A multi-band adaptive weather monitoring method for power grid transmission lines

Abstract

The application relates to the technical field of meteorological monitoring and discloses a multi-waveband adaptive meteorological monitoring method for power grid transmission lines, which comprises the following steps: acquiring multi-modal data of a target airspace along a power grid transmission line, and generating an environment judgment result based on the multi-modal data; acquiring laser detection data and microwave detection data, switching a meteorological monitoring main channel in real time in combination with the environment judgment result, and acquiring heterogeneous meteorological data in real time based on the meteorological monitoring main channel; and performing space-time registration and fusion on the heterogeneous meteorological data to obtain a meteorological monitoring result. The application integrates a laser detection and microwave detection dual-waveband detection system, fully utilizes the high spatial resolution and high detection sensitivity of laser under clear sky conditions, simultaneously utilizes the strong electromagnetic penetration and weak attenuation characteristics of microwave under meteorological conditions such as precipitation and thick fog, realizes all-weather high-precision continuous collaborative observation, and improves the detection efficiency and the intelligent level of decision-making by introducing a multi-modal visual perception and adaptive switching mechanism.

Description

Technical Field

[0001] This invention relates to the field of meteorological monitoring technology, specifically to a multi-band adaptive meteorological radar and monitoring method for power grid transmission lines. Background Technology

[0002] As a crucial channel for power transmission, the safe operation of transmission lines directly impacts the stability and reliability of the power system. Transmission lines are widely distributed in the field, with long, narrow routes, complex geographical environments, and significant topographical variations, making them susceptible to weather events such as localized strong winds, heavy rainfall, dense fog, and low clouds. Strong convective winds are characterized by their small scale, sudden onset, short duration, and drastic changes, making them difficult for existing conventional monitoring networks to accurately detect.

[0003] In existing engineering projects, lidar or microwave radar is often used to complete wind field observations alone. LiDAR has the advantages of high sensitivity, high resolution and high accuracy, and is suitable for fine wind field detection in the near-surface layer under clear sky and light precipitation conditions. However, the range will decrease under conditions such as heavy precipitation and dense fog. Microwave radar has the advantages of strong penetration and good detection capability in rainy and foggy weather, but it has problems such as large low-altitude blind zone, low spatial resolution and insufficient detection capability in clear sky wind fields.

[0004] In addition, traditional equipment mostly adopts fixed installation and fixed scanning methods, which is difficult to adapt to the directional stability requirements brought about by tower vibration, foundation disturbance, wind-induced shaking and rapid changes in the target area in the transmission line scenario; at the same time, it lacks visual monitoring methods for weather phenomena, making it difficult to combine cloud evolution, precipitation boundary, fog area and convective cell morphology information with wind field information for business judgment. Summary of the Invention

[0005] This invention provides a multi-band adaptive meteorological monitoring method for power grid transmission lines to solve the problem of poor all-weather adaptability and stability of single detection systems, which leads to reduced accuracy in observing strong convective winds.

[0006] In a first aspect, the present invention provides a multi-band adaptive meteorological monitoring method for power grid transmission lines, the method comprising: Acquire multimodal data of the target airspace along the power grid transmission line, and generate environmental assessment results based on the multimodal data; Acquire laser detection data and microwave detection data, combine environmental assessment results to switch the main meteorological monitoring channel in real time, and acquire heterogeneous meteorological data in real time based on the main meteorological monitoring channel; Spatiotemporal registration and fusion of heterogeneous meteorological data are performed to obtain meteorological monitoring results.

[0007] The multi-band adaptive meteorological monitoring method for power grid transmission lines provided by this invention fully leverages the advantages of high spatial resolution and high detection sensitivity of laser under clear sky conditions by deeply integrating a dual-band detection system of laser detection and microwave detection. At the same time, it utilizes the strong electromagnetic penetration and weak attenuation characteristics of microwave under meteorological conditions such as precipitation and dense fog to overcome the physical limitations of single detection methods and achieve all-weather, high-precision, continuous, and collaborative observation. By introducing a multi-modal visual perception and adaptive switching mechanism, it breaks the traditional fixed scanning mode, significantly improving detection efficiency and decision-making intelligence. Through spatiotemporal registration of multi-source data and the connection of business links, it directly empowers the power grid disaster prevention, mitigation, and emergency assessment system.

[0008] In one optional implementation, the multimodal data includes: visible light image data and infrared image data. An environmental determination result is generated based on the multimodal data, including: Based on multimodal data, identify current environmental meteorological phenomena and lighting conditions, and determine whether precipitation, dense fog, low clouds, or convective cloud clusters are present based on the current environmental meteorological and lighting conditions. If precipitation, dense fog, low clouds, or convective cloud formations are present, the current environment is considered severe weather conditions; otherwise, it is considered favorable weather conditions.

[0009] The multi-band adaptive meteorological monitoring method for power grid transmission lines provided by this invention captures macro-meteorological features such as cloud boundaries, precipitation phases, and visibility in the target airspace in real time based on visible light image data and infrared image data. It also identifies the current environmental meteorological phenomena based on the macro-meteorological features and determines whether it is severe weather, thus laying an accurate basis for the adaptive selection of the main observation channel.

[0010] In one optional implementation, acquiring laser detection data and microwave detection data, and combining them with environmental assessment results, involves real-time switching of the main meteorological monitoring channel, including: The attenuation of the echo signal is determined based on laser detection data, and the reflectivity echo is determined based on microwave detection data. If the current environment is under good weather conditions and the attenuation of the echo signal does not exceed the first preset threshold, then the laser detection channel is selected as the main channel for meteorological monitoring. If the current environment is a severe weather condition, or the echo signal attenuation exceeds the second preset threshold, or a strong reflection center appears in the reflectivity echo, then the microwave detection channel is selected as the main channel for meteorological monitoring, and the second preset threshold is greater than the first preset threshold.

[0011] The multi-band adaptive meteorological monitoring method for power grid transmission lines provided by this invention dynamically determines the current meteorological environment based on the fusion characteristics of multi-source image features and dual-band radar echo signals, and adaptively switches the main detection channel and adjusts the scanning strategy. This effectively avoids invalid observations caused by the use of fixed periodic scanning in traditional systems, greatly improves the data acquisition rate of hazardous meteorological targets, and effectively reduces the system's operating power consumption and data processing redundancy.

[0012] In one optional implementation, heterogeneous meteorological data is acquired based on the main meteorological monitoring channel, including: If the main meteorological monitoring channel is a microwave detection channel, then precipitation reflectivity echo and radial velocity data are obtained based on the microwave detection channel; If the main meteorological monitoring channel is a laser detection channel, then high spatial resolution three-dimensional wind field data will be obtained based on the laser detection channel.

[0013] The multi-band adaptive meteorological monitoring method for power grid transmission lines provided by this invention automatically selects detection equipment according to the weather: in severe weather such as rain and fog, microwave is used as the main channel to stably acquire precipitation echoes and radial velocities, avoiding the problem of laser signal attenuation; in clear weather, laser is switched as the main channel to output a high-precision three-dimensional wind field. The two complement each other, ensuring the integrity and reliability of observation data around the clock, and accurately supporting the assessment of wind disasters in power transmission lines.

[0014] In one optional implementation, heterogeneous meteorological data are spatiotemporally registered and fused to obtain meteorological monitoring results, including: Time synchronization, attitude compensation, spatial coordinate registration, and outlier removal are performed on heterogeneous meteorological data to obtain a unified meteorological observation dataset. Based on a unified meteorological observation dataset, wind field inversion, weather phenomenon identification, and hazard zone location are performed to analyze wind field structure and disaster characteristics, serving as meteorological monitoring results.

[0015] The multi-band adaptive meteorological monitoring method for power grid transmission lines provided by this invention unifies the time and space references of multi-source data, eliminates invalid and abnormal data, and eliminates observation biases caused by equipment back-to-back deployment and platform vibration. It relies on standardized datasets to invert wind fields, identify meteorological disasters, and lock dangerous areas, resulting in higher data accuracy and outputting complete and accurate meteorological monitoring results, providing a reliable quantitative basis for risk assessment of transmission lines.

[0016] Secondly, this invention provides a multi-band adaptive meteorological monitoring system for power grid transmission lines, the system comprising: The weather phenomenon monitoring module is used to acquire multimodal data of the target airspace along the power grid transmission line and generate environmental assessment results based on the multimodal data; The meteorological detection module is used to acquire laser detection data and microwave detection data, and to switch the main meteorological monitoring channel in real time in combination with environmental judgment results. Based on the main meteorological monitoring channel, it can acquire heterogeneous meteorological data in real time. The data processing module is used to perform spatiotemporal registration and fusion of heterogeneous meteorological data to obtain meteorological monitoring results.

[0017] The multi-band adaptive meteorological monitoring system for power grid transmission lines provided by this invention fully leverages the advantages of laser detection and microwave detection dual-band detection system by deeply integrating laser detection and microwave detection. It fully utilizes the advantages of laser in high spatial resolution and high detection sensitivity under clear sky conditions, while taking advantage of the strong electromagnetic penetration and weak attenuation characteristics of microwave in meteorological conditions such as precipitation and dense fog. This overcomes the physical limitations of single detection methods and achieves high-precision continuous collaborative observation in all weather conditions. By introducing multi-modal visual perception and adaptive switching mechanism, it breaks the traditional fixed scanning mode, significantly improving detection efficiency and decision-making intelligence. Through spatiotemporal registration of multi-source data and integration of business links, it directly empowers the power grid disaster prevention, mitigation and emergency assessment system.

[0018] In one optional implementation, the system further includes: a three-dimensional stabilized servo platform for carrying a weather phenomenon monitoring module and a meteorological detection module, and for performing three-dimensional spatial pointing control and high-frequency jitter compensation; the laser detection channel unit, the microwave detection channel unit, the weather phenomenon monitoring module and the three-dimensional stabilized servo platform are detachably connected.

[0019] The multi-band adaptive meteorological monitoring system for power grid transmission lines provided by this invention uses a three-axis stabilized servo platform to physically integrate and uniformly compensate multiple heterogeneous detection payloads, constructing a three-degree-of-freedom common-base heteroaxial collaborative observation architecture. This reduces the radar size, effectively isolates and compensates in real time for high-frequency vibrations and attitude shifts of the platform caused by strong wind loads and micro-settlement of the foundation, ensuring rigorous spatial registration of multi-source data and target tracking accuracy. The highly decoupled modular quick-release structure improves carrier compatibility and significantly reduces the deployment and maintenance costs of the system throughout its entire life cycle.

[0020] In one optional implementation, the meteorological detection module includes a laser detection channel unit and a microwave detection channel unit; the laser detection channel unit, the microwave detection channel unit, and the weather phenomenon monitoring module share the azimuth axis of the three-dimensional stable servo platform, wherein, The laser detection channel unit and the weather phenomenon monitoring module share the first pitch axis of the three-dimensional stable servo platform, and their optical axes remain parallel. The microwave detection channel unit uses the second pitch axis of the three-dimensional stabilized servo platform independently, and the detection field of view of the microwave detection channel unit is set 180° away from the detection field of view of the laser detection channel unit.

[0021] The multi-band adaptive meteorological monitoring system for power grid transmission lines provided by this invention not only ensures the precise alignment of co-directional sensors (laser detection module and weather phenomenon monitoring module) through unified and stable control, but also establishes an extremely stable relative spatial coordinate benchmark between back-directional sensors. This greatly reduces the coordinate registration error of multi-source heterogeneous data during spatiotemporal calibration and fusion, ensuring that the system can still perform high-precision continuous tracking and three-dimensional feature reconstruction of strong convective disaster targets in a specific space under extreme wind conditions.

[0022] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0023] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the first process of a multi-band adaptive meteorological monitoring method for power grid transmission lines according to an embodiment of the present invention; Figure 2 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 3 This is a second flowchart illustrating a multi-band adaptive meteorological monitoring method for power grid transmission lines according to an embodiment of the present invention. Figure 4 This is a complete flowchart of a specific embodiment of a multi-band adaptive meteorological monitoring method for power grid transmission lines according to an embodiment of the present invention; Figure 5 This is a structural block diagram of a multi-band adaptive meteorological monitoring system for power grid transmission lines according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the modular design of the physical structure of a multi-band adaptive meteorological monitoring system for power grid transmission lines according to an embodiment of the present invention; Figure 7This is a complete structural schematic diagram of a multi-band adaptive meteorological monitoring system for power grid transmission lines according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0028] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] This invention provides a multi-band adaptive meteorological monitoring method and system for power grid transmission lines. By deeply integrating a dual-band detection system of laser detection and microwave detection, it achieves the effect of all-weather, high-precision, continuous, and coordinated observation of the target airspace.

[0030] According to an embodiment of the present invention, a multi-band adaptive meteorological monitoring method for power grid transmission lines is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] This embodiment provides a multi-band adaptive meteorological monitoring method for power grid transmission lines, which can be used in the aforementioned computer system. Figure 1 This is a flowchart of a multi-band adaptive meteorological monitoring method for power grid transmission lines according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps: Step S201: Obtain multimodal data of the target airspace along the power grid transmission line, and generate environmental judgment results based on the multimodal data.

[0032] Specifically, the multi-band adaptive meteorological monitoring method provided in this embodiment relies on meteorological monitoring radar to acquire meteorological data of the target airspace, such as... Figure 2 The diagram shown is a schematic of the structure of a meteorological monitoring radar.

[0033] The three-axis stabilized servo platform possesses three degrees of freedom, used to uniformly support the laser detection module, X-band detection module, and weather phenomenon monitoring module. In terms of spatial layout, the three detection modules share the azimuth axis of the servo platform; the laser detection module and the weather phenomenon monitoring module share the first elevation axis, and their optical axes are kept parallel to achieve synchronous common-view detection of the same target area; the X-band detection module is equipped with an independent second elevation axis to achieve independent adjustment of its elevation scanning range. Furthermore, the detection field of view of the X-band detection module is set 180° away from the detection fields of view of the laser detection module and the weather phenomenon monitoring module, compressing the radar volume and achieving a miniaturized design. Before performing multi-source data fusion, the system performs rigorous spatiotemporal coordinate registration. The platform is adaptable to various installation carriers such as towers, station roofs, mountain bases, or vehicle mounts, and is configured to implement unified pointing control and high-frequency jitter compensation in complex field environments, thereby ensuring a high degree of consistency of multi-source sensors in the observation space and time dimensions.

[0034] The laser detection module employs a coherent Doppler laser wind measurement system. In terms of hardware, its structure includes an all-fiber laser, a transmitting optical path, a receiving telescope, a local oscillator optical path, a balanced detector, and a high-speed data acquisition unit. The main function of the laser detection module is to emit laser pulses into the target airspace and receive backscattered signals generated by atmospheric micro-aerosols. By coherently mixing the backscattered signals and extracting the Doppler frequency shift from the echo signals, it can deduce the radial velocity at different azimuth and elevation angles, thereby obtaining high spatial resolution three-dimensional wind field distribution data for the critical height layer of the transmission line.

[0035] The X-band detection module employs an X-band microwave detection system. Its hardware structure includes a microwave transmitter, receiver, RF antenna, mixer, signal processing unit, and echo resolution unit. The main function of the X-band detection module is to stably acquire the reflectivity echo intensity, Doppler radial velocity, and macroscopic weather system structure information of atmospheric water condensate targets during the development stages of precipitation, dense fog, low clouds, and severe convective weather. This aims to effectively compensate for the technical deficiencies of laser detection modules, such as shortened range and insufficient effective echoes due to severe light signal attenuation under these adverse weather conditions.

[0036] The weather phenomenon monitoring module integrates infrared imaging and visible light imaging channels. The infrared imaging channel is configured to monitor cloud distribution, precipitation areas, dense fog coverage, and temperature gradient characteristics in real time within the target airspace at night or in low-light conditions. The visible light imaging channel is configured to capture cloud geometric boundaries, precipitation morphology, dynamic changes in visibility in the target airspace, and real-time meteorological images during the day or under good lighting conditions. The multimodal output of the weather phenomenon monitoring module is used to comprehensively identify current environmental meteorological phenomena and lighting conditions, thus providing crucial auxiliary decision-making basis for the system's adaptive switching of observation modes between the laser detection module and the X-band detection module, dynamic retargeting of the scanning field of view, and interpretation of meteorological disaster alarms.

[0037] The target airspace for meteorological monitoring is determined based on the distribution of power grid transmission lines. A weather phenomenon monitoring module collects multimodal image data of the target airspace in real time. Image recognition is used to determine the presence of phenomena such as precipitation and dense fog. The system comprehensively identifies current environmental meteorological phenomena and lighting conditions to determine the environmental assessment result. For example, the presence of precipitation indicates severe weather, while clear weather indicates good weather. This is just an example and not a limitation. The weather phenomenon monitoring module integrates image / video acquisition capabilities.

[0038] Step S202: Acquire laser detection data and microwave detection data, combine environmental judgment results to switch the main meteorological monitoring channel in real time, and acquire heterogeneous meteorological data in real time based on the main meteorological monitoring channel.

[0039] Specifically, a laser detection module is used to acquire laser detection data, and an X-band detection module is used to acquire microwave detection data. The laser detection data is used to calculate the laser signal attenuation, and the microwave detection data is used to calculate the atmospheric reflectivity intensity, helping to determine whether there are a large number of water droplets in the air. The most suitable meteorological detection method is determined based on the environmental assessment results, and the system automatically switches to either the laser detection channel or the microwave detection channel as the main meteorological monitoring channel. Heterogeneous meteorological data is then acquired in real time using this main meteorological monitoring channel.

[0040] Step S203: Perform spatiotemporal registration and fusion of heterogeneous meteorological data to obtain meteorological monitoring results.

[0041] Specifically, heterogeneous meteorological data undergoes quality control processes such as time synchronization, spatial coordinate registration, and outlier removal. Data fusion is then performed to form a unified observation dataset for power transmission channels. Analysis and processing based on this unified dataset yield meteorological monitoring results. The underlying radar-based data is directly transformed into high-value fusion parameters such as 3D wind field distribution, hazardous area location, and multimodal real-world images. The comprehensive early warning results are directly transmitted to the power transmission operation and maintenance platform via communication links, achieving seamless integration between the meteorological sensing end and the power grid business end. This provides proactive, accurate, and visualized quantitative data support for conductor wind deflection flashover risk assessment, tower mechanical load over-limit early warning, and on-site emergency dispatch under extreme weather conditions.

[0042] The multi-band adaptive meteorological monitoring method for power grid transmission lines provided in this embodiment deeply integrates a dual-band detection system of laser detection and microwave detection. It fully leverages the advantages of laser's high spatial resolution and high detection sensitivity under clear sky conditions, while utilizing the strong electromagnetic penetration and weak attenuation characteristics of microwaves under meteorological conditions such as precipitation and dense fog to overcome the physical limitations of single detection methods. This enables all-weather, high-precision, continuous, and collaborative observation. By introducing a multi-modal visual perception and adaptive switching mechanism, it breaks the traditional fixed scanning mode, significantly improving detection efficiency and decision-making intelligence. Through spatiotemporal registration of multi-source data and the integration of business links, it directly empowers the power grid disaster prevention, mitigation, and emergency assessment system.

[0043] This embodiment provides a multi-band adaptive meteorological monitoring method for power grid transmission lines, which can be used in the aforementioned computer system. Figure 3 This is a flowchart of a multi-band adaptive meteorological monitoring method for power grid transmission lines according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps: Step S301: Obtain multimodal data of the target airspace along the power grid transmission line, and generate environmental judgment results based on the multimodal data.

[0044] Specifically, the multimodal data includes: visible light image data and infrared image data, and step S301 above includes: Step S3011: Identify the current environmental meteorological phenomena and lighting conditions based on multimodal data, and determine whether precipitation, dense fog, low clouds or convective cloud clusters are present based on the current environmental meteorological conditions and lighting conditions.

[0045] Specifically, if the visible light image is bright and clear, it is determined to be daytime high illumination, and the weather can be identified based on the visible light image data; if the image is dark and lacks effective visible light details, it is determined to be nighttime / low illumination, and the weather needs to be identified based on the infrared image data.

[0046] If visible light shows rain streaks or rain curtains, or if infrared images show areas of low-temperature precipitation, then precipitation is identified.

[0047] If the visible light image is blurry and the visibility is significantly reduced, or if the infrared image shows a large area of ​​uniform low-temperature fog, then dense fog is determined to exist.

[0048] If a large area of ​​low-altitude clouds is close to the power transmission channel in a visible light image, and a continuous low-altitude, low-temperature cloud area is displayed in an infrared image, then the presence of low clouds is identified.

[0049] If the cloud boundary is messy and there are drastic changes in local brightness in the visible light image, it is determined that the convective cloud is developing.

[0050] In step S3012, if there are precipitation, dense fog, low clouds, or convective cloud clusters, the current environment is determined to be severe weather conditions; otherwise, it is considered favorable weather conditions.

[0051] Specifically, if any one of the following characteristics is identified: precipitation, dense fog, low clouds, or convective cloud formations, it is directly determined to be severe weather conditions; if none of the above four types of severe weather characteristics are identified and there is no large amount of water vapor obstruction, it is determined to be good weather conditions.

[0052] The multi-band adaptive meteorological monitoring method for power grid transmission lines provided in this embodiment captures macro-meteorological features such as cloud boundaries, precipitation phases, and visibility in the target airspace in real time based on visible light image data and infrared image data. It also identifies the current environmental meteorological phenomena based on the macro-meteorological features and determines whether it is severe weather, thus laying an accurate basis for the adaptive selection of the main observation channel.

[0053] Step S302: Acquire laser detection data and microwave detection data, combine environmental judgment results to switch the main meteorological monitoring channel in real time, and acquire heterogeneous meteorological data in real time based on the main meteorological monitoring channel.

[0054] Specifically, step S302 includes: Step S3021: Determine the echo signal attenuation based on the laser detection data, and determine the reflectivity echo based on the microwave detection data.

[0055] Specifically, a baseline value for the standard echo intensity under clear skies is pre-stored, and the actual echo intensity at the laser detection module's receiver is collected in real time. The attenuation difference is then calculated by comparing this value with the baseline value. The larger the value, the more obstructions are in the air, and the worse the laser detection effect.

[0056] By reading the X-band radar echo intensity values, we can identify whether there are strong reflection centers with high local values ​​in the airspace; the higher the reflectivity, the higher the concentration of water condensates such as rain, fog droplets, and clouds in the air.

[0057] Step S3022: If the current environment is a good weather condition and the echo signal attenuation does not exceed the first preset threshold, then select the laser detection channel as the main channel for meteorological monitoring.

[0058] Specifically, if the weather phenomenon monitoring module determines that the current environment is under good meteorological conditions, and the calculated echo signal attenuation does not exceed the first preset threshold, the slight attenuation of the echo signal may be caused by minor dust, which does not affect the accuracy of laser wind measurement. In this case, the laser detection channel will be used as the main channel for meteorological monitoring, and the microwave detection channel will only be used as an auxiliary observation channel.

[0059] Step S3023: If the current environment is a severe weather condition, or the echo signal attenuation exceeds the second preset threshold, or a strong reflection center appears in the reflectivity echo, then the microwave detection channel is selected as the main channel for meteorological monitoring, and the second preset threshold is greater than the first preset threshold.

[0060] Specifically, if the current environment is characterized by severe weather conditions, indicating the presence of rain, fog, low clouds, or convective clouds; if the echo signal attenuation exceeds the second preset threshold, it indicates severe water vapor obstruction, significantly reducing the laser detection range and rendering the data invalid. The second preset threshold is greater than the first preset threshold. The first preset threshold is the upper limit of tolerance for slight echo signal attenuation, applicable only to scenarios with a small amount of dust in clear skies. The second preset threshold is the critical line for effective laser detection; echo signal attenuation exceeding this threshold indicates that water vapor interference can no longer be ignored. These two threshold levels differentiate between slight and severe obstruction, preventing accidental switching to microwave detection due to minor dust, and balancing observation accuracy with equipment compatibility. The presence of a strong reflection center in the reflectivity echo indicates localized dense rainfall or convective cells, posing a risk of strong winds. In all three of these situations, severe attenuation of the laser signal will lead to a shortened measurement range or insufficient effective echoes. In such cases, the microwave detection channel should be selected as the primary channel for meteorological monitoring.

[0061] The multi-band adaptive meteorological monitoring method for power grid transmission lines provided in this embodiment dynamically determines the current meteorological environment based on the fusion characteristics of multi-source image features and dual-band radar echo signals, and adaptively switches the main detection channel and adjusts the scanning strategy. This effectively avoids invalid observations caused by the use of fixed periodic scanning in traditional systems, greatly improves the data acquisition rate of hazardous meteorological targets, and effectively reduces the system's operating power consumption and data processing redundancy.

[0062] In some optional implementations, step S302 above further includes: Step S3024: If the main meteorological monitoring channel is a microwave detection channel, then obtain precipitation reflectivity echo and radial velocity data based on the microwave detection channel.

[0063] Specifically, if an X-band microwave radar is selected as the main channel for meteorological monitoring (rainfall, dense fog, low clouds, convective clouds, or scenarios where laser attenuation is severe and microwave detection of strong reflection centers), precipitation reflectivity echo and radial velocity data are collected based on the microwave detection channel. The value of the precipitation reflectivity echo reflects the concentration of water condensates such as rain, fog, and cloud droplets in the air. The higher the value, the denser the rainfall / fog, which is used to delineate the boundaries of precipitation and fog areas. The radial velocity data captures the speed at which air particles approach / move away from the radar, identifies convective winds and air vortices, and predicts the risk of line wind deviation and tower collapse.

[0064] By leveraging the penetrating power of microwaves in rain and fog, large-scale meteorological structure data can be reliably obtained under severe weather conditions, thus compensating for the shortcomings of lasers in the event of failure.

[0065] Step S3025: If the main meteorological monitoring channel is a laser detection channel, then high spatial resolution three-dimensional wind field data are obtained based on the laser detection channel.

[0066] Specifically, if the laser detection channel is set as the main channel for meteorological monitoring, it will output high spatial resolution three-dimensional wind field data by relying on the coherent Doppler laser system. The beam is extremely fine, and it can measure the wind speed and direction at different heights and points along the transmission line in layers and regions, accurately depicting the fine airflow distribution near the line.

[0067] Leveraging the high precision of laser clear-sky technology, we can acquire detailed conductor wind field information that is of utmost concern to power grid operation and maintenance, thus compensating for the shortcomings of microwave low-altitude blind spots and insufficient resolution.

[0068] The multi-band adaptive meteorological monitoring method for power grid transmission lines provided in this embodiment automatically selects detection equipment according to the weather: in severe weather such as rain and fog, microwave is used as the main channel to stably acquire precipitation echoes and radial velocities, avoiding the problem of laser signal attenuation; in clear weather, laser is switched as the main channel to output high-precision three-dimensional wind fields. The two complement each other, ensuring the integrity and reliability of observation data around the clock, and accurately supporting the assessment of wind disasters in power transmission lines.

[0069] Step S303: Perform spatiotemporal registration and fusion of heterogeneous meteorological data to obtain meteorological monitoring results.

[0070] Specifically, step S303 includes: Step S3031 involves performing time synchronization, attitude compensation, spatial coordinate registration, and outlier removal on the heterogeneous meteorological data to obtain a unified meteorological observation dataset.

[0071] Specifically, in this embodiment, the weather phenomenon monitoring module, the laser detection module, and the microwave detection module are all installed on the three-axis stabilized servo platform and share the azimuth axis of the three-axis stabilized servo platform. Therefore, attitude compensation can be performed on heterogeneous meteorological data based on the real-time attitude data of the three-axis stabilized servo platform. The specific attitude compensation algorithm is a mature existing technology and will not be described in detail here.

[0072] Heterogeneous meteorological data includes three types of raw data with different formats, coordinates, and sampling times: laser 3D wind field, microwave reflectivity / radial velocity, and infrared / visible light images. The following correction and cleaning operations are performed sequentially to unify the time and spatial reference of all data, remove noise, and output a standardized and unified observation meteorological dataset.

[0073] (1) The sampling periods and clocks of laser, microwave, and camera are independent, resulting in misalignment of acquisition times. Using the unified clock of the three-axis gimbal as a reference, all observation data are aligned to the same timestamp through interpolation and timing compensation. For the observation time difference caused by the 180° back-to-back scanning of the laser detection module and microwave detection module, timing misalignment correction is performed in combination with the airflow movement law to eliminate timing deviation.

[0074] (2) Read the real-time pitch, azimuth and roll attitude data of the three-axis servo platform, compensate for the equipment offset error caused by strong winds, ground shaking and tower deformation in the field, correct the observation direction corresponding to each frame of data, and eliminate the observation offset caused by shaking.

[0075] (3) Construct a unified three-dimensional geographic coordinate system and use the gimbal attitude matrix to complete coordinate rotation and translation conversion: Align the laser and image data in the same direction, and then map the microwave radar observation grids deployed in opposite directions to the same spatial reference to solve the problem of opposite observation directions and inconsistent spatial references of the two sets of equipment, so that the observation points in the same airspace correspond one by one.

[0076] (4) Filter out abnormal data caused by equipment noise, cloud clutter, long-distance weak echoes, and equipment vibration, and remove invalid interference samples.

[0077] Time synchronization, spatial coordinate system transformation, and quality control are performed on heterogeneous base data from multi-band radars operating along different detection axes to generate a unified observation dataset for the transmission line channel.

[0078] Step S3032: Based on the unified meteorological observation dataset, wind field inversion, weather phenomenon identification, and hazard zone location are performed, and the wind field structure and disaster characteristics are analyzed as meteorological monitoring results.

[0079] Specifically, a three-layer algorithm is used to analyze the wind field based on a unified meteorological observation dataset. The wind field inversion calculates wind field parameters such as horizontal wind speed, wind direction, vertical airflow velocity, and wind field divergence and vorticity, thereby accurately analyzing the three-dimensional fine structure of the strong convective wind field. This fills the microwave low-altitude blind zone, compensates for the insufficient range of laser rain and fog measurements, and outputs grid data of wind speed and direction distribution at all heights of the power transmission channel.

[0080] Weather phenomenon recognition combines image texture, microwave reflectivity values, and laser attenuation features. Based on fuzzy logic reasoning or deep convolutional neural network weather phenomenon classification and recognition models, it can automatically identify rainfall, dense fog, low clouds, and strong convective cloud clusters, and distinguish and identify specific types of strong convective winds such as thunderstorms, gales, and tornadoes.

[0081] Hazard zone location is determined based on wind field structure and the type of severe convective winds, identifying areas prone to severe wind disasters. Corresponding power poles and transmission line sections are marked within these hazardous areas, ultimately enabling the analysis of the characteristics of severe convective wind disasters. By integrating wind field structure, weather type, and hazardous locations, quantitative data and real-world images are combined to form a complete set of meteorological monitoring results, which are then distributed to the power grid operation and maintenance platform to support the assessment of wind deflection and tower collapse risks.

[0082] The multi-band adaptive meteorological monitoring method for power grid transmission lines provided in this embodiment unifies the time and space references of multi-source data, eliminates invalid and abnormal data, and eliminates observation biases caused by equipment back-to-back deployment and platform vibration. It relies on standardized datasets to invert wind fields, identify meteorological disasters, and lock dangerous areas, resulting in higher data accuracy and the ability to output complete and accurate meteorological monitoring results, providing a reliable quantitative basis for risk assessment of transmission lines.

[0083] In one specific implementation, such as Figure 4 The diagram shown illustrates the complete process of a multi-band adaptive meteorological monitoring method for power grid transmission lines in this embodiment. First, real-time data collection of external environmental parameters at the transmission line site is performed, primarily including visible light images, infrared images, echo signal intensity from the laser detection module, and echo information from the X-band detection module. By extracting and fusing features from the multi-modal data, the system comprehensively identifies current meteorological characteristics such as precipitation, dense fog, low clouds, convective cloud development, low illumination, or nighttime conditions. This provides an accurate basis for the subsequent adaptive selection of the main observation channel.

[0084] Based on the three-axis stabilized servo platform completing unified pointing control of each detection payload according to the preset scanning path and ensuring the collaborative operation of multiple modules in the same target area, the system adaptively selects either the laser detection module or the X-band detection module as the main observation channel based on the judgment results of the external environment sensor module on the current external environment, to conduct on-site observation of strong convective winds and meteorological evolution. Generally, when the environmental judgment results indicate good weather conditions, high visibility, and no significant heavy precipitation, the laser detection module is given priority as the main channel for observation to obtain high spatial resolution wind field data at the key height layer of the transmission line; when the judgment results indicate poor weather conditions, significant precipitation, dense fog, low clouds, or significant attenuation of laser echo, the X-band detection module is dynamically increased and given priority for observation to obtain precipitation echo, radial velocity, and macroscopic weather structure information.

[0085] Based on the selected main observation channel and the operating status of the multi-source detection payloads, a comprehensive data processing scheme is adopted to analyze and process the acquired heterogeneous observation data. First, the data processing module performs quality control on the observation data from the laser detection module, X-band detection module, and weather phenomenon monitoring module, including time synchronization, attitude compensation based on the servo platform, spatial coordinate registration, and outlier removal, to form a unified observation dataset for the transmission channel. Subsequently, based on this unified observation dataset, wind field inversion, weather phenomenon identification algorithms, and hazard zone location algorithms are executed to deeply analyze the wind field structure and disaster characteristics.

[0086] After in-depth analysis and fusion processing of the collected multi-source heterogeneous observation data, the system outputs three-dimensional wind field results near the transmission channel, severe convective weather identification results, and on-site visualization image-assisted results. Finally, the comprehensive meteorological observation and early warning results are sent to the transmission operation and maintenance platform in real time, directly supporting conductor wind deflection risk analysis, tower collapse risk assessment, on-site special inspections, and emergency response decisions.

[0087] This embodiment also provides a multi-band adaptive meteorological monitoring system for power grid transmission lines. This system is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0088] This embodiment provides a multi-band adaptive meteorological monitoring system for power grid transmission lines, such as... Figure 5 As shown, it includes: The weather phenomenon monitoring module 501 is used to acquire multimodal data of the target airspace through which the power grid transmission line passes, and to generate environmental judgment results based on the multimodal data.

[0089] The meteorological detection module 502 is used to acquire laser detection data and microwave detection data, switch the main meteorological monitoring channel in real time in combination with the environmental judgment results, and acquire heterogeneous meteorological data in real time based on the main meteorological monitoring channel.

[0090] The data processing module 503 is used to perform spatiotemporal registration and fusion of heterogeneous meteorological data to obtain meteorological monitoring results.

[0091] In some optional implementations, the system further includes: a three-dimensional stabilized servo platform for carrying a weather phenomenon monitoring module and a meteorological detection module, and for performing three-dimensional spatial pointing control and high-frequency jitter compensation; the laser detection channel unit, the microwave detection channel unit, the weather phenomenon monitoring module and the three-dimensional stabilized servo platform are detachably connected.

[0092] Specifically, the microwave detection channel unit is the X-band detection module, and the laser detection channel unit is the laser detection module. To highly adapt to various heterogeneous installation carriers such as transmission line towers, substation structures, complex mountain micro-topography bases, and vehicle-mounted mobile platforms, and to effectively meet the needs of efficient, convenient disassembly, assembly, inspection, and maintenance in complex and harsh field environments, the physical architecture of this meteorological monitoring system adopts a modular physical decoupling design, such as... Figure 6 The diagram shows a modular physical structure design. The laser detection module, X-band detection module, and weather phenomenon monitoring module are connected to the three-axis stabilized servo platform via standardized quick-release electrical interfaces and directional mechanical positioning structures. These directional mechanical positioning structures include foolproof pins and high-precision guide rail positioning slots, configured to support independent disassembly, replacement, and functional expansion of individual detection modules. This significantly simplifies on-site engineering construction and cable laying processes, effectively ensuring the rapid assembly and mobile deployment of the radar system in complex field environments. More importantly, this structure achieves physical decoupling of the various sensing payloads, enabling on-site maintenance personnel to perform non-destructive independent disassembly, fault replacement, on-demand functional expansion, or iterative hardware performance upgrades of individual laser detection modules, X-band detection modules, or weather phenomenon monitoring modules throughout the system's entire lifecycle, based on the dynamic evolution of power grid services. This significantly reduces long-term system maintenance costs and greatly extends the equipment's application lifecycle.

[0093] The multi-band adaptive meteorological monitoring system for power grid transmission lines provided in this embodiment uses a three-axis stabilized servo platform to physically integrate and uniformly compensate multiple heterogeneous detection payloads, constructing a three-degree-of-freedom common-base heteroaxial collaborative observation architecture. This reduces the radar size, effectively isolates and compensates in real time for high-frequency vibrations and attitude shifts of the platform caused by strong wind loads and micro-settlement of the foundation, ensuring rigorous spatial registration of multi-source data and target tracking accuracy. The highly decoupled modular quick-release structure improves carrier compatibility and significantly reduces the deployment and maintenance costs of the system throughout its entire life cycle.

[0094] In some optional implementations, the meteorological detection module includes a laser detection channel unit and a microwave detection channel unit; the laser detection channel unit, the microwave detection channel unit, and the weather phenomenon monitoring module share the azimuth axis of the three-dimensional stable servo platform.

[0095] The laser detection channel unit and the weather phenomenon monitoring module share the first pitch axis of the three-dimensional stable servo platform, and their optical axes remain parallel.

[0096] The microwave detection channel unit uses the second pitch axis of the three-dimensional stabilized servo platform independently, and the detection field of view of the microwave detection channel unit is set 180° away from the detection field of view of the laser detection channel unit.

[0097] Specifically, the laser detection channel unit and the weather phenomenon monitoring module share the first pitch axis, and their optical axes are kept parallel to each other to achieve common-view detection of the same target area; the X-band detection module is equipped with an independent second pitch axis to independently adjust its pitch scanning range, and the detection field of view of the X-band detection module and the detection field of view of the laser detection module are set 180° apart.

[0098] The multi-band adaptive meteorological monitoring system for power grid transmission lines provided in this embodiment not only ensures the precise alignment of the sensors in the same direction (laser detection module and weather phenomenon monitoring module) through unified and stable control, but also establishes an extremely stable relative spatial coordinate reference between the sensors in opposite directions. This greatly reduces the coordinate registration error of multi-source heterogeneous data when performing spatiotemporal calibration and fusion, ensuring that the system can still perform high-precision continuous tracking and three-dimensional feature reconstruction of strong convective disaster targets in a specific space under extreme wind conditions.

[0099] In addition to the data acquisition equipment in the aforementioned meteorological monitoring radar, the multi-band adaptive meteorological monitoring system for power grid transmission lines provided in this embodiment also includes a comprehensive processing and support platform composed of a comprehensive control unit, a data processing unit, and a comprehensive power supply unit, such as... Figure 7The diagram shows the complete structure of a multi-band adaptive meteorological monitoring system. The multi-sensor acquisition platform interacts with the integrated management unit, providing raw data from the laser detection module, the X-band detection module, visible light and infrared video information from the weather phenomenon monitoring module, and the working status and pointing information of the three-axis servo platform. Simultaneously, the integrated management unit also outputs task commands to each sensor module. The data processing unit is the central hub for radar data processing, responsible for adaptive observation mode switching, multi-source data fusion and quality control, data product inversion, and data product output. The integrated power supply unit provides stable power support to all modules of the system. The data output interface can connect to a display terminal, a mobile control terminal, and a power grid operation and maintenance platform, providing meteorological decision-making information for transmission line operation and maintenance.

[0100] The multi-band adaptive meteorological monitoring system for power grid transmission lines provided in this embodiment of the invention can execute the multi-band adaptive meteorological monitoring method for power grid transmission lines provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. Further functional descriptions of the above modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0101] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0102] The following is a detailed reference. Figure 8 The diagram illustrates a structural schematic suitable for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 801, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 802 or a program loaded from memory 808 into random access memory (RAM) 803. The RAM 803 also stores various programs and data required for the operation of the electronic device. The processor 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0103] Typically, the following devices can be connected to I / O interface 805: input devices 806 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 807 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 808 including, for example, magnetic tapes, hard disks, etc.; and communication devices 809. Communication device 809 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0104] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 809, or installed from a memory 808, or installed from a ROM 802. When the computer program is executed by the processor 801, it performs the functions defined in the multi-band adaptive meteorological monitoring method for power grid transmission lines according to embodiments of the present invention.

[0105] Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0106] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the multi-band adaptive meteorological monitoring method for power grid transmission lines shown in the above embodiments is implemented.

[0107] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A multi-band adaptive meteorological monitoring method for power grid transmission lines, characterized in that, The method includes: Acquire multimodal data of the target airspace along the power grid transmission line, and generate environmental assessment results based on the multimodal data; Acquire laser detection data and microwave detection data, combine the environmental judgment results to switch the main meteorological monitoring channel in real time, and acquire heterogeneous meteorological data in real time based on the main meteorological monitoring channel; The heterogeneous meteorological data are spatiotemporally registered and fused to obtain meteorological monitoring results.

2. The method according to claim 1, characterized in that, The multimodal data includes: visible light image data and infrared image data. An environmental determination result is generated based on the multimodal data, including: Based on the multimodal data, identify the current environmental meteorological phenomena and lighting conditions, and determine whether there are precipitation, dense fog, low clouds or convective cloud cluster development characteristics based on the current environmental meteorological conditions and lighting conditions. If precipitation, dense fog, low clouds, or convective cloud formations are present, the current environment is considered severe weather conditions; otherwise, it is considered favorable weather conditions.

3. The method according to claim 2, characterized in that, Acquiring laser detection data and microwave detection data, and combining the environmental assessment results to switch the main meteorological monitoring channel in real time, including: The echo signal attenuation is determined based on the laser detection data, and the reflectivity echo is determined based on the microwave detection data; If the current environment is under good weather conditions and the attenuation of the echo signal does not exceed the first preset threshold, then the laser detection channel is selected as the main channel for weather monitoring. If the current environment is a severe weather condition, or the attenuation of the echo signal exceeds the second preset threshold, or the reflectivity echo shows a strong reflection center, then the microwave detection channel is selected as the main channel for meteorological monitoring, and the second preset threshold is greater than the first preset threshold.

4. The method according to claim 1, characterized in that, Based on the aforementioned main meteorological monitoring channel, heterogeneous meteorological data is acquired, including: If the main meteorological monitoring channel is a microwave detection channel, then precipitation reflectivity echo and radial velocity data are obtained based on the microwave detection channel; If the main meteorological monitoring channel is a laser detection channel, then high spatial resolution three-dimensional wind field data are obtained based on the laser detection channel.

5. The method according to claim 1, characterized in that, The heterogeneous meteorological data are spatiotemporally registered and fused to obtain meteorological monitoring results, including: The heterogeneous meteorological data are synchronized in time, compensated for attitude, registered in spatial coordinates, and outlier removed to obtain a unified meteorological observation dataset. Based on the unified meteorological observation dataset, wind field inversion, weather phenomenon identification, and hazard zone location are performed, and the wind field structure and disaster characteristics are analyzed as meteorological monitoring results.

6. A multi-band adaptive meteorological monitoring system for power grid transmission lines, characterized in that, The system includes: The weather phenomenon monitoring module is used to acquire multimodal data of the target airspace along the power grid transmission line and generate environmental judgment results based on the multimodal data. The meteorological detection module is used to acquire laser detection data and microwave detection data, and to switch the main meteorological monitoring channel in real time in combination with the environmental judgment results, and to acquire heterogeneous meteorological data in real time based on the main meteorological monitoring channel; The data processing module is used to perform spatiotemporal registration and fusion of the heterogeneous meteorological data to obtain meteorological monitoring results.

7. The system according to claim 6, characterized in that, The system also includes a three-dimensional stable servo platform, which is used to carry the weather phenomenon monitoring module and the meteorological detection module, and to perform three-dimensional spatial pointing control and high-frequency jitter compensation. The laser detection channel unit, the microwave detection channel unit, the weather phenomenon monitoring module and the three-dimensional stable servo platform are detachably connected.

8. The system according to claim 7, characterized in that, The meteorological detection module includes a laser detection channel unit and a microwave detection channel unit; the laser detection channel unit, the microwave detection channel unit, and the weather phenomenon monitoring module share the azimuth axis of the three-dimensional stable servo platform, wherein... The laser detection channel unit and the weather phenomenon monitoring module share the first pitch axis of the three-dimensional stable servo platform, and their optical axes remain parallel. The microwave detection channel unit uses the second pitch axis of the three-dimensional stable servo platform independently, and the detection field of view of the microwave detection channel unit is set 180 degrees away from the detection field of view of the laser detection channel unit.

9. An electronic device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to perform the method of any one of claims 1 to 5.

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