Electric power construction safety early warning system based on laser radar

Abstract

The utility model discloses an electric power construction safety early warning system based on a laser radar, which comprises the laser radar and a target, the laser radar is installed on a fixed rod of an operating rod head of a mobile operating platform and collects laser point cloud data of a construction scene, the construction scene comprises a target electrified body, and the target electrified body is installed on the fixed rod of the operating rod head of the mobile operating platform. The target is installed at the tail end of a telescopic rod of the operating rod head, and the laser point cloud data covers the target; the inclinometer is arranged on a fixed rod of the operating rod head and is used for acquiring real-time inclination angle data of the operating rod head; the power supply unit is arranged on the bearing base table of the operating rod head and used for supplying power to the system; the processing unit is used for calculating the distance between the target and the target electrified body by using the laser point cloud data and the real-time inclination angle data, and triggering an early warning signal when the distance is lower than a safety threshold value; and the early warning device gives an alarm according to the early warning signal.

Description

Technical Field

[0001] This utility model relates to the field of lidar technology based on photoelectric detection, and in particular to a power construction safety early warning system based on lidar. Background Technology

[0002] The power transmission network is a crucial component of the power system, its primary function being to transmit electricity generated by power plants to load centers or end users via high-voltage lines. As of the end of 2023, the total length of 220 kV and above transmission lines in China was approximately 920,000 kilometers, an increase of about 69.1% compared to 2013. During the construction, maintenance, and repair of the transmission network, mobile operating platforms such as cranes or construction vehicles frequently enter and exit the vicinity of various live conductors within the network, posing a risk of contact with power lines or other live conductors. Without prior monitoring measures, this can easily lead to serious consequences such as damage to power facilities and personal injury during actual construction.

[0003] LiDAR (Light Detection and Ranging) is a remote sensing technology that measures the distance, position, and other attributes of a target by firing pulsed laser light and measuring its echo. Its working principle is based on the fact that light travels at high speed and in a straight line. Due to its high precision and high resolution, lidar has been widely used in various fields.

[0004] LiDAR actively emits laser pulses to project onto the surrounding environment and receives echo pulses, thereby acquiring three-dimensional spatial data of targets in the surrounding environment and thus perceiving information such as the size and position of targets in the surrounding environment in real time.

[0005] By mounting a lidar sensor on the mobile control panel, real-time distance information between the moving part of the control panel and the charged object can be obtained. Since this real-time distance information is obtained through measurement rather than data calculation from image monitoring, it offers higher accuracy and requires less subsequent computation, enabling real-time early warning even under conditions of low computational bandwidth.

[0006] What those skilled in the art urgently need to solve is to design a lidar-based power construction safety early warning system. This system would use lidar to monitor power construction scenarios and issue an early warning when a mobile operating platform enters the vicinity of a live electrical component, thus preventing damage to power facilities caused by the mobile operating platform during construction. Summary of the Invention

[0007] The technical problem solved by this utility model is to provide a power construction safety early warning system based on lidar, which is used to monitor and issue an early warning when the movement of a mobile operating platform enters the vicinity of a live electrical conductor in a power construction scenario, so as to avoid damage to power facilities caused by the mobile operating platform during construction.

[0008] Furthermore, the monitoring field of view will be expanded to further improve security.

[0009] This utility model discloses a power construction safety early warning system based on lidar, comprising:

[0010] A lidar and a target are provided. The lidar is mounted on a fixed rod at the end of the control lever of the mobile control console to collect laser point cloud data of the construction scene, which includes a charged target. The target is mounted at the end of the telescopic rod at the end of the control lever, and the laser point cloud data covers the target.

[0011] Inclinometer, a fixed rod mounted on the operating lever head, is used to collect real-time inclination data of the operating lever head;

[0012] The power supply unit is mounted on the support base of the operating lever head and is used to supply power to the system.

[0013] The processing unit uses the laser point cloud data and the real-time tilt angle data to calculate the distance between the target and the charged object, and triggers an early warning signal when the distance is lower than the safety threshold.

[0014] The early warning device issues an alarm based on the warning signal.

[0015] The system includes two lidar units, which are positioned on opposite sides of the fixed pole.

[0016] The scanning fields of the two lidars overlap.

[0017] The system also includes a remote terminal for displaying the distance between the operating lever and the target charged body in real time.

[0018] The system also includes a network transmission unit for transmitting the laser point cloud data and the real-time tilt angle data to the processing unit.

[0019] The inclinometer and the network transmission unit are housed in a waterproof and dustproof enclosure, which is mounted on a fixed rod at the operating lever head and is positioned relatively and fixed to the lidar.

[0020] The waterproof and dustproof housing is placed on the first side of the fixing rod, and the lidar is set on the second side of the fixing rod.

[0021] The network transmission unit includes an industrial-grade network switch and a 4G module.

[0022] The remote terminal also includes a user input interface to allow users to input safety thresholds for each target charged body.

[0023] The warning device includes a horn, alarm light, vibration module, screen display module and / or network communication module.

[0024] Multiple targets are set on the support base of the mobile operating platform and at the end of the telescopic rod of the operating lever.

[0025] The mobile control panel is a crane, the control lever is a boom, the boom includes a fixed boom and a telescopic boom, and the fixed rod is the fixed boom.

[0026] This invention utilizes lidar to monitor power construction scenarios. When a mobile control panel enters the vicinity of a live electrical component, it provides timely warnings to prevent damage to power facilities caused by the mobile control panel during construction. Attached Figure Description

[0027] Figure 1 The diagram shown is a structural schematic of the power construction safety early warning system based on lidar of this utility model.

[0028] Figure 2 The diagram shown illustrates an application scenario of this utility model.

[0029] Figure 3A The diagram shown is a schematic of the scanning field of view of the lidar of this invention.

[0030] Figure 3B The diagram shows the surrounding field of view of the two lidars of this invention.

[0031] Figure 4 The diagram shown is a structural schematic of an optimized embodiment of the power construction safety early warning system based on lidar of this utility model.

[0032] Figure 5 The diagram shown is a schematic diagram of the boom installation of this utility model. Detailed Implementation

[0033] The following description of the implementation process of the technical solution of this utility model with reference to specific embodiments is not intended to limit the utility model.

[0034] Safety is the top priority for power grid companies in production. According to the relevant requirements of China Southern Power Grid, for power construction operations involving large mobile operating platforms such as cranes, the distance between the crane boom and surrounding live conductors must be strictly controlled to prevent accidents such as line tripping and electric shock to workers and machines.

[0035] Currently, the method of installing height-limiting ropes is still used at construction sites to restrict the distance between the crane boom and live electrical components. However, this method is limited in effectiveness and carries the risk of human error.

[0036] In order to provide effective early warning when a mobile operating console enters the vicinity of a live electrical target and to prevent damage to power facilities caused by the mobile operating console during construction, this utility model proposes a power construction safety early warning system based on lidar.

[0037] This early warning system features strong anti-interference capabilities and a wide scanning range, which can effectively improve the safety of power construction operations, reduce labor costs, and increase work efficiency. It is valuable for promotion in relevant power grid companies.

[0038] This mobile control console can include large engineering vehicles such as cranes and is frequently seen at construction sites.

[0039] Figure 1 The diagram shown is a structural schematic of the power construction safety early warning system based on lidar of this utility model. Figure 2 The diagram shown illustrates an application scenario of this utility model.

[0040] The power construction safety early warning system based on lidar includes lidar 30, inclinometer 50, processing unit 70, early warning device 80, and power supply unit 60.

[0041] Mobile control platforms such as cranes are large engineering equipment frequently used in power grid construction. Figure 2 As shown in the application scenario diagram, this mobile operating platform takes a crane as an example. The crane has a fixed supporting base 1 and a boom 2. The boom 2 has a fixed boom 21 and a telescopic boom 22. The telescopic boom 22 moves telescopically along the extension line of the fixed boom 21. One end of the fixed boom 21 is connected to the supporting base 1 through a rotary table. The fixed boom 21 can rotate under the drive of the rotary table, and the fixed boom 21 can change its pitch angle relative to the rotary table. The telescopic boom 22 also changes its pitch angle or azimuth angle accordingly, allowing for large-scale mobile construction. When the crane is located near power facilities such as power poles and substations, there is a possibility that the end of the boom may come into contact with live parts during construction, causing an accident.

[0042] This invention features a lidar unit installed at the fixed boom 21. One lidar unit can be installed, preferably two or more. Taking two units as an example, the two lidar units are positioned on opposite sides of the fixed boom 21 to maximize the scanning and monitoring field of view, thereby further improving safety. In another embodiment, the lidar unit preferably employs a 360-degree surround field of view.

[0043] like Figure 3A As shown, the X1 direction is the extension direction of the boom, and the rotation axis of the lidar is perpendicular to the X1 direction. Each lidar forms a 360-degree field of view around its rotation axis. Figure 3BAs shown, the two lidars are positioned back-to-back but their scanning fields of view overlap. Lidar 31 forms a field of view V1, and lidar 32 forms a field of view V2. V1 and V2 overlap, and lidars 31 and 32 surround the boom 21 to form a 360-degree field of view, enabling comprehensive monitoring of the construction scene.

[0044] In mobile control consoles other than those used by cranes, the mobile control console has an operating lever head, which has a fixed lever and a telescopic lever. The telescopic lever can extend and retract along the extension line of the fixed lever. The fixed lever is connected to the support base, and the fixed lever can drive the telescopic lever to perform pitch and azimuth movements.

[0045] The support base 1 is equipped with multiple positioning targets 41, which can be distributed at multiple positioning points on the support base 1 to serve as positioning references. The telescopic boom 22 is equipped with a target target 42 at its end.

[0046] The lidar is mounted on the fixed boom 21, which is the fixed rod of the operating lever of the mobile control panel, to collect laser point cloud data of the construction scene. The collected laser point cloud data covers the target, that is, it includes the target data.

[0047] The construction scenario includes live electrical targets, such as power transmission lines, distribution boxes, poles, and transformers.

[0048] The inclinometer 50 is mounted on the fixed boom 21, which is the fixed rod set on the operating rod head, and is used to collect the real-time inclinometer data of the operating rod head by following the real-time movement of the fixed boom 21.

[0049] The power supply unit 60 is mounted on the support base of the operating boom head, specifically inside the crane's cab, and is used to supply power to the system. The power supply unit 60 can be implemented using the crane's own power module.

[0050] The processing unit 70 receives the laser point cloud data and the real-time tilt angle data via a line, calculates the distance between the target and the charged object, and triggers an early warning signal when the distance is lower than the safety threshold. The processing unit can be installed in the crane's cab and can be compatible with the cab's control system, or it can be an independent processing terminal.

[0051] The early warning device 80 issues an alarm based on the warning signal. The early warning device includes a horn, alarm light, vibration module, screen display module, and / or network communication module. The early warning device can issue alarms via sound, light, electricity, text messages, telephone, screen display, or even by driving a drone to the scene.

[0052] In a preferred embodiment, such as Figure 4As shown, the system also includes a network transmission unit 90 for transmitting the laser point cloud data and the real-time tilt angle data to the processing unit 70. The network transmission unit includes an industrial-grade network switch and a 4G module.

[0053] like Figure 5 The diagram shows the structure of the system located on the fixed boom 21. Two lidar sensors are fixedly connected to the joints of the fixed boom 21 via positioning plates.

[0054] The inclinometer 50 and the network transmission unit 90 are housed in a waterproof and dustproof enclosure 55, which is also mounted on the fixed boom 21, specifically the fixed rod at the head of the operating lever, maintaining a relatively fixed position relative to the lidar. The waterproof and dustproof enclosure can be positioned on the side of the fixed boom 21 where the lidar is not located, ensuring that the structure of the enclosure does not obstruct the lidar's scanning field of view, resulting in wider coverage of the surrounding environment and stronger anti-interference capabilities.

[0055] In a preferred embodiment, the system further includes a remote terminal that can be integrated with the processing unit 70. The remote terminal receives the laser point cloud data and the real-time tilt angle data via a network module, calculates the distance between the target and the charged object, and displays the distance of the boom (i.e., the operating rod head) relative to the charged object in real time. The remote terminal also includes a user input interface, allowing users to input safety thresholds for each charged object, thereby adjusting the triggering criteria to adapt to different construction sites and the actual needs of different charged objects.

[0056] The warning can include various methods such as sound, light, electricity, communication signals, network signals, and triggering drones / unmanned vehicles.

[0057] This invention utilizes lidar to monitor power construction scenarios. When a mobile control panel enters the vicinity of a live electrical component, it provides timely warnings to prevent damage to power facilities caused by the mobile control panel during construction.

[0058] The above embodiments are only used to describe the technical solution of this utility model and are not to be regarded as a limitation of this utility model.

Claims

1. A power construction safety early warning system based on lidar, characterized in that, include: A lidar and a target are provided. The lidar is mounted on a fixed rod at the end of the control lever of the mobile control console to collect laser point cloud data of the construction scene, which includes a charged target. The target is mounted at the end of the telescopic rod at the end of the control lever, and the laser point cloud data covers the target. Inclinometer, a fixed rod mounted on the operating lever head, is used to collect real-time inclination data of the operating lever head; The power supply unit is mounted on the support base of the operating lever head and is used to supply power to the system. The processing unit uses the laser point cloud data and the real-time tilt angle data to calculate the distance between the target and the charged object, and triggers an early warning signal when the distance is lower than the safety threshold. The early warning device issues an alarm based on the warning signal.

2. The power construction safety early warning system based on lidar as described in claim 1, characterized in that, The system includes two lidar units, which are positioned on opposite sides of the fixed pole.

3. The power construction safety early warning system based on lidar as described in claim 2, characterized in that, The scanning fields of the two lidars overlap.

4. The power construction safety early warning system based on lidar as described in claim 1, characterized in that, The system also includes a remote terminal for displaying the distance between the operating lever and the target charged body in real time.

5. The power construction safety early warning system based on lidar as described in claim 1, characterized in that, The system also includes a network transmission unit for transmitting the laser point cloud data and the real-time tilt angle data to the processing unit.

6. The power construction safety early warning system based on lidar as described in claim 5, characterized in that, The inclinometer and the network transmission unit are housed in a waterproof and dustproof enclosure, which is mounted on a fixed rod at the operating lever head and is positioned relatively and fixed to the lidar.

7. The power construction safety early warning system based on lidar as described in claim 6, characterized in that, The waterproof and dustproof housing is placed on the first side of the fixing rod, and the lidar is set on the second side of the fixing rod.

8. The power construction safety early warning system based on lidar as described in claim 5, characterized in that, The network transmission unit includes an industrial-grade network switch and a 4G module.

9. The power construction safety early warning system based on lidar as described in claim 4, characterized in that, The remote terminal also includes a user input interface to allow users to input safety thresholds for each target charged body.

10. The power construction safety early warning system based on lidar as described in claim 1, characterized in that, The warning device includes a horn, alarm light, vibration module, screen display module and / or network communication module.

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