Overhead transmission line external damage prevention edge intelligent detection device and method based on laser radar video fusion

Abstract

The invention discloses an overhead transmission line external damage prevention edge intelligent detection device and method based on laser radar video fusion. The device comprises an electric holder, an edge intelligent terminal and an antenna assembly. The left side and the right side of the electric holder are connected with a thermal imaging camera and a visual camera respectively, and multi-line laser radars are fixed to the bottoms of the thermal imaging camera and the visual camera through metal supports. The top end of the electric holder is connected with the edge intelligent terminal, a hoisting support is installed at the top end of the edge intelligent terminal, an antenna fixing plate is installed at one end of the hoisting support, the antenna assembly is fixedly installed on the antenna fixing plate, and the antenna assembly, the thermal imaging camera, the visual camera and the multi-line laser radar are all in communication connection with the edge intelligent terminal. The overhead transmission line can be monitored in real time, accidents that the transmission line is damaged by external force can be prevented and reduced, related data support can be provided in time, fault positioning can be completed as soon as possible, fault time is shortened, and influences caused by power failure are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission line monitoring, in particular to an overhead power transmission line external damage prevention edge intelligent detection device and method based on laser radar video fusion. BACKGROUND

[0002] As a basic element of industrial and agricultural production, the stable supply and efficient use of electricity is of great importance to the healthy operation and sustainable development of the national economy. In the process of power transmission, long-distance power transmission is usually in the form of overhead power transmission lines. The higher the voltage level of the overhead power transmission line, the greater the energy it transmits, and the greater the impact on the stable operation of the national economy. However, it often passes through complex environments such as mountains, deserts, roads and bridges, and is subject to external factors such as natural disasters and human construction, which can cause power failures and reduce the reliability and stability of power supply. Therefore, preventing external damage to overhead power lines is of great importance.

[0003] At present, the overhead power transmission line inspection in China is gradually transitioning from manual inspection to unmanned aerial vehicles and fixed-point camera inspection. However, due to factors such as weather conditions and environmental factors, the inspection quality and on-site rate cannot be guaranteed, and the automatic device has a high false alarm rate, which cannot timely detect and warn, thereby causing power failure. Therefore, a scientific, timely and reliable overhead power transmission line external damage prevention edge intelligent detection device and method is needed to monitor the overhead power transmission line in real time. SUMMARY

[0004] Therefore, the purpose of the present application is to provide an overhead power transmission line external damage prevention edge intelligent detection device and method based on laser radar video fusion, which can monitor the overhead power transmission line in real time, prevent and reduce the occurrence of external damage to the power transmission line, and provide relevant data support in a timely manner to quickly complete fault location, shorten the fault time and reduce the impact of power failure.

[0005] The technical problem of the present application is solved by the following technical solution:

[0006] An overhead power transmission line external damage prevention edge intelligent detection device based on laser radar video fusion, comprising: an electric pan-tilt, an edge intelligent terminal and an antenna assembly; the electric pan-tilt has a thermal imaging camera and a visible camera connected to the left and right sides respectively, and a multi-line laser radar is fixed to the bottom of the thermal imaging camera and the visible camera through a metal support; the top of the electric pan-tilt is connected to the edge intelligent terminal, a hoisting support is installed at the top of the edge intelligent terminal, an antenna fixing plate is installed at one end of the hoisting support, the antenna assembly is fixedly installed on the antenna fixing plate, and the antenna assembly, the thermal imaging camera, the visible camera and the multi-line laser radar are all in communication connection with the edge intelligent terminal.

[0007] Further, the electric pan-tilt head comprises an electric tilting mechanism and an electric horizontal rotating mechanism, the electric horizontal rotating mechanism is located above the electric tilting mechanism, and the electric tilting mechanism and the electric horizontal rotating mechanism are both driven by closed-loop stepping motors and are transmitted by worm gear reduction mechanisms.

[0008] Further, the antenna assembly comprises a Beidou positioning antenna, a MESH self-organizing network antenna, a LoRA antenna and a 4G antenna, the Beidou positioning antenna, the MESH self-organizing network antenna, the LoRA antenna and the 4G antenna are fixed together through a U-shaped buckle and an antenna fixing plate; the Beidou positioning antenna, the MESH self-organizing network antenna, the LoRA antenna and the 4G antenna are connected through outdoor antenna feed lines and waterproof antenna bases respectively.

[0009] Further, the edge intelligent terminal comprises a mainboard module, a wireless communication module, a passive heat dissipation shell and corresponding waterproof antenna bases and a power supply aviation socket; the wireless communication module is fixed on the mainboard module through an electrical connector and completes information interaction with the mainboard module, the waterproof antenna bases are fixed on the side of the passive heat dissipation shell, the tail lines of the waterproof antenna bases are connected with the corresponding interfaces of the wireless communication module to complete wireless signal delivery, the power supply aviation socket is fixed on the other side of the passive heat dissipation shell, the power supply aviation socket completes power supply and battery BMS communication management functions through an aviation plug connection line and a photovoltaic / lithium battery module, and the mainboard module and the wireless communication module are fixed together through bolts and the passive heat dissipation shell.

[0010] Further, the wireless communication module comprises a Beidou positioning module, a LoRA module, a 4G module and a MESH self-organizing network module; the Beidou positioning module is mainly used for transmitting the positioning information obtained after the intelligent detection device is installed to the platform according to business requirements; the LoRA module is mainly used for scheduling signal transmission in self-organizing network, and related control wake-up signals are completed by the LoRA module when the terminal does not need to be directly connected with the platform through the 4G network or must be connected with the main node device through the MESH self-organizing network due to the absence of 4G network on site; the 4G module is mainly used for realizing various data interactions between the intelligent detection device and the platform; and the MESH self-organizing network module is mainly used for data interaction between the main node device and the sub-node device.

[0011] Further, one end of the hoisting support is connected with the passive heat dissipation shell through bolts and nuts, and a heat shield is fixed on the passive heat dissipation shell through bolts on the side.

[0012] Further, the back of the vertical beam of the hoisting support is connected with a hoisting support clamping plate through a bolt and a nut, the hoisting support and the hoisting support clamping plate clamp the cross arm angle iron of the power transmission tower in the middle, and locking is completed through the bolt; the bolt can be adjusted in position in the slot hole of the hoisting support and the hoisting support clamping plate to adapt to cross arm angle irons of different specifications.

[0013] An overhead transmission line anti-external damage edge intelligent detection method based on laser radar video fusion, comprising the following steps:

[0014] First, the intelligent detection device is powered on for self-checking, when each module is initialized normally and the electric pan-tilt head operates normally, the device starts to receive new tasks and parameters issued by the platform, confirms and processes them, and then cuts off the power supply of the corresponding modules of the thermal imaging camera, the multi-line laser radar and the wireless communication module, only maintaining the power supply of the visible camera and its mainboard module, the visible camera transmits video data to the mainboard module in real time through the network interface, and the artificial intelligence algorithm of the mainboard module calculates whether there is a suspicious target in real time.

[0015] When a suspicious target is found, the mainboard module supplies power to the multi-line laser radar, the multi-line laser radar enters the working state and transmits data to the mainboard module through the network interface, the artificial intelligence algorithm of the mainboard module calibrates the data and controls the electric pan-tilt head to rotate so that the suspicious target is in the center of the field of view of the visible camera and the multi-line laser radar, so as to improve the accuracy of the original data; when the suspicious target is aligned, the mainboard module supplies power to the thermal imaging camera, the thermal imaging camera enters the working state and transmits data to the mainboard module through the network interface, and the artificial intelligence algorithm of the mainboard module fuses and calculates the data returned by the visible camera, the multi-line laser radar and the thermal imaging camera.

[0016] After the calculation result is obtained, it is judged whether it belongs to early warning information, if it is false information, the mainboard module controls the electric pan-tilt head to reset, after resetting, the power supply of the multi-line laser radar and the thermal imaging camera is turned off, and the whole intelligent detection device returns to the state of real-time monitoring by the visible camera; when the result is a real early warning, the mainboard module stores the related early warning information to the local and powers on the corresponding transmission module of the wireless communication module, the transmission module in the working state transmits the early warning information to the platform through the master node device or directly, and waits for the signal of the platform completing the related processing;

[0017] When the platform receives the early warning information and the response processing is completed, the mainboard module controls the electric pan-tilt head to reset, and after resetting, the power supply of the multi-line laser radar and the thermal imaging camera is turned off, and the whole intelligent detection device returns to the state of real-time monitoring by the visible camera; when the platform has no response, the related early warning information is sent to the platform again after waiting for a random time, at this time, the related modules are not powered off and hibernate, so as to facilitate the remote control and communication of the platform, and facilitate the manual review and confirmation of the platform side; when the platform has no response after multiple interactions, in order to ensure the power endurance of the early warning device, the mainboard module marks the non-response of the early warning information and controls the electric pan-tilt head to reset, and after resetting, the power supply of the multi-line laser radar and the thermal imaging camera is turned off, and the whole intelligent detection device returns to the state of real-time monitoring by the visible camera;

[0018] The early warning sub-node device communicates with other sub-node devices in a chain through the LoRA module, activates and deactivates the associated MESH self-organizing network module to ensure the smoothness of the data transmission channel, and completes the interaction of the early warning related data.

[0019] Compared with the existing technology, the beneficial effects of the present application are:

[0020] The overhead transmission line external damage edge intelligent detection device and method based on laser radar video fusion of the present application adopts the visible camera normal monitoring and multi-line laser radar and thermal imaging camera data fusion processing mode to early warn the external damage risk of the overhead transmission line. A plurality of devices are configured as a master node and a sub-node, and perform MESH self-organizing network in a long link mode, the data of the sub-node is aggregated to the master node device through the MESH self-organizing network, and the data interaction is performed by the 4G module of the master node and the platform.

[0021] The device adopts three types of monitoring means to detect the abnormal conditions of the detected area through multi-dimensional detection and fusion processing, reduces the problem of high false alarm rate of a single monitoring means, processes the data at the equipment end, only feeds back the processed result to the platform, greatly reduces the data transmission pressure, improves the real-time performance of the early warning, aggregates the data of a plurality of monitoring devices to the master node, uniformly transmits the data to the platform by the master node, reduces the 4G communication cost, and reduces the cost of online operation and maintenance of the equipment; the terminal optimizes and manages each power module efficiently through intelligent power management, reduces the power consumption of the whole machine, and prolongs the service life of the electronic equipment; the terminal is flexibly scheduled through the LoRA module, so that the operation and maintenance is more simple and convenient, the operation and maintenance cost is reduced, and the operation and maintenance efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0023] Figure 2 It is a structure block diagram of the edge intelligent terminal of the present application;

[0024] Figure 3 For the method flowchart of the present application.

[0025] Wherein, in the figure:

[0026] 1, electric tilt mechanism; 2, thermal imaging camera; 3, multi-line laser radar; 4, visible camera; 5, electric horizontal rotation mechanism; 6, edge intelligent terminal; 7, heat shield; 8, hoisting support; 9, hoisting support clamping plate; 10, antenna fixing plate; 11, Beidou positioning antenna; 12, MESH self-organizing network antenna; 13, LoRA antenna; 14, 4G antenna. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0028] Reference Figure 1 With Figure 2 The present application provides an overhead transmission line anti-external damage edge intelligent detection device based on laser radar video fusion, comprising: an electric pan-tilt head, an edge intelligent terminal 6 and an antenna assembly; the electric pan-tilt head is connected with a thermal imaging camera 2 and a visible camera 4 on the left and right sides respectively, and a multi-line laser radar 3 is fixed at the bottom of the thermal imaging camera 2 and the visible camera 4 through a metal support, so that the relative position of the multi-line laser radar 3 and the two cameras is fixed and unchanged, ensuring the accuracy and stability of subsequent software data calibration and processing; the top of the electric pan-tilt head is connected with the edge intelligent terminal 6, the edge intelligent terminal 6 is installed with a hoisting support 8 at the top, one end of the hoisting support 8 is installed with an antenna fixing plate 10, and the antenna assembly is fixedly installed on the antenna fixing plate 10, and the antenna assembly, the thermal imaging camera 2, the visible camera 4 and the multi-line laser radar 3 are in communication connection with the edge intelligent terminal 6. The present application adopts multi-dimensional data fusion of the multi-line laser radar 3, the visible camera 4 and the thermal imaging camera 2, and quickly and accurately obtains results on the edge intelligent terminal 6 through artificial intelligence algorithm, and then transmits the results, videos and pictures to the platform for corresponding processing according to different early warning requirements.

[0029] The electric pan-tilt head comprises an electric tilting mechanism 1 and an electric horizontal rotating mechanism 5, the electric horizontal rotating mechanism 5 is located above the electric tilting mechanism 1, and the electric tilting mechanism 1 and the electric horizontal rotating mechanism 5 are both driven by a closed-loop stepping motor, transmission is realized by using a worm gear deceleration mechanism, and displacement of the mechanism caused by external force in a power-off state is prevented.

[0030] The antenna assembly comprises a Beidou positioning antenna 11, a MESH self-organizing network antenna 12, a LoRA antenna 13 and a 4G antenna 14, the Beidou positioning antenna 11, the MESH self-organizing network antenna 12, the LoRA antenna 13 and the 4G antenna 14 are fixed together through a U-shaped buckle and an antenna fixing plate 10; the Beidou positioning antenna 11, the MESH self-organizing network antenna 12, the LoRA antenna 13 and the 4G antenna 14 are connected through outdoor antenna feed lines and waterproof antenna bases respectively.

[0031] The edge intelligent terminal 6 comprises a mainboard module, a wireless communication module, a passive heat dissipation shell and corresponding waterproof antenna bases and a power supply aviation socket; the mainboard module and the wireless communication module use domestic software and hardware, so as to ensure that the edge intelligent terminal 6 is self-controllable. The wireless communication module is fixed on the mainboard module through an electrical connector and completes information interaction with the mainboard module, the waterproof antenna base is fixed on the side of the passive heat dissipation shell, the tail line of the waterproof antenna base is connected with the corresponding interface of the wireless communication module, so as to complete wireless signal sending; the power supply aviation socket is fixed on the other side of the passive heat dissipation shell, the power supply aviation socket completes power supply and battery BMS communication management functions through an aviation plug connection line and a photovoltaic / lithium battery module; the mainboard module and the wireless communication module are fixed together through bolts and the passive heat dissipation shell, large heat-emitting electronic components are heat-diffused through the heat dissipation fins of the passive heat dissipation shell, so as to ensure that the electronic components do not overheat during operation and avoid faults.

[0032] The mainboard module has a power management function, the interface thereof has functions such as surge protection, short circuit protection, anti-inrush, power consumption detection and the like, and can cut off power supply for electrical connection equipment in different periods and different states, so as to realize functions such as low-power operation, power-off restart of dead equipment and power consumption statistical self-diagnosis.

[0033] The mainboard module has the functions of network communication, serial port, and U port communication. The data of the visual camera 4, the thermal imaging camera 2, and the multi-line laser radar 3 are all exchanged through the network interface and the mainboard module. After the mainboard module processes the multi-modal unstructured data by using an artificial intelligence algorithm, the result is transmitted to the master node or the platform in a wireless transmission mode through the 4G / MESH ad hoc network module of the wireless communication module. The platform can also send relevant control / transmission requests to the mainboard module through the wireless communication module to achieve remote control of the field equipment, transmission of real-time video, and other requirements. The mainboard module can be configured to only transmit the calculation result or to package and transmit the calculation result, original video, time, and other multi-dimensional information to the platform. The mainboard module realizes the pitch and rotation control of the equipment by exchanging data with the LoRA module, the Beidou positioning module, the electric pan-tilt head, and the photovoltaic / lithium battery module in the wireless communication module through the serial port and the U port, and by remotely controlling the electric pan-tilt head by using the artificial intelligence algorithm / platform.

[0034] The intelligent detection device can work in a master node mode and a slave node mode. To ensure low-power operation of the device, prolong the service life of electronic components, and reduce the capacity and weight of the photovoltaic / lithium battery module, the wireless communication module of the slave node is powered off except for the LoRA module in the non-communication state. The device in the slave node mode exchanges data with the master node through the MESH ad hoc network module, and special control information such as sleep and wake-up is exchanged between the LoRA module and the master node. The LoRA module of the device in the master node mode works in a long working mode. The 4G module and the MESH module can select the wake-up and sleep mode or the long working mode according to the requirements, and exchange data with the platform through the 4G module. These two working modes not only reduce the number of 4G cards required and the operating cost, but also enable the device to be used normally in an environment without 4G network coverage, and better adapt to the actual situation of overhead power transmission lines.

[0035] The wireless communication module includes a Beidou positioning module, a LoRA module, a 4G module and a MESH self-organizing network module; the Beidou positioning module is mainly used for transmitting the positioning information obtained after the intelligent detection device is installed to the platform according to the business requirements; the LoRA module is mainly used for transmitting the scheduling signal when the self-organizing network is used, and the related control wake-up signal is completed by the LoRA module when the terminal does not need to be directly connected with the platform through the 4G network or the data needs to be transmitted to the master node device through the MESH self-organizing network due to the absence of the 4G network on site, and the LoRA module has the advantages of lower power consumption and no network service fee compared with the 4G network; the 4G module is mainly used for realizing the data interaction between the intelligent detection device and the platform, and the 4G module must work normally under the coverage of the 4G network, and is generally used for the data interaction between the master node and the platform in order to save the operation cost; the MESH self-organizing network module is mainly used for the data interaction between the master node device and the sub-node device, and is used for solving the use in the area without the 4G signal coverage, and the MESH self-organizing network communication is also adopted for the data interaction between the sub-node and the master node in the area with the 4G signal coverage in order to save the operation cost.

[0036] Further optimization technical scheme, one end of the hoisting support 8 is connected with the passive heat dissipation shell through bolts and nuts, and a heat shield 7 is fixed on the passive heat dissipation shell through bolts on the side surface, and the heat shield 7 mainly prevents the direct sunlight from causing the internal electronic elements to fail or malfunction due to high temperature.

[0037] Further optimization technical scheme, the vertical beam of the hoisting support 8 is connected with the hoisting support clamping plate 9 through bolts and nuts, the hoisting support 8 and the hoisting support clamping plate 9 clamp the cross arm angle iron of the power transmission tower in the middle, and the locking is completed through bolts; the bolts can be adjusted in position in the slot holes of the hoisting support 8 and the hoisting support clamping plate 9 to adapt to cross arm angle irons of different specifications, and this non-destructive installation mode can stably and reliably connect the anti-external damage device with the power transmission tower without damaging the rust-proof material of the cross arm angle iron.

[0038] Reference Figure 3 The application also provides an overhead power transmission line anti-external damage edge intelligent detection method based on laser radar video fusion, which comprises the following steps:

[0039] First, the intelligent detection device is powered on and self-checked, after each module is normally initialized and the electric pan-tilt head operates normally, the intelligent detection device starts to receive new tasks and parameters issued by the platform, confirms and processes them, and then cuts off the power supply of the corresponding modules of the thermal imaging camera, the multi-line laser radar and the wireless communication module, only maintaining the power supply of the visible camera and its mainboard module, and the visible camera transmits video data to the mainboard module through a network interface in real time, and the artificial intelligence algorithm of the mainboard module calculates whether there is a suspicious target in real time.

[0040] When a suspicious target is found, the mainboard module powers the multi-line laser radar, the multi-line laser radar enters the working state and transmits data to the mainboard module through the network interface, and the artificial intelligence algorithm of the mainboard module calibrates the data and controls the electric pan-tilt to rotate so that the suspicious target is in the center of the field of view of the visible camera and the multi-line laser radar, so as to improve the accuracy of the original data; when the suspicious target is aligned, the mainboard module powers the thermal imaging camera, the thermal imaging camera enters the working state and transmits data to the mainboard module through the network interface, and the artificial intelligence algorithm of the mainboard module fuses and calculates the data returned by the visible camera, the multi-line laser radar and the thermal imaging camera;

[0041] After the calculation result is obtained, it is judged whether it belongs to early warning information, if it is false information, the mainboard module controls the electric pan-tilt to reset, and after resetting, the power supply of the multi-line laser radar and the thermal imaging camera is turned off, and the whole intelligent detection device returns to the state of real-time monitoring by the visible camera; when the result is a real early warning, the mainboard module stores the related early warning information to the local and powers the corresponding transmission module of the wireless communication module, and the transmission module in the working state transmits the early warning information to the platform through the master node device or directly, and waits for the signal of the platform completing the related processing;

[0042] When the platform receives the early warning information and responds after processing, the mainboard module controls the electric pan-tilt to reset, and after resetting, the power supply of the multi-line laser radar and the thermal imaging camera is turned off, and the whole intelligent detection device returns to the state of real-time monitoring by the visible camera; when the platform has no response, after waiting for a random time, the related early warning information is sent to the platform again, at this time, the related modules are not powered off and sleep, so as to facilitate the remote control and communication of the platform and facilitate the manual review and confirmation of the platform side; when the platform is not responded after multiple interactions, in order to ensure the power endurance of the early warning device, the mainboard module marks the early warning information as not responded and controls the electric pan-tilt to reset, and after resetting, the power supply of the multi-line laser radar and the thermal imaging camera is turned off, and the whole intelligent detection device returns to the state of real-time monitoring by the visible camera;

[0043] The sub-node device of the early warning communicates with other sub-node devices in a chain through the LoRA module, activates and deactivates the associated MESH self-organizing network module to ensure smooth data transmission channel, and completes the interaction of early warning related data. Since only the associated modules of the related associated devices are started and stopped, and the whole device is not activated, the endurance life of other devices is greatly prolonged.

[0044] The application discloses an overhead transmission line external damage edge intelligent detection device and method based on laser radar video fusion, which adopts visual camera normal monitoring, multi-line laser radar and thermal imaging camera data fusion processing mode to early warn external damage risks of the overhead transmission line.

[0045] The device adopts three types of monitoring means to detect abnormal conditions of the detected area through multi-dimensional detection and fusion processing, reduces the problem of high false alarm rate of a single monitoring means, processes data at the equipment end, only feeds back the processed result to the platform, greatly reduces the data transmission pressure, improves the real-time performance of the early warning, and reduces the 4G communication cost and the online operation and maintenance cost of the equipment.

[0046] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the application, and not to limit them; although the application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application.

Claims

1. An overhead power transmission line anti-external damage edge intelligent detection device based on laser radar video fusion, characterized in that, The utility model relates to a kind of intelligent detection device, including: motorized head, edge intelligent terminal and antenna assembly;The motorized head left and right sides are respectively connected with thermal imaging camera and visual camera, and the bottom of thermal imaging camera and visual camera is fixed with multi-line laser radar by metal support;The top of motorized head is connected with edge intelligent terminal, and hoisting support is installed on the top of edge intelligent terminal, one end of hoisting support is installed with antenna fixing plate, and antenna assembly is fixedly installed on antenna fixing plate, and antenna assembly, thermal imaging camera, visual camera and multi-line laser radar are all connected with edge intelligent terminal. The motorized head includes motorized pitching mechanism and motorized horizontal rotating mechanism, the motorized horizontal rotating mechanism is located above the motorized pitching mechanism, and the motorized pitching mechanism and the motorized horizontal rotating mechanism are both driven by closed-loop stepping motor, and transmission is realized by worm and gear reduction mechanism. 2.The overhead transmission line anti-external damage edge intelligent detection device based on laser radar video fusion of claim 1, characterized in that, The antenna assembly includes Beidou positioning antenna, MESH self-organizing network antenna, LoRA antenna and 4G antenna, the Beidou positioning antenna, MESH self-organizing network antenna, LoRA antenna and 4G antenna are all fixed together by U-shaped buckle and antenna fixing plate;The Beidou positioning antenna, MESH self-organizing network antenna, LoRA antenna and 4G antenna are connected by outdoor antenna feeder and waterproof antenna seat respectively. 3.The overhead transmission line anti-external damage edge intelligent detection device based on laser radar video fusion of claim 1, characterized in that, The edge intelligent terminal includes mainboard module, wireless communication module, passive heat dissipation shell and corresponding waterproof antenna seat and power supply aviation socket;The wireless communication module is fixed on the mainboard module by electrical connector and completes information interaction with the mainboard module, the waterproof antenna seat is fixed on the side of the passive heat dissipation shell, the tail line of the waterproof antenna seat is connected with the corresponding interface of the wireless communication module to complete wireless signal delivery;The power supply aviation socket is fixed on the other side of the passive heat dissipation shell, and the power supply aviation socket completes power supply and battery BMS communication management function through aviation plug connection line and photovoltaic / lithium battery module;The mainboard module and the wireless communication module are fixed together with the passive heat dissipation shell by bolts.

4. The overhead transmission line anti-external damage edge intelligent detection device based on laser radar video fusion according to claim 3, characterized in that, The wireless communication module includes Beidou positioning module, LoRA module, 4G module and MESH self-organizing network module;The Beidou positioning module is mainly used for transmitting positioning information obtained by the intelligent detection device to the platform after installation according to business requirements;The LoRA module is mainly used for scheduling signal transmission in self-organizing network, and related control wake-up signals are completed by the LoRA module when the terminal does not need to be connected with the platform directly through 4G network or must be connected with the main node device through MESH self-organizing network due to no 4G network on site;The 4G module is mainly used for realizing various data interaction between the intelligent detection device and the platform;The MESH self-organizing network module is mainly used for data interaction between the main node device and the sub-node device.

5. The overhead transmission line anti-external damage edge intelligent detection device based on laser radar video fusion according to claim 4, characterized in that, One end of the hoisting support is connected with the passive heat dissipation shell by bolt and nut, and the passive heat dissipation shell is fixed with heat shield on the top through the bolt on the side. 6.The overhead transmission line anti-external damage edge intelligent detection device based on laser radar video fusion of claim 1, characterized in that, ​ 7. The overhead transmission line anti-external damage edge intelligent detection device based on laser radar video fusion according to claim 6, characterized in that, The back of the vertical beam of the hoisting support is connected with a hoisting support clamping plate through a bolt and nut, the hoisting support and the hoisting support clamping plate clamp the cross arm angle iron of the power transmission tower in the middle, and locking is completed through the bolt; the bolt can be adjusted in position in the slot hole of the hoisting support and the hoisting support clamping plate to adapt to cross arm angle irons of different specifications.

8. An overhead power transmission line anti-external damage edge intelligent detection method based on laser radar video fusion, characterized in that, It comprises the following steps: First, the intelligent detection device is powered on for self-checking, and after each module is initialized normally and the motorized gimbal operates normally, the device starts to receive new tasks and parameters issued by the platform, confirms and processes them, and then cuts off the power supply of the corresponding modules of the thermal imaging camera, the multi-line laser radar and the wireless communication module, only maintaining the power supply of the visual camera and its mainboard module, and the visual camera transmits video data to the mainboard module in real time through the network interface, and the artificial intelligence algorithm of the mainboard module calculates whether there is a suspicious target in real time; When a suspicious target is found, the mainboard module supplies power to the multi-line laser radar, the multi-line laser radar enters the working state and transmits data to the mainboard module through the network interface, and the artificial intelligence algorithm of the mainboard module calibrates the data and controls the motorized gimbal to rotate so that the suspicious target is in the center of the field of view of the visual camera and the multi-line laser radar, so as to improve the accuracy of the original data; after aligning the suspicious target, the mainboard module supplies power to the thermal imaging camera, the thermal imaging camera enters the working state and transmits data to the mainboard module through the network interface, and the artificial intelligence algorithm of the mainboard module fuses and calculates the data returned by the visual camera, the multi-line laser radar and the thermal imaging camera; After the calculation result is obtained, it is judged whether it belongs to early warning information, if it is false information, the mainboard module controls the motorized gimbal to reset, and after resetting, the power supply of the multi-line laser radar and the thermal imaging camera is turned off, and the whole intelligent detection device returns to the state of real-time monitoring by the visual camera; When the result is a real early warning, the mainboard module stores the related early warning information to the local and powers on the corresponding transmission module of the wireless communication module, the transmission module in the working state transmits the early warning information to the platform through the master node device or directly, and waits for the signal of the platform completing the related processing; When the platform receives the early warning information and responds to complete the processing, the mainboard module controls the motorized gimbal to reset, and after resetting, the power supply of the multi-line laser radar and the thermal imaging camera is turned off, and the whole intelligent detection device returns to the state of real-time monitoring by the visual camera; when the platform has no response, after waiting for a random time, the related early warning information is sent to the platform again, at this time, the related modules are not powered off and sleep, so as to facilitate the remote control and communication of the platform, and facilitate the manual review and confirmation of the platform side; when the platform is not responded after multiple interactions, in order to ensure the power endurance of the early warning device, the mainboard module marks the early warning information as not responded and controls the motorized gimbal to reset, and after resetting, the power supply of the multi-line laser radar and the thermal imaging camera is turned off, and the whole intelligent detection device returns to the state of real-time monitoring by the visual camera; The sub-node device of the early warning communicates with other sub-node devices in a chain through the LoRA module, activates and deactivates the associated MESH ad hoc network module to ensure smooth data transmission channel, and completes the interaction of early warning related data.

Images