CN103745484A - Worker target safety early-warning method for hot-line work on electric power facility - Google Patents
Worker target safety early-warning method for hot-line work on electric power facility Download PDFInfo
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Abstract
The invention discloses a worker target safety early-warning method for hot-line work on an electric power facility. The method comprises the following steps of acquiring sufficient prior calibration data from a working scenario of the electric power facility, calibrating the working scenario, shot by a single camera, of the electric power facility in a data fitting way, and performing worker target safety early-warning on a hot-line work process of the electric power facility based on a calibration result. According to the method, a worker target is analyzed and monitored in real time through a computer without an additional worker; in addition, when the worker target safety area early-warning method is applied, the position and the height of the worker target can be analyzed independent of a false position projection relationship in a two-dimensional video image through the computer, and the position of the worker target in the two-dimensional video image is converted into an actual position in three-dimensional world coordinates for calculation, so that the position judgment accuracy and stability are improved.
Description
Technical field
The present invention relates to a kind of safe early warning method, particularly relate to a kind of personnel targets safe early warning method of electric power facility hot line job.
Background technology
In the process of electric power facility hot line job, because power equipment is with high voltage, therefore staff's needs and electric power facility keep certain safe distance.At conventional electric power operation field, do not have special personnel carry out safe distance judgement and early warning, therefore need staff oneself to maintain vigilance.In high-strung operation process, be easy to cause careless omission, thereby cause the generation of security incident.
In view of this, the single camera priori nominal data of the inventor based on to electric power facility working scene, develops a kind of personnel targets safe early warning method of electric power facility hot line job specially, and this case produces thus.
Summary of the invention
The personnel targets safe early warning method that the object of this invention is to provide a kind of electric power facility hot line job, presets live-working safety line or place of safety, once staff surmounts safety line, enters explosive area, proposes to report to the police.
To achieve these goals, solution of the present invention is:
A personnel targets safe early warning method for electric power facility hot line job, comprises the steps:
1) obtain priori nominal data step;
Described priori nominal data comprises: priori is demarcated the horizontal range between thing and single camera
(thing sequence number is demarcated in subscript i representative, lower same), priori is demarcated the vertical height of thing
, all priori is demarcated thing and the coordinate of ground contact point on operation field image
, and demarcate the image coordinate height of part corresponding to thing vertical height with priori
.
2) obtain coordinate mapping relations step;
Described priori is demarcated to the horizontal range of thing
, vertical height
, image coordinate
, image coordinate height
tabulating, obtain image coordinate-horizontal range curve,
curve, and horizontal range-every pixels tall curve,
curve, above-mentioned curve can obtain by modes such as fitting of a polynomial or least square fittings.
3) delimit safety zone step;
Described safety difference comprises: safety zone, the safety zone based on vertical height and the safety zone of while based on horizontal range and vertical height based on horizontal range.
The wherein said safety zone decision method based on horizontal range is the horizontal range of calculating personnel targets in described operation field, then compares with described horizontal range scope, draws safe early warning result.
The decision method of the described safety zone based on vertical height is the vertical height of calculating personnel targets in described operation field, then compares with described vertical span, draws safe early warning result.
The decision method of the safety zone of described while based on horizontal range and vertical height need to calculate horizontal range and the vertical height of described personnel targets simultaneously, then compares with described horizontal range scope and vertical span, draws safe early warning result.
4) analyst's target step.
When there is personnel targets, first identify and calculate position and the height of personnel targets, and according to the safety zone at the method delimitation electric power facility hot line job scene described in step 3), the safe early warning of realization to personnel targets, once personnel targets is left safety zone and entered hazardous location, system will be reported to the police.
The advantage of above-mentioned electric power facility hot line job field staff's targeted security region method for early warning is, the analysis to personnel targets and monitoring meeting complete in real time by computing machine, do not need to add the extra work personnel that send.Simultaneously, application above-noted persons' targeted security region method for early warning, computing machine does not rely on the wrong position projection relation in two-dimensional video image for the analysis of personnel targets position and height, but the physical location that the personnel targets position in two-dimensional video image is converted in three-dimensional world coordinate calculates, thereby improved the Stability and veracity of location determination.
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of safe early warning method described in the present embodiment;
Fig. 2 is the schematic diagram of electric power facility operation field described in the present embodiment;
Fig. 3 is personnel targets and safety zone schematic diagram in the present embodiment.
Embodiment
According to example, narrate implementation method of the present invention below, all variablees and the parameter-definition in narration process, mentioned are as shown in table 1:
Table 1:
A personnel targets safe early warning method for electric power facility hot line job, as shown in Figure 1, comprises the steps:
Step 101: obtain priori nominal data step;
In the present embodiment, need the electric power facility hot line job scene of demarcation as shown in Figure 2, in described operation field, the electric power facility of road both sides can be demarcated thing as priori, because their invariant position, and its dimensional parameters easily obtains.
Operation field in the present embodiment, priori demarcation Wu Wei road supports the cement pole of transformation facility on both sides of the road.Described priori is demarcated to thing, and the parameter that need to obtain has: described priori is demarcated the horizontal range between thing and described single camera
(thing sequence number is demarcated in subscript i representative, lower same), described priori is demarcated the vertical height of thing
(in the present embodiment, described priori demarcate the height of thing be the vertical height between the position that contacts to top and transformation facility, the position on cement pole bottom and basis, ground).All described priori appearing in described operation field image is demarcated thing all needs to obtain described horizontal range
with described vertical height
.
Next, in described operation field image, obtain all described priori and demarcate thing and the coordinate of ground contact point on described operation field image
, the vertical coordinate of a needs described operation field image place coordinate system here.Meanwhile, on described operation field image, obtain the image coordinate height of demarcating part corresponding to thing vertical height with described priori
, the same vertical coordinate that only needs described operation field image place coordinate system.
Step 201: obtain coordinate mapping relations step;
Described priori is demarcated to the described horizontal range of thing
, described vertical height
, described image coordinate
, described image coordinate height
tabulating, as shown in table 2:
Table: 2:
Obtained priori nominal data is demarcated to thing according to priori and number in the 2-5 row of inserting respectively reference numeral, the data in the 6th row are by the described vertical height in corresponding row
divided by described image coordinate height
obtain, unit is rice/pixel.
According to secondary series and tertial data in table, can obtain image coordinate-horizontal range curve,
curve.According to secondary series and the 6th column data in table, can obtain horizontal range-every pixels tall curve,
curve.
Obtaining of described curve can be undertaken by modes such as fitting of a polynomial or least square fittings, and in the present embodiment, data fitting is carried out with the Polyfit function in Matlab.When using fitting of a polynomial, in general, the degree of polynomial is unsuitable too high, generally suitable with cubic polynomial.Using cubic polynomial matching can obtain four parameters, is respectively cubic term coefficient
, quadratic term coefficient
, Monomial coefficient
and constant term
.For
curve and
curve, matching obtains two groups of different parameters respectively
with
.When the location parameter of personnel targets on image
after obtaining, the horizontal range between itself and CCTV camera
for:
Height based on personnel targets on image
, its true altitude
for:
Step 301: delimit safety zone step;
Method provided by the present invention can be applicable in different described electric power facility hot line job scenes, simultaneously, for different hot line job scenes, the delimitation of described safety zone is not identical yet, can be divided into three kinds: the safety zone based on horizontal range, the safety zone based on vertical height, the safety zone of while based on horizontal range and vertical height.
The delimitation of the safety zone based on horizontal range is that the horizontal range coordinate based on position in described working scene carries out, and does not conventionally consider the vertical height of position in described operation field.In described working scene, delimit in advance a part of space as safety zone, according to described coordinate mapping relations, calculate horizontal range scope corresponding to described space.Decision method is the horizontal range of calculating personnel targets in described operation field, then compares with described horizontal range scope, draws safe early warning result.
The delimitation of the safety zone based on vertical height is that the vertical height coordinate based on position in described operation field carries out, and does not conventionally consider the horizontal range of described position.In described working scene, delimit in advance a part of space as safety zone, according to described coordinate mapping relations, calculate vertical span corresponding to described space.Decision method is the vertical height of calculating personnel targets in described operation field, then compares with described vertical span, draws safe early warning result.
The delimitation of the safety zone based on horizontal range and vertical height simultaneously need to be considered horizontal coordinate and the vertical coordinate of position in operation field simultaneously.A part of safe space of delimiting in described operation field in advance need to transform based on described coordinate mapping relations on horizontal range and vertical height both direction, obtains described space corresponding horizontal range scope and vertical span.Decision method need to calculate horizontal range and the vertical height of described personnel targets simultaneously, then compares with described horizontal range scope and vertical span, draws safe early warning result.
In embodiment of the present invention, the safety zone of delimiting belongs to the safety zone based on horizontal range, and in accompanying drawing 3, the region between two red lines is hazardous location, and pedestrian target can not enter.Once the horizontal range of described personnel targets approaches described hazardous location, safe early warning can be proposed.
Method of the present invention can be applied in other embodiment, and in the application of these embodiment, the embodiment described in type and the present invention of described safety zone may be different.For example, in the maintenance process becoming on 10kv bar, staff need to along electric pole climb arrive electric power facility position overhaul.In such working scene, the power transmission line that electric pole top connects belongs to hazardous location, and personnel targets can not be close.The now delimitation of safety zone is to carry out based on vertical height, and the scope of for example setting the position height that is less than power transmission line place is safe range, once calculate, the vertical height of personnel targets is approaching exceedes safe range, proposes safe early warning.
In other embodiment that likely occur, also can comprise the safety zone early warning based on horizontal range and vertical height simultaneously.For example exist up in the working scene of open-wire transmission line and use street lamp car, when personnel targets is positioned on the telescopic arm of street lamp car, its vertical height can not approach the position of open-wire transmission line; And be positioned near personnel targets street lamp car, can not approach the horizontal range scope that street lamp car telescopic arm covers.In such working scene, need for horizontal range and the vertical height of personnel targets, to calculate simultaneously, comprehensively relatively draw safe early warning result.
Step 401: analyst's target step.
In embodiment of the present invention, when there is personnel targets, first can be identified, as shown in Figure 3, according to step 2) described in formula, the position of personnel targets and highly will be calculated integrating step 3) described in the safety zone at the electric power facility hot line job scene delimited of method, can realize the safe early warning to personnel targets.Once personnel targets is left safety zone and entered hazardous location, system will be reported to the police.
In Fig. 3, the region of delimiting within red line is hazardous location, once personnel targets enters, safe early warning can set out.In figure, three personnel targets are respectively A, B and C from left to right.The rectangle frame base mid point that surrounds three personnel targets in Fig. 3 is the location point on image as personnel targets, and result of calculation is as follows:
On image, the region distance of axis left is set as negative value, right side be set as on the occasion of.
The horizontal range of the safety zone of delimiting is the region that is greater than 38m, simultaneously apart from be less than-2m of axis or be greater than the region of 4.5m.From result of calculation, find out, three personnel targets all do not enter hazardous location.
In the safety zone early warning based on vertical height, the mathematic(al) representation of the calibration curve based on described, the vertical height of personnel targets will be calculated, and in conjunction with the vertical height safety zone of having delimited in advance, realize the safety zone early warning for personnel targets.
In safety zone early warning based on horizontal range and vertical height, the horizontal range of personnel targets and vertical height all need to be calculated to be come, and in conjunction with the vertical height safety zone of having delimited in advance, realizes the safety zone early warning for personnel targets at the same time.
The present invention method and the patent of invention of publication number for CN 102496232 A in the method the narrated background technology based on identical, but data acquisition mode, implementation method, application, application scenarios are all completely different.The three-dimensional scenic scaling method providing in patent of invention that application publication number is CN 102496232 A (under be called invention CN 102496232 A) is based on single camera pin-hole model, for the shaft tower on overhead transmission line, carries out modeling; The position that its CCTV camera sets up can be taken in target shaft tower in image completely, makes target shaft tower be positioned at the center of captured image simultaneously, and position and the volumetric parameter that so just can rely on target shaft tower carry out the demarcation of three-dimensional scenic.The method cannot realize in the applied scene of the present invention, for example, in the electric power facility working scene in electric substation, there is no the target of similar overhead power transmission line pole tower as known calibration thing, therefore need to design different algorithms and demarcate the applied scene of the present invention.
The method providing in the present invention is applied in electric power facility hot line job scene, is applied in the scene that work of electric power system personnel overhaul electric power facility; The method providing in invention CN 102496232 A is to be applied in the monitoring of power transmission facility, i.e. the monitoring near the invader overhead transmission line of unattended field.
The method providing in the present invention need to be obtained enough priori nominal datas in described electric power facility hot line job scene, when existing described priori is demarcated thing lazy weight, need mode by manually putting to complete the collection of priori nominal data, the quantity that common described priori is demarcated thing is at least 10; The method providing in invention CN 102496232 A does not need to put priori and demarcates thing, only needs distance and the volumetric parameter of measurement target steel tower.
The method that the method providing in the present invention is used when calculating the location parameter of described personnel targets is data fitting, comprises fitting of a polynomial or least square approximation, and these methods are all that the priori nominal data based on a large amount of completes; The method that invention CN 102496232 A provide is the imaging optical path that draws target steel tower and invader according to video camera pin-hole model, according to the geometric relationship described in imaging optical path figure, carries out the calculating of invader position and volumetric parameter.
Above-described embodiment and graphic and non-limiting product form of the present invention and style, suitable variation or modification that any person of an ordinary skill in the technical field does it, all should be considered as not departing from patent category of the present invention.
Claims (5)
1. a personnel targets safe early warning method for electric power facility hot line job, is characterized in that comprising the steps:
1) obtain priori nominal data step;
2) obtain coordinate mapping relations step;
3) delimit safety zone step;
4) analyst's target step.
2. the personnel targets safe early warning method of a kind of electric power facility hot line job as claimed in claim 1, is characterized in that: the priori nominal data described in step 1) comprises: priori is demarcated the horizontal range between thing and single camera
, priori is demarcated the vertical height of thing
, all priori is demarcated thing and the coordinate of ground contact point on operation field image
, and demarcate the image coordinate height of part corresponding to thing vertical height with priori
.
3. the personnel targets safe early warning method of a kind of electric power facility hot line job as claimed in claim 1, is characterized in that: step 2) described in obtain coordinate mapping relations and be specially: the horizontal range of described priori being demarcated to thing
, vertical height
, image coordinate
, image coordinate height
tabulating, obtain image coordinate-horizontal range curve, and horizontal range-every pixels tall curve, above-mentioned curve negotiating fitting of a polynomial or least square fitting mode are obtained.
4. the personnel targets safe early warning method of a kind of electric power facility hot line job as claimed in claim 1, is characterized in that: described in step 3), safety difference comprises: safety zone, the safety zone based on vertical height and the safety zone of while based on horizontal range and vertical height based on horizontal range; The wherein said safety zone decision method based on horizontal range is the horizontal range of calculating personnel targets in described operation field, then compares with described horizontal range scope, draws safe early warning result; The decision method of the described safety zone based on vertical height is the vertical height of calculating personnel targets in described operation field, then compares with described vertical span, draws safe early warning result; The decision method of the safety zone of described while based on horizontal range and vertical height need to calculate horizontal range and the vertical height of described personnel targets simultaneously, then compares with described horizontal range scope and vertical span, draws safe early warning result.
5. the personnel targets safe early warning method of a kind of electric power facility hot line job as claimed in claim 1, it is characterized in that: in above-mentioned steps 4) in, when there is personnel targets, first identify and calculate position and the height of personnel targets, and according to the safety zone at the method delimitation electric power facility hot line job scene described in step 3), the safe early warning of realization to personnel targets, enters hazardous location once personnel targets is left safety zone, and system will be reported to the police.
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| 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 |
| CN111882816A (en) * | 2020-06-24 | 2020-11-03 | 国网宁夏电力有限公司检修公司 | Danger alarm method, medium and system for transformer substation |
| CN111882077A (en) * | 2020-06-24 | 2020-11-03 | 国网宁夏电力有限公司检修公司 | Method and system for establishing defense space of transformer substation |
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Inventor after: Hong Zhou Inventor after: Wang Lizhong Inventor after: An Xiaojun Inventor after: Ma Liqun Inventor after: Cheng Weidong Inventor after: Mou Xuanqin Inventor after: Peng Bin Inventor after: Pan Jianyue Inventor after: Zhang Yuanxin Inventor before: Mou Xuanqin Inventor before: Peng Bin Inventor before: Pan Jianyue Inventor before: Li Zhiqiang Inventor before: An Xiaojun Inventor before: Ma Liqun Inventor before: Zhang Yuanxin |
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