CN103745484B - 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, the personnel targets peace of more particularly to a kind of electric power facility livewire work
Full method for early warning.
Background technology
During electric power facility livewire work, due to power equipment carry high voltage, therefore staff need and
Electric power facility keeps certain safe distance.In conventional electric power operation field, unspecial personnel carry out safe distance
Judge and early warning is it is therefore desirable to staff oneself is maintaining vigilance.It is easy to cause to dredge in high-strung operation process
Leakage, thus lead to the generation of security incident.
In view of this, the present inventor, based on the single camera priori nominal data to electric power facility working scene, specially opens
Send a kind of personnel targets safe early warning method of electric power facility livewire work, this case thus produces.
Content of the invention
It is an object of the invention to provide a kind of personnel targets safe early warning method of electric power facility livewire work, preset
Live-working safety line or place of safety, once staff surmounts safety line enters hazardous area, that is, propose to report to the police.
To achieve these goals, the solution of the present invention is：
A kind of personnel targets safe early warning method of electric power facility livewire work, comprises the steps：
1）Obtain priori nominal data step；
Described priori nominal data includes：Priori demarcates the horizontal range between thing and single camera（Subscript i represents
Demarcate thing sequence number, similarly hereinafter）, the vertical height of priori demarcation thing, all priori demarcate things and ground contact points in operation field
Coordinate on image, and the image coordinate height demarcating the corresponding part of thing vertical height with priori.
2）Obtain coordinate mapping relations step；
Described priori is demarcated the horizontal range of thing, vertical height, image coordinate, image coordinate heightRow
Become form, obtain image coordinate horizontal range curve, that is,Curve, and horizontal range every pixels tall curve, that is,Curve, above-mentioned curve can be obtained by modes such as fitting of a polynomial or least square fittings.
3）Delimit safety zone step；
Described safety difference includes：Safety zone based on horizontal range, the safety zone based on vertical height, Yi Jitong
When safety zone based on horizontal range and vertical height.
Wherein said is to calculate personnel targets in described operation field based on the safety zone decision method of horizontal range
Horizontal range, is then compared 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 of personnel targets in the described operation field of calculating
Straight height, is then compared with described vertical span, draws safe early warning result.
The decision method of the described safety zone being simultaneously based on horizontal range and vertical height needs to calculate described people simultaneously
The horizontal range of member's target and vertical height, are then compared with described horizontal range scope and vertical span, draw
Safe early warning result.
4）Analysis personnel targets step.
When personnel targets occur, identify and calculate position and the height of personnel targets first, and according to step
3）Described method delimit the safety zone at electric power facility livewire work scene, realize the safe early warning to personnel targets, once
Personnel targets leave safety zone entrance deathtrap, and system will be reported to the police.
The advantage of above-mentioned electric power facility livewire work Field Force's targeted security regional early warning method is, to personnel targets
Analysis and monitoring can be completed in real time by computer it is not necessary to plus send extra work personnel.Meanwhile, above-noted persons are applied
Targeted security regional early warning method, computer does not rely in two-dimensional video image for the analysis of personnel targets position and height
Mistake position projection relation, but the personnel targets position in two-dimensional video image is converted in three-dimensional world coordinate
Physical location is calculating, thus improves the Stability and veracity of location determination.
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Brief description
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.
Specific embodiment
Describe the implementation of the present invention, all variables being previously mentioned during narration and parameter definition below according to example
As shown in table 1：
Table 1：
A kind of personnel targets safe early warning method of electric power facility livewire work, as shown in figure 1, comprise the steps：
Step 101：Obtain priori nominal data step；
In the present embodiment, need the electric power facility livewire work scene demarcated as shown in Fig. 2 in described operation field,
The electric power facility of road both sides can serve as priori and demarcates thing, because their position is constant, and its dimensional parameters is easy
Obtain.
Operation field in the present embodiment, priori demarcates the cement pole that Wu Wei road supports transformation facility on both sides of the road.To institute
The priori stated demarcates thing, needs the parameter obtaining to have：Described priori demarcates the horizontal range between thing and described single camera
（Subscript i represents demarcates thing sequence number, similarly hereinafter）, the vertical height of described priori demarcation thing（In the present embodiment, described priori
The height demarcating thing is vertical between the position of top and transformation facility contact for the position of cement pole bottom and ground base
Highly）.All described priori occurring in described operation field image are demarcated thing and are required for obtaining described horizontal rangeWith
Described vertical height.
Next, in described operation field image, obtaining all described priori and demarcate thing and ground contact points described
Coordinate on operation field image, only need to the vertical coordinate of described operation field image place coordinate system here.
Meanwhile, on described operation field image, obtain and the image coordinate of the described priori demarcation corresponding part of thing vertical height is high
Degree, equally only need to the vertical coordinate of described operation field image place coordinate system.
Step 201：Obtain coordinate mapping relations step；
Described priori is demarcated the described horizontal range of thing, described vertical height, described image coordinate, described
Image coordinate heightTabulating, as shown in table 2：
Table:2：
Acquired priori nominal data is demarcated thing numbering according to priori be respectively filled in the 2-5 row of reference numeral,
Data in 6th row is then by the described vertical height in corresponding rowDivided by described image coordinate heightObtain, unit is
Rice/pixel.
According to secondary series in table and tertial data, image coordinate horizontal range curve can be obtained, that is,Bent
Line.According to secondary series in table and the 6th column data, horizontal range every pixels tall curve can be obtained, that is,Bent
Line.
The acquisition of described curve can be carried out by modes such as fitting of a polynomial or least square fittings, the present embodiment
In, data matching is carried out using the Polyfit function in Matlab.When using fitting of a polynomial, in general, multinomial
Formula number of times is unsuitable too high, typically most widely suited with cubic polynomial.Can get four parameters using cubic polynomial matching, respectively
It is cubic term coefficient, secondary term coefficient, Monomial coefficientAnd constant term.ForCurve andBent
Line, matching respectively obtains two groups of different parametersWith.When location parameter on image for the personnel targetsAfter obtaining, its
Horizontal range and CCTV camera betweenFor：
Based on height on image for the personnel targets, its actual heightFor：
Step 301：Delimit safety zone step；
Method provided by the present invention can be applicable in different described electric power facility livewire work scenes, meanwhile, for
Different livewire work scenes, the delimitation of described safety zone also differs, and can be divided into three kinds：Place of safety based on horizontal range
Domain, the safety zone based on vertical height, it is simultaneously based on the safety zone of horizontal range and vertical height.
The delimitation of the safety zone based on horizontal range be horizontal range coordinate based on position in described working scene Lai
Carry out, generally do not consider the vertical height of position in described operation field.A part delimited in advance in described working scene
Space, as safety zone, calculates described space corresponding horizontal range scope according to described coordinate mapping relations.Judgement side
Method is the horizontal range calculating personnel targets in described operation field, is then compared with described horizontal range scope, draws
Safe early warning result.
The delimitation of the safety zone based on vertical height be vertical height coordinate based on position in described operation field Lai
Carry out, generally do not consider the horizontal range of described position.Delimit a part of space as peace in described working scene in advance
Region-wide, calculate the corresponding vertical span in described space according to described coordinate mapping relations.Decision method is to calculate institute
State the vertical height of personnel targets in operation field, be then compared with described vertical span, show that safe early warning is tied
Really.
The delimitation being simultaneously based on the safety zone of horizontal range and vertical height needs to consider position in operation field simultaneously
Horizontal coordinate and vertical coordinate.The a part of safe space delimited in described operation field in advance need in horizontal range and
Converted based on described coordinate mapping relations in vertical height both direction, obtained described space corresponding horizontal range scope
And vertical span.Decision method needs to calculate horizontal range and the vertical height of described personnel targets simultaneously, then with institute
State horizontal range scope and vertical span is compared, draw safe early warning result.
In embodiment of the present invention, the safety zone delimited belongs to the safety zone based on horizontal range, attached
In Fig. 3, the region between two red lines is deathtrap, and pedestrian target can not enter.Once the level of described personnel targets away from
From close to described deathtrap, then safe early warning can be proposed.
Method of the present invention can be applied in other examples, in the application of these embodiments, described peace
Region-wide type and heretofore described embodiment may be different.Such as, the maintenance process becoming on 10kv bar
In, staff need along electric pole climb arrival electric power facility position overhauled.In such working scene
In, the power transmission line that electric pole top is connected belongs to deathtrap, and personnel targets can not be close.Now safety zone draw
Rule is to be carried out based on vertical height, and the scope such as setting the position height being located less than power transmission line is as safe model
Enclosing, once calculating the vertical height of personnel targets close to exceeding safety range, then proposing safe early warning.
In the other embodiment being possible to occur, also can include being simultaneously based on the place of safety of horizontal range and vertical height
Domain early warning.Such as up exist using street lamp car in the working scene of open-wire transmission line, when personnel targets are located at street lamp car
When on telescopic arm, its vertical height can not be close to the position of open-wire transmission line；And it is located at the personnel targets near street lamp car, then not
The horizontal range scope that can be covered close to street lamp car telescopic arm.In such working scene, need to be simultaneous for personnel's mesh
Target horizontal range and vertical height are calculated, and Integrated comparative draws safe early warning result.
Step 401：Analysis personnel targets step.
In embodiment of the present invention, when personnel targets occur, first can be identified, as Fig. 3 institute
Show, according to step 2）Described in formula, the position of personnel targets and height will be computed, in conjunction with step 3）Described in
The safety zone at the electric power facility livewire work scene that method delimited, it is possible to achieve the safe early warning to personnel targets.Once
Personnel targets leave safety zone entrance deathtrap, and system will be reported to the police.
In Fig. 3, the region delimited within red line is deathtrap, once personnel targets enter, safety of setting out is pre-
Alert.Three personnel targets are respectively A, B and C in figure from left to right.The rectangle frame base midpoint of three personnel targets is surrounded in Fig. 3
As location point on image for the personnel targets, 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 delimited is the region more than 38m, is less than -2m apart from axis simultaneously or is more than
The region of 4.5m.Find out from result of calculation, three personnel targets are all introduced into deathtrap.
In the safety zone early warning based on vertical height, based on the mathematic(al) representation of described calibration curve, personnel's mesh
Target vertical height will be computed, and in conjunction with the vertical height safety zone delimited in advance, realize for personnel targets
Safety zone early warning.
At the same time based in the safety zone early warning of horizontal range and vertical height, the horizontal range of personnel targets and vertical
Highly it is required for being computed, in conjunction with the vertical height safety zone delimited in advance, realize the peace for personnel targets
Region-wide early warning.
The present invention method and Publication No. CN 102496232 A patent of invention described in method be based on phase
Same background technology, but data acquiring mode, implementation method, application, application scenarios are all entirely different.Application publication number is
The patent of invention of CN 102496232 A（Lower referred to as invention CN 102496232 A）Provided in three-dimensional scenic scaling method
It is based on single camera pin-hole model, be modeled for the shaft tower on overhead transmission line；Its CCTV camera is set up
Target shaft tower can be completely ingested in image for position, make target shaft tower be located at the center of captured image simultaneously, this
Sample just can rely on the position of target shaft tower and volume parameter to carry out the demarcation of three-dimensional scenic.The method is applied in the present invention
Scene in cannot realize, such as in the electric power facility working scene in electric substation, be similar to overhead power transmission line pole tower
Target as known calibration thing it is therefore desirable to the different algorithms of design to demarcate the scene that the present invention is applied.
Method provided in the present invention is applied in electric power facility livewire work scene, that is, apply and having power system work
Make in the scene that personnel are overhauled to electric power facility；Invention CN 102496232 A provided in method be then be applied to right
In the monitoring of power transmission facility, i.e. the monitoring to invader near the overhead transmission line of unattended field.
Method provided in the present invention needs to obtain enough priori demarcation in described electric power facility livewire work scene
Data, when existing described priori demarcates thing lazy weight, then needs to complete priori demarcation by way of manually putting
The collection of data, generally described priori demarcates the quantity at least 10 of thing；Side provided in invention CN 102496232 A
Rule does not need to put priori demarcation thing distance and volume parameter it is only necessary to measure target steel tower.
Method provided in the present invention is data calculating the method being used during the location parameter of described personnel targets
Matching, including fitting of a polynomial or least square approximation, these methods are all based on substantial amounts of priori nominal data to complete
's；The method that invention CN 102496232 A is provided is then to draw target steel tower and invader according to video camera pin-hole model
Imaging optical path, the geometrical relationship according to described by imaging optical path in figure is carrying out invading the calculating of object location and volume parameter.
The product form of above-described embodiment and schema the non-limiting present invention and style, any art common
Suitable change or modification that technical staff is done to it, all should be regarded as the patent category without departing from the present invention.
Claims (4)
1. a kind of personnel targets safe early warning method of electric power facility livewire work is it is characterised in that comprise the steps：
1）Obtain priori nominal data step；
2）Obtain coordinate mapping relations step；
3）Delimit safety zone step；
4）Analysis personnel targets step；
Step 2）Described acquisition coordinate mapping relations are specially：Priori is demarcated the horizontal range between thing and single camera、
Priori demarcates the vertical height of thing, all priori demarcate the thing and ground contact points coordinates on operation field image, first
The image coordinate height of the corresponding part of standard inspection earnest vertical heightTabulating, obtain image coordinate horizontal range bent
Line, and horizontal range every pixels tall curve, above-mentioned curve negotiating fitting of a polynomial or least square fitting mode obtain.
2. as claimed in claim 1 a kind of personnel targets safe early warning method of electric power facility livewire work it is characterised in that：
Step 1）Described in priori nominal data include：Priori demarcates the horizontal range between thing and single camera, priori demarcation
The vertical height of thing, all priori demarcation thing and ground contact points coordinates on operation field image, and and priori
Demarcate the image coordinate height of the corresponding part of thing vertical height.
3. as claimed in claim 1 a kind of personnel targets safe early warning method of electric power facility livewire work it is characterised in that：
Step 3）Described safety zone includes：Safety zone based on horizontal range, the safety zone based on vertical height and simultaneously
Safety zone based on horizontal range and vertical height；Wherein said is to calculate based on the safety zone decision method of horizontal range
The horizontal range of personnel targets in operation field, is then compared with horizontal range scope, draws safe early warning result；Described
The decision method of the safety zone based on vertical height be calculate operation field in personnel targets vertical height, then with vertical
Altitude range is compared, and draws safe early warning result；The described safety zone being simultaneously based on horizontal range and vertical height
Decision method needs the horizontal range of computing staff's target and vertical height simultaneously, then with horizontal range scope and vertical height
Scope is compared, and draws safe early warning result.
4. as claimed in claim 1 a kind of personnel targets safe early warning method of electric power facility livewire work it is characterised in that：
In above-mentioned steps 4）In, when personnel targets occur, identify and calculate position and the height of personnel targets first, and root
According to step 3）Described method delimit the safety zone at electric power facility livewire work scene, realize the safety to personnel targets pre-
Alert, once personnel targets leave safety zone entrance deathtrap, system will be reported to the police.
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| CN104750070A (en) * | 2015-03-09 | 2015-07-01 | 中国航空工业集团公司沈阳飞机设计研究所 | Safe operation management system |
| CN105303549B (en) * | 2015-06-29 | 2018-05-18 | 北京格灵深瞳信息技术有限公司 | In a kind of definite video image between measurand position relationship method and device |
| CN105303757B (en) * | 2015-09-25 | 2017-12-05 | 凌云光技术集团有限责任公司 | The power network intelligent control method and system that anti-artificial external force is destroyed |
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| CN107610392A (en) * | 2017-09-20 | 2018-01-19 | 北京亚欧震达科技发展有限公司 | A kind of pedestrian detection of motor car inspection and repair storehouse pipe gallery and the apparatus and method of alarm |
| CN107658788A (en) * | 2017-11-13 | 2018-02-02 | 国网上海市电力公司 | Power circuit live-working safety is apart from real-time watch device |
| 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 |
| CN111882816B (en) * | 2020-06-24 | 2022-06-10 | 国网宁夏电力有限公司检修公司 | Danger alarm method, medium and system for transformer substation |
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