The invention provides a high-
voltage electricity approaching safety early warning method,
system and device for an automobile crane, and belongs to the technical field of
engineering machinery safety protection. Comprising the steps of collecting an
electric field signal radiated by a high-
voltage line, reversely deducing a
distance based on an
electric field intensity attenuation model, and calculating an
azimuth angle of a
charged body through a MUSIC
algorithm; controlling a
laser radar to perform high-density scanning within a set angle according to the
azimuth angle to obtain three-dimensional
point cloud data of the high-
voltage line;
time synchronization and coordinate registration are carried out on the electromagnetic sensing array and
laser radar data, a three-dimensional
space model of the high-voltage line is established after fusion, and the
shortest distance between the three-dimensional
space model and a suspension arm is calculated; identifying a voltage level, calculating a basic safety distance, correcting by combining an environment factor, and multiplying by a
safety coefficient to obtain a dynamic safety threshold value; and according to the real-
time distance between the suspension arm and the electrified body, triggering graded early warning and control actions. According to the invention, the problem of measurement deviation of a single sensor under complex
electromagnetic environment, changeable illumination and meteorological working conditions is solved.