative locations, then in the next monitoring time period, such as within a week, all millimeter-wave radars and monitoring devices at all collaborative monitoring locations will simultaneously begin monitoring for external damage prevention, that is, to determine whether there are any monitoring targets near the power transmission line.

[0067] Additionally, it can be understood that when the number of collaborative monitoring locations with valid verification periods within the most recent preset time period meets the requirements, the verification matching factor of the transmission line is determined based on the monitoring duration of different collaborative monitoring locations used for verification processing and the number of collaborative monitoring locations with valid verification periods within the most recent preset time period. When the verification matching factor is less than the preset matching factor threshold, then in the next monitoring time period, such as within one week, all millimeter-wave radars and monitoring devices at all collaborative monitoring locations will simultaneously begin monitoring processing to prevent external damage, that is, to determine whether there is a monitoring target near the transmission line.

[0068] Additionally, it is understood that when the verification matching factor is not less than the preset matching factor threshold, if the collaborative monitoring location has a valid verification period within the most recent preset time period, the original collaborative monitoring method will still be used for external damage prevention monitoring. Specifically, after the millimeter-wave radar senses the monitoring target, the monitoring device will be activated to monitor and warn of external damage.

[0069] If the collaborative monitoring location does not have a valid verification period within the most recent preset time period, then in the next monitoring time cycle, such as within a week, the millimeter-wave radar and monitoring device at the collaborative monitoring location will simultaneously begin monitoring for external damage prevention, that is, to determine whether there is a monitoring target near the power transmission line.

[0070] The core idea of ​​this embodiment is to dynamically adjust the operating mode of the entire external damage prevention monitoring system using historical verification data. The system is no longer static, but can self-assess the reliability of its radar subsystem and automatically switch to a more conservative and reliable "dual-machine parallel" monitoring mode when the reliability is insufficient to ensure safety.

[0071] Step 1: Define key parameters Suppose we configure a verification transmission line named "110kV Yunshan Line". This line has 15 collaborative monitoring locations (P1-P15). Monitoring duration (T_monitor): First duration (T1): 24 hours (for high-frequency verification), Second duration (T2): 72 hours (for low-frequency verification), Unit duration (T_unit): The duration for which the monitoring device is forcibly activated during each verification, set to 15 minutes, Preset duration (T_preset): The time window for reviewing historical data. According to the rule (the more locations, the shorter the preset duration), we set it to 14 days.

[0072] Preset threshold for the number of collaborative locations (N_threshold): Set to 5. This means that at least 5 different locations must have been verified within the past 14 days. Preset threshold for the matching factor (F_threshold): Set to 0.7.

[0073] Step 2: Data Collection and Preliminary Analysis Over the past 14 days (T_preset), the system has implemented a location-based periodic verification strategy for the "110kV Yunshan Line". We are now collecting and analyzing the data: Verification processing method distribution: Positions P1, P2, P3, P4: Due to low historical activity, high-frequency verification is used (T1=24 hours); Positions P5-P15: Due to normal historical activity, low-frequency verification is used (T2=72 hours).

[0074] Valid verification period identification: The system checked all records of mandatory activation of monitoring devices in the past 14 days and found that only at locations P2, P5, P8, and P10 did the monitoring devices capture images of engineering vehicles or machinery within the 15-minute verification period (i.e., there is a "valid verification period"). Conclusion: The number of collaborative monitoring locations with valid verification periods = 4.

[0075] The first level of judgment (whether the overall sample is sufficient): If the number of valid verification locations (4) is less than the preset threshold (5), it means that too few valid samples have been collected, and it is impossible to prove that the radar system of the entire line is reliable. As a conservative safety measure, the system decided to keep all the monitoring devices at the 15 collaborative monitoring locations on the "110kV Yunshan Line" continuously turned on for the next week, working simultaneously with the millimeter-wave radar (i.e., "dual-machine parallel" mode). This is a high-energy-consuming and high-reliability monitoring mode to ensure absolute safety and collect more data.

[0076] If 6 locations have generated valid verifications in the past 14 days, the first-level judgment is passed, and the system proceeds to the second-level judgment. Numerator: For all locations, sum the values ​​of (T_preset - monitoring duration used for verification at that location) / T_preset. If a location is verified using T1, its contribution is (14-1) / 14 ≈ 0.93; if T2 is used, the contribution is (14-3) / 14 ≈ 0.79. Denominator: Total number of locations. Verification matching factor = Numerator / Denominator. The closer this factor is to 1, the more "lenient" the verification frequency is set (closer to T2), and the lower the sample collection efficiency may be; the smaller the factor, the more "compact" the verification frequency is set (closer to T1), and the higher the sample collection efficiency. Assuming the calculated matching factor = 0.65 < 0.7, the system will still decide to implement a "dual-machine parallel" mode for the entire line in the following week because the matching factor is not met.

[0077] If the number of valid verification locations is ≥5 and the calculated matching factor is ≥0.7, the system proceeds to the third level of judgment. The system will independently assess each location on the line: For locations P2, P5, P8, and P10: Because they have valid verification periods within the past 14 days (i.e., the radar successfully acquired the target), it proves they have been operating normally recently. Therefore, these locations will revert to "radar-triggered" mode (i.e., regular collaborative monitoring mode) the following week. For other locations (such as P1, P3, P4, P6, P7, P9, and P11-P15): Because they do not have valid verification periods within the past 14 days, the system cannot confirm whether their radars are functioning normally. Therefore, these locations will switch to "dual-machine parallel" mode the following week.

[0078] This embodiment demonstrates a dynamic, adaptive intelligent monitoring system. By analyzing its own verification history, it achieves three possible decision outputs: Global Conservative: The entire line switches to dual-machine parallel operation (when overall verification data is insufficient or inefficient); Local Conservative: Some unverified locations switch to dual-machine parallel operation, while verified locations revert to energy-saving mode; Global High Efficiency: All locations revert to radar triggering mode. This method perfectly balances the absolute reliability of external power grid damage protection with the energy and economic efficiency of the monitoring system operation.

[0079] Example 2 Secondly, the present invention provides a three-dimensional monitoring system for preventing external damage to transmission lines, employing the aforementioned three-dimensional monitoring method for preventing external damage to transmission lines, specifically including: The verification processing strategy determination module is responsible for determining the verification processing method for millimeter-wave radar in the verification transmission line; The verification result analysis module is responsible for determining whether the reliability of the verification process for the transmission line meets the requirements based on the verification processing data. The collaborative monitoring module is responsible for determining the collaborative monitoring method for preventing external damage based on millimeter-wave radar and monitoring devices.

[0080] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, devices, and non-volatile computer storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0081] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0082] The above description is merely one or more embodiments of this specification and is not intended to limit this specification. Various modifications and variations can be made to the one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of this specification.

Claims

1. A method for three-dimensional monitoring of external damage to a power transmission line, characterized by, Specifically comprising: The setting data of the millimeter wave radar of the power transmission line is used to determine the power transmission line that needs to be subjected to the verification processing of the millimeter wave radar, and the power transmission line is taken as a verification power transmission line. The switching data between the millimeter wave radar and the monitoring device in the verification power transmission line is used to determine the verification processing method of the millimeter wave radar in the verification power transmission line; The verification processing of the millimeter wave radar in the verification power transmission line is performed based on the verification processing method to obtain a verification processing result. When the verification processing result determines that there is a monitoring target in the monitoring range of the millimeter wave radar, verification processing data is determined. When the verification processing reliability of the verification power transmission line does not meet the requirements based on the verification processing data, the cooperative monitoring method based on the millimeter wave radar and the monitoring device for external damage prevention is determined based on the verification processing data of different millimeter wave radars.

2. The method of claim 1, wherein the method comprises: The millimeter wave radar is a 4D millimeter wave radar.

3. The method of claim 1, wherein the method comprises: The setting data of the millimeter wave radar includes the position of the power transmission line tower provided with the millimeter wave radar.

4. The method of claim 1, wherein the method comprises: The method for determining the verification power transmission line is as follows: The setting data of the millimeter wave radar of the power transmission line is used to determine the position of the power transmission line that uses the millimeter wave radar and the monitoring device for cooperative monitoring for external damage prevention, and the position is taken as a cooperative monitoring position. The distribution data of the cooperative monitoring position is used to determine the length of the power transmission line that uses the cooperative monitoring position for cooperative monitoring for external damage prevention, and the length is taken as a cooperative monitoring length. Based on the cooperative monitoring length, it is determined whether the power transmission line belongs to the verification power transmission line.

5. The method of claim 4, wherein the method comprises: When the cooperative monitoring length of the power transmission line is greater than a preset monitoring length threshold, the power transmission line is determined as the verification power transmission line.

6. The method of claim 1, wherein the method comprises: The method for determining the verification processing method of the millimeter wave radar in the verification power transmission line is as follows: The switching data between the millimeter wave radar and the monitoring device in the verification power transmission line is used to determine the time when the millimeter wave radar senses an object in the cooperative monitoring position of the verification power transmission line, and the monitoring device is awakened for cooperative monitoring, and the time is taken as a switching time. The switching interval length between the switching time and the current time of the cooperative monitoring position is determined at the switching time of the cooperative monitoring position, and the switching interval length is taken as a switching interval length. Based on the switching interval lengths of different cooperative monitoring positions, the verification processing method of the millimeter wave radar in the verification power transmission line is determined.

7. The method of claim 1, wherein the method comprises: The verification processing data when there is a monitoring target in the monitoring range of the millimeter wave radar includes the verification time period when there is a monitoring target in the monitoring range of the millimeter wave radar and the identification result of the millimeter wave radar in the verification time period.

8. The method of claim 7, wherein the method comprises: The monitoring range of the millimeter wave radar is determined according to the equipment parameters of the millimeter wave radar, specifically according to the distance interval that the millimeter wave radar can sense a target when it is shipped.

9. The method of claim 1, wherein the method comprises: The method for determining the cooperative monitoring method based on the millimeter wave radar and the monitoring device for external damage prevention is as follows: Based on the verification processing data of the millimeter wave radar, the verification time period when there is a monitoring target in the monitoring range of the millimeter wave radar of the cooperative monitoring position is determined, and the verification time period is taken as an effective verification time period. According to the verification processing method of different cooperative monitoring positions, the monitoring time length of different cooperative monitoring positions used for verification processing is determined; According to the effective verification period of different cooperative monitoring positions within the nearest preset time length and the monitoring time length used for verification processing, the verification power transmission line determines the cooperative monitoring method of the millimeter wave radar and the monitoring device for preventing external damage.

10. A three-dimensional monitoring system for external damage of a power transmission line, which adopts the three-dimensional monitoring method for external damage of a power transmission line according to any one of claims 1 to 9, characterized in that, Specifically includes: The verification processing strategy determination module is responsible for determining the verification processing method of the millimeter wave radar in the verification power transmission line; The verification result analysis module is responsible for determining whether the verification processing reliability of the verification power transmission line meets the requirements based on the verification processing data; The cooperative monitoring module is responsible for determining the cooperative monitoring method of the millimeter wave radar and the monitoring device for preventing external damage.

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