CN103714250B - Fast collision detecting method for high voltage warning region of transformer substation - Google Patents
Fast collision detecting method for high voltage warning region of transformer substation Download PDFInfo
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- CN103714250B CN103714250B CN201310733140.5A CN201310733140A CN103714250B CN 103714250 B CN103714250 B CN 103714250B CN 201310733140 A CN201310733140 A CN 201310733140A CN 103714250 B CN103714250 B CN 103714250B
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Abstract
A fast collision detecting method for a high voltage warning region of a transformer substation is provided. The method comprises the following steps that a three-dimensional transformer substation physical model is guided in to obtain the high voltage warning region range; the radius of a visual area is determined based on the camera type, the mounting position and an observation view angle; a first combination polynomial for presenting a high voltage warning range polygon is established with cameras serving as centers; detection for judging whether movements of a person touch the high voltage warning region range at multiple angles is achieved by utilizing multiple verifications of a simultaneous analytic equation set of the combination polynomial and the human body vertical projection circular ring in three-dimensional space. The fast collision detecting method solves the problem of insufficient detecting evidences caused by a visual dead zone or angle deflection possibly existing in a single camera picture and improves accuracy of collision detection. It is proved by experiments that the fast collision detecting method is concise, efficient, fast, accurate and suitable for maintaining safety of high voltage warning region of the unattended transformer substation.
Description
Technical field
A kind of method of monitoring the present invention relates to unattended operation transformer station high pressure warning region is crossed the border, more particularly, to one kind
The monitoring method of crossing the border of virtual warning lines is touched based on target (people or thing) monitored in multiple-camera vision intersectional region.
Background technology
From the Eleventh Five-Year Plan later stage, intelligent substation has become the important component part of intelligent grid, technically
Say, need the monitoring of matched transformer station's scene device and environment.To ensure electric power netting safe running, it is to avoid transformer station
The intentional or unintentional collision of people under operative scenario or swarm into high pressure warning region and caused safety precaution problem and study this
Problem.So-called high pressure warning region collision detection is referred to according to high pressure warning region scope, camera type and visual angle, currently
The target of motion, by the way that in video camera monitoring range, whether the target for detecting motion interacts with warning region, if occurring
Collision, should alert immediately, so as to ensure that grid equipment is kept the safety in production.
Subject matter is present in the existing video monitoring system of unattended operation transformer station：The behavior of area to be monitored is sentenced
Disconnected is to realize not having intelligent video analysis means by direct surveillance, is thus likely to result in hundred close one thin results, video prison
The actual efficacy of viewing system is little.
To ensure electric power netting safe running, the safety precaution of unattended operation transformer station is solved the problems, such as, it is necessary to carry out transformer station
The intellectual analysis of video monitoring are processed, and quick and precisely, truly reflect the situation of site environment, to be rung in real time
Should, the working strength of patrol officer can be so reduced, improve the security guard work quality of transformer station.
The content of the invention
The technical problem to be solved, is to propose a kind of quick transformer station's high pressure warning region side collision detection
Method, the people that can be effectively combined under work of transformer substation scene intentionally or accidentally collides or swarms into the situation of high pressure warning region, soon
Speed, the time and the position that efficiently, accurately perceive this kind of event of generation, send in time alarm signal, it is to avoid grid equipment safety
Unexpected problem in production process.
Above-mentioned technical problem is solved, the technical solution used in the present invention is：
A kind of quick transformer station's high pressure warning region collision checking method, is characterized in that：Comprise the following steps：
S1 imports transformer station's three-dimensional physical model in unity3d, obtains the plane coordinates of high pressure warning region to be monitored
Scope；Determine the camera type and physical parameter layouted around high pressure warning region；Determine the position of moving target, calculate it
Movement velocity；
S2 calculate with each video camera be three-dimensional system of coordinate origin, monitored target as terminal ray segment in X-Y plane
Projection：In three-dimensional system of coordinate, video camera is usedThe position of monitored destination object is characterized,It is the ray
Segment length, α is the angle of ray segment in Fig. 2 between X-Y plane Projection Line Segment and X-axis, and β is between the ray segment and Z axis
Angle；These three parameters are given when can determine the position of monitoring objective object by video camera, can be considered as known parameters；Base
In the parameter group, position of the destination object in two-dimensional coordinate plane is obtained；
Projection of the direction ray section in X-Y plane：
Destination object projects point coordinates：
Set up collision behavior detection equation group：
WhereinThe linear equation of two dimensional surface polygon warning region is represented,Represent linear equation parameter；
Explanation：Due toWith kinetic characteristic, therefore useRepresent the time motion of monitored target
Track.It is the radius of monitored target projection, can be represented with empirical value；
S3 is in view of two dimensional surface polygon security area always has oneScope, i.e.,：
IfOutside this scope, then will not collide certainly；Only whenPositioned at this scope when, will
Position coordinatesFormula (3) is substituted into, is checked whether and is met the equation；If meeting one or more of equations, table
Bright collision behavior occurs；Otherwise do not collide；
S4 there may be three kinds of situations based on single camera visual zone collision checking method formula (3)：
0 intersection point：Illustrate that monitored target does not touch high pressure warning region, now,Can not cause to appoint
What simple equation is set up；
1 intersection point：Illustrate that monitored target has touched certain the line segment middle part of high pressure warning region, now,
Certain equation in linear function group can be caused to set up；
2 intersection points：Illustrate that monitored target has touched the summit of certain two intersecting line segment of high pressure warning region, this
When,Certain two simple equation in linear function group can be caused to set up simultaneously.Such case is also in fact a kind of
Collision detection cumulative evidence.
S5, should be three-dimensional based on foundation centered on every video camera for the application scenarios of two or more video cameras
SS region, tracks respectively the movable body occurred in warning region, analyzes with reference to the calculating of above-mentioned steps S2～S4, is given
Whether the judgement of high pressure warning region is touched.
Compared with prior art, it is an advantage of the current invention that：
The present invention combines multinomial using three-dimensional monitored target vertical projection with two dimensional surface polygon security area
The simultaneous of formula parses the multiple-authentication of equation group, realizes that multi-angle judges whether monitored goal behavior touches high pressure warning region
Detection.This method avoid single camera picture vision dead zone that may be present or angle deviating and caused detection evidence
Not enough problem, improves the degree of accuracy of collision detection.Prove that the method succinctly efficiently, quick and precisely, is suitable for very much through experiment
In the security maintenance of unattended transformer station's high pressure warning region.
Description of the drawings
Fig. 1 is collision detection equatorial projection schematic diagram；
Fig. 2 is destination object Coordinate calculation method schematic diagram；
Fig. 3 is method flow diagram.
Specific embodiment
Below by specific embodiment, each details of the present invention is described in detail with reference to accompanying drawing.
Quick transformer station's high pressure warning region collision checking method embodiment of the present invention, comprises the following steps：
S1 imports transformer station's three-dimensional physical model in unity3d, obtains the plane coordinates of high pressure warning region to be monitored
Scope；Determine the camera type and physical parameter layouted around high pressure warning region；Determine the position of moving target, calculate it
Movement velocity；Referring to Fig. 1, it is collision detection equatorial projection schematic diagram, is the schematic diagram of the method, is intersected in video camera
In regional extent, the high pressure warning region of transformer station is rendered as virtual planar polygons plane domain, it is possible to use once straight
Line equation group is represented；For monitored target, we use annulus table of the upright projection of capsule body bounding box on two dimensional surface
Show its manual space and position；
S2 calculate with each video camera be three-dimensional system of coordinate origin, monitored target as terminal ray segment in X-Y plane
Projection：In three-dimensional system of coordinate, video camera is usedThe position of monitored destination object is characterized,It is ray segment length
Degree, α is the angle of ray segment in Fig. 2 between X-Y plane Projection Line Segment and X-axis, and β is the folder between the ray segment and Z axis
Angle；These three parameters are given when can determine the position of monitoring objective object by video camera, can be considered as known parameters；Based on this
Parameter group, obtains position of the destination object in two-dimensional coordinate plane；
Projection of the direction ray section in X-Y plane：
Destination object projects point coordinates：
Collision behavior detects equation group：
Explanation：WhereinRepresent the straight line side of two dimensional surface polygon warning region
Journey,Represent linear equation parameter；Due toWith kinetic characteristic, therefore useRepresent quilt
The time movement locus of monitoring objective.It is the radius of monitored target projection, can be represented with empirical value；
S3 is in view of two dimensional surface polygon security area always has oneScope, i.e.,：
IfOutside this scope, then will not collide certainly；Only whenPositioned at this scope when, will
Position coordinatesFormula (3) is substituted into, is checked whether and is met the equation；If meeting one or more of equations, table
Bright collision behavior occurs；Otherwise do not collide；Detect whether the annulus of motion is tangent with linear function group or intersect, it is any
One generation for occurring all to illustrate collision behavior, you can send alarm signal.
S4 there may be three kinds of situations based on single camera visual zone collision checking method formula (3)：
0 intersection point：Illustrate that monitored target does not touch high pressure warning region, now,Can not cause to appoint
What simple equation is set up；
1 intersection point：Illustrate that monitored target has touched certain the line segment middle part of high pressure warning region, now,
Certain equation in linear function group can be caused to set up；
2 intersection points：Illustrate that monitored target has touched the summit of certain two intersecting line segment of high pressure warning region, this
When,Certain two simple equation in linear function group can be caused to set up simultaneously.Such case is also in fact a kind of
Collision detection cumulative evidence.
S5, should be three-dimensional based on foundation centered on every video camera for the application scenarios of two or more video cameras
SS region, tracks respectively the movable body occurred in warning region, analyzes with reference to the calculating of above-mentioned steps S2～S4, is given
Whether the judgement of high pressure warning region is touched.
Claims (1)
1. a kind of quick transformer station's high pressure warning region collision checking method, is characterized in that：Comprise the following steps：
S1 imports transformer station's three-dimensional physical model in unity3d, obtains the plane coordinates scope of high pressure warning region to be monitored；
Determine the camera type and physical parameter layouted around high pressure warning region；Determine the position of moving target, calculate its motion
Speed；
S2 calculate with each video camera as three-dimensional system of coordinate origin, ray segment of the monitored target as terminal X-Y plane throwing
Shadow：In three-dimensional system of coordinate, video camera is usedThe position of monitored destination object is characterized,It is the ray segment length
Degree, α is angle of the ray segment between X-Y plane Projection Line Segment and X-axis, and β is the angle between ray segment and Z axis；These three
Parameter is given when the position of monitoring objective object is determined by video camera, based on the parameter group, obtains destination object in two-dimensional coordinate
Position in plane：
Projection of the direction ray section in X-Y plane：
Coordinate of the destination object subpoint in X-Y plane：
S3 sets up collision behavior detection equation group：
WhereinThe linear equation of two dimensional surface polygon warning region is represented,Represent linear equation parameter；
Due toWith kinetic characteristic, therefore useThe time movement locus of monitored target is represented,It is
The radius of monitored target projection, is typically represented with empirical value；
S4 is in view of two dimensional surface polygon security area always has oneScope, i.e.,：
IfOutside this scope, then will not collide；
Only whenPositioned at this scope when, by position coordinatesFormula (3) is substituted into, is checked whether and is met the equation；
If meeting one or more of equations, show that collision behavior occurs；Otherwise do not collide；
There are three kinds of situations based on single camera visual zone collision checking method formula (3) in S5：
0 intersection point：Illustrate that monitored target does not touch high pressure warning region, now,Any one can not be caused
Individual simple equation is set up；
1 intersection point：Illustrate that monitored target has touched certain the line segment middle part of high pressure warning region, now,Make one
Certain equation in equation of n th order n group is set up；
2 intersection points：Illustrate that monitored purpose mark has touched the summit of certain two intersecting line segment of high pressure warning region, now,So that two simple equations of certain in linear function group are set up simultaneously；
S6 is supervised for the application scenarios of two or more video cameras based on three dimensions is set up centered on every video camera
Region is surveyed, the monitored target occurred in warning region is tracked respectively, analyzed with reference to the calculating of above-mentioned steps S2～S5, being given is
The judgement of no touching high pressure warning region；
Formula (1), (2), (3) with kinetic characteristic, therefore for representing the time movement locus of monitored target；Monitored target
The radius of projection, can represent empirical value with formula (4).
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| CN105205836B (en) * | 2015-09-30 | 2018-09-25 | 天脉聚源（北京）科技有限公司 | The method and apparatus of collision detection |
| CN109961609A (en) * | 2019-04-26 | 2019-07-02 | 国网冀北电力有限公司检修分公司 | A kind of substation safety means of defence, device and system |
| CN113505679B (en) * | 2021-07-02 | 2023-12-26 | 浙江华是科技股份有限公司 | Monitoring method, device and system for transformer substation cable and computer storage medium |
| CN115709484B (en) * | 2023-01-09 | 2023-05-02 | 常州检验检测标准认证研究院 | Mobile robot safety simulation detection method and system |
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Address after: 510080 water Donggang 8, Dongfeng East Road, Yuexiu District, Guangzhou, Guangdong. Patentee after: ELECTRIC POWER RESEARCH INSTITUTE, GUANGDONG POWER GRID CO., LTD. Address before: 510080 water Donggang 8, Dongfeng East Road, Yuexiu District, Guangzhou, Guangdong. Patentee before: Electrical Power Research Institute of Guangdong Power Grid Corporation |
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