Early warning method, system and equipment for safe distance of power transmission and distribution line and medium

The invention discloses an early warning method, system and device for the height of a vehicle below a power transmission and distribution line and a medium, and relates to the technical field of laser radar ranging, and the method comprises the steps: obtaining point cloud data generated based on a laser radar device installed above a lead of the power transmission and distribution line; preprocessing the point cloud data; carrying out ground plane fitting on the preprocessed data based on an RANSAC (Random Sample Consensus) algorithm, filtering out abnormal values and obtaining a ground plane model; wherein the ground plane model is used for acquiring the ground height; correcting the error of the height change of the lead on the ground height in real time; and separating an independent vehicle group from the point cloud data based on a clustering algorithm, calculating the absolute height of the vehicle, and giving an alarm if the absolute height exceeds a preset height threshold. Through fusion of multi-s