CN113990034A - Transmission maintenance safety early warning method, system and terminal based on RTK positioning - Google Patents
Transmission maintenance safety early warning method, system and terminal based on RTK positioning Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a transmission maintenance safety early warning method, a transmission maintenance safety early warning system and a transmission maintenance safety early warning terminal based on RTK positioning, which relate to the technical field of power operation monitoring, and have the technical scheme key points that: establishing a three-dimensional model according to the three-dimensional space point cloud data of the target operation environment; marking electric shock high-risk points of the live line in the three-dimensional model according to the line operation condition to obtain a marking model; acquiring spatial position information of a protruding part in a target object, and performing data fusion on the spatial position information and a labeling model to obtain a working model; and analyzing and determining the safety distance of the corresponding electric shock high-risk point according to the voltage grade of the charged line, calculating the actual distance of each convex part in the target relative to the electric shock high-risk point, and outputting an early warning signal when the actual distance corresponding to the convex part is smaller than the corresponding safety distance. The invention can remind the operating personnel in time and is convenient for the guardian to correct unsafe actions.
Description
Technical Field
The invention relates to the technical field of power operation monitoring, in particular to a transmission maintenance safety early warning method, a transmission maintenance safety early warning system and a transmission maintenance safety early warning terminal based on RTK positioning.
Background
In the maintenance work of the power transmission line, the safety distance between an operator and a charged body is important data for monitoring. At present, overhaul work is mainly carried out according to on-site survey, whether operation on a tower meets safe operation requirements or not is determined after rough qualitative analysis is carried out according to tower drawings, the mode cannot accurately position the spatial position of an operator, electric shock accidents caused by the fact that paralysis exceeds a safe area are easily caused, and meanwhile, for a guardian, the condition that monitoring is not in place is easily caused due to visual errors. Therefore, how to research and design a transmission maintenance safety early warning method, a transmission maintenance safety early warning system and a transmission maintenance safety early warning terminal based on RTK positioning, which can overcome the defects, is a problem which needs to be solved urgently at present.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a transmission overhaul safety early warning method, system and terminal based on RTK positioning, and the control, energy control and on-control of the safety distance between an operator and a charged body are realized through real-time active acquisition, safety distance calculation and early warning of three-dimensional positioning data.
The technical purpose of the invention is realized by the following technical scheme:
in a first aspect, a transmission maintenance safety early warning method based on RTK positioning is provided, which comprises the following steps:
establishing a three-dimensional model according to the three-dimensional space point cloud data of the target operation environment;
marking electric shock high-risk points of the live line in the three-dimensional model according to the line operation condition to obtain a marking model;
acquiring spatial position information of a protruding part in a target object in real time through RTK positioning equipment, and performing data fusion on the spatial position information and a labeling model to obtain a working model;
and analyzing and determining the safety distance of the corresponding electric shock high-risk point according to the voltage grade of the charged line, calculating the actual distance of each convex part in the target relative to the electric shock high-risk point, and outputting an early warning signal when the actual distance corresponding to the convex part is smaller than the corresponding safety distance.
Further, the electric shock high-risk points are obtained by screening according to the actual electric shock probability of each point location in the historical electric shock data;
or, screening according to the theoretical electric shock probability calculated by the design parameters of the power equipment in the target operation environment;
or, the electric shock probability is obtained by carrying out weighted average comprehensive screening according to the actual electric shock probability and the theoretical electric shock probability.
Further, the protruding parts comprise a top of the safety helmet and joint points of limbs.
Further, the three-dimensional space point cloud data of the target operation environment is obtained by carrying out surrounding flying patrol scanning on the tower to be operated through the unmanned aerial vehicle mounted laser radar device.
Further, the analysis process of the actual distance and the corresponding safe distance specifically includes:
acquiring space coordinate information of each protruding part of a target object to obtain a space coordinate sequence;
calculating a linear distance value by simultaneously using the space coordinate information in the space coordinate sequence and the electric shock high-risk point to obtain a distance value sequence;
judging whether the minimum value in the distance value sequence is smaller than the safety distance of the corresponding electric shock high-risk point meter or not; if so, outputting an early warning signal of the convex part corresponding to the minimum value relative to the electric shock high-risk point.
In a second aspect, a transmission overhaul safety pre-warning system based on RTK positioning is provided, including:
the model building module is used for building a three-dimensional model according to the three-dimensional space point cloud data of the target operation environment;
the danger point marking module is used for marking electric shock high-danger points of the live line in the three-dimensional model according to the line operation condition to obtain a marking model;
the positioning fusion module is used for acquiring the spatial position information of the protruding part in the target object in real time through RTK positioning equipment, and performing data fusion on the spatial position information and the labeling model to obtain a working model;
and the early warning analysis module is used for analyzing and determining the safety distance of the corresponding electric shock high-risk point according to the voltage grade of the live line, calculating the actual distance of each convex part in the target relative to the electric shock high-risk point, and outputting an early warning signal when analyzing that the actual distance corresponding to the convex part is smaller than the corresponding safety distance.
Furthermore, each RTK positioning device is provided with an alarm, and the corresponding alarm is started after responding to the early warning signal.
Furthermore, the target object is provided with a display screen, and the early warning analysis module is provided with a three-dimensional screenshot unit;
the three-dimensional screenshot unit is used for respectively intercepting at least one plane graph for displaying the electric shock early warning state of the target object from the X-axis direction, the Y-axis direction and the Z-axis direction of the working model and transmitting the plane graph to the display screen;
and the display screen is used for displaying the plane graph in real time through the multi-view window.
In a third aspect, a computer terminal is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and is characterized in that the processor implements the RTK positioning-based transmission overhaul safety warning method according to any one of the first aspect when executing the program
In a fourth aspect, a computer-readable medium is provided, on which a computer program is stored, the computer program being executed by a processor to implement the RTK positioning-based power transmission overhaul safety precaution method according to any one of the first aspect.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a transmission maintenance safety early warning method based on RTK positioning, which comprises the steps of establishing a three-dimensional model of an operation environment in an operation tower area to be maintained, and marking the electrification condition of a line in the three-dimensional model according to the electrification condition of the line; when in the process of maintenance operation, high-frequency RTK real-time differential positioning equipment is arranged on projecting parts such as hands and feet of an operator or projecting devices of a crane, the spatial position information of each part of a human body or the crane is obtained, the positioning information of the operator is fused in real time, the spatial safety distance between a target object and the live equipment is calculated, the action of triggering the safety distance is subjected to alarm operation such as sound and light in time, and the safety risk in the operation process is ensured; the system can remind operators in time and is convenient for guardians to correct unsafe behaviors.
2. According to the method, the electric shock high-risk points are obtained through screening, so that the complexity of calculation in the safety early warning process can be effectively reduced, and the timeliness of safety early warning response is improved; the weighted average comprehensive screening is carried out according to the actual electric shock probability and the theoretical electric shock probability, so that the screened electric shock high-risk points are more in line with the electric shock condition in the actual operation process, and the calculation complexity and the reliability of safety early warning are reasonably balanced;
3. according to the electric shock early warning device, the specific protruding part is subjected to independent early warning relative to the specific electric shock high-risk point, and multi-directional display is carried out at the same time, so that the detailed situation of electric shock early warning can be visually embodied when the target object is an operator.
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The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a flow chart in an embodiment of the invention;
FIG. 2 is a schematic illustration of a three-dimensional model in an embodiment of the invention;
fig. 3 is a block diagram of a system in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1: an RTK positioning-based transmission overhaul safety early warning method is shown in figure 1 and comprises the following steps:
s1: establishing a three-dimensional model according to the three-dimensional space point cloud data of the target operation environment; the target working environment comprises, but is not limited to, towers, lines, live equipment and the like;
s2: marking electric shock high-risk points of the live line in the three-dimensional model according to the line operation condition to obtain a marking model;
s3: acquiring spatial position information of a protruding part in a target object in real time through RTK positioning equipment, and performing data fusion on the spatial position information and a labeling model to obtain a working model;
s4: and analyzing and determining the safety distance of the corresponding electric shock high-risk point according to the voltage grade of the charged line, calculating the actual distance of each convex part in the target relative to the electric shock high-risk point, and outputting an early warning signal when the actual distance corresponding to the convex part is smaller than the corresponding safety distance.
The electric shock high-risk points are obtained by screening according to the actual electric shock probability of each point position in the historical electric shock data; in addition, the electric shock probability can be obtained by screening according to the theoretical electric shock probability calculated by the design parameters of the electric power equipment in the target operation environment; and the electric shock probability can be obtained by carrying out weighted average comprehensive screening according to the actual electric shock probability and the theoretical electric shock probability. According to the method, the electric shock high-risk points are obtained through screening, so that the complexity of calculation in the safety early warning process can be effectively reduced, and the timeliness of safety early warning response is improved; and the weighted average comprehensive screening is carried out through the actual electric shock probability and the theoretical electric shock probability, so that the screened electric shock high-risk points are more in line with the electric shock condition in the actual operation process, and the calculation complexity and the reliability of safety early warning are reasonably balanced.
It should be noted that, if the target is a human, the protruding parts include, but are not limited to, the crown of a safety helmet and the joint points of the limbs. If the object is a mechanical device such as a crane, the protruding portion includes, but is not limited to, the most protruding portion around and each mechanical joint.
As shown in fig. 2, the three-dimensional space point cloud data of the target operation environment is obtained by carrying out surrounding flying patrol scanning on the tower to be operated by the laser radar device mounted on the unmanned aerial vehicle. In addition, the three-dimensional space point cloud data can be obtained by simulation analysis according to related design parameters during design and construction.
The analysis process of the actual distance and the corresponding safe distance is specifically as follows: acquiring space coordinate information of each protruding part of a target object to obtain a space coordinate sequence; calculating a linear distance value by simultaneously using the space coordinate information in the space coordinate sequence and the electric shock high-risk point to obtain a distance value sequence; judging whether the minimum value in the distance value sequence is smaller than the safety distance of the corresponding electric shock high-risk point meter or not; if so, outputting an early warning signal of the convex part corresponding to the minimum value relative to the electric shock high-risk point.
In addition, the electric shock high-risk points can be used as circle centers, the corresponding safe distances are used as radiuses, the three-dimensional covering space corresponding to the electric shock high-risk points can be determined, and intersection of the covering spaces is calculated to obtain an early warning space. And simultaneously, constructing the three-dimensional outline of the target object according to all the space coordinate information of the target object. When the three-dimensional contour and the early warning space have intersection, the early warning can be carried out in real time, and the method does not need to calculate the actual distance between the protruding part in the target object and each electric shock high-risk point in real time.
Example 2: an RTK positioning-based power transmission overhaul safety early warning system is shown in figure 3 and comprises a model building module, a danger point marking module, a positioning fusion module and an early warning analysis module. The model building module is used for building a three-dimensional model according to the three-dimensional space point cloud data of the target operation environment; the danger point marking module is used for marking electric shock high-danger points of the live line in the three-dimensional model according to the line operation condition to obtain a marking model; the positioning fusion module is used for acquiring the spatial position information of the protruding part in the target object in real time through RTK positioning equipment, and performing data fusion on the spatial position information and the labeling model to obtain a working model; and the early warning analysis module is used for analyzing and determining the safety distance of the corresponding electric shock high-risk point according to the voltage grade of the live line, calculating the actual distance of each convex part in the target relative to the electric shock high-risk point, and outputting an early warning signal when analyzing that the actual distance corresponding to the convex part is smaller than the corresponding safety distance.
Each RTK positioning device is provided with an alarm, and the corresponding alarm is started after responding to the early warning signal. In addition, a background monitoring system can be arranged at the ground end, so that a guardian can conveniently monitor the ground in real time.
The target object is provided with a display screen, and the early warning analysis module is provided with a three-dimensional screenshot unit; the three-dimensional screenshot unit is used for respectively intercepting at least one plane graph for displaying the electric shock early warning state of the target object from the X-axis direction, the Y-axis direction and the Z-axis direction of the working model and transmitting the plane graph to the display screen; and the display screen is used for displaying the plane graph in real time through the multi-view window. Through carrying out independent early warning to specific salient position for specific electric shock high-risk point to carry out diversified demonstration simultaneously, can embody the detailed condition of electric shock early warning directly perceived when the object is operating personnel.
The working principle is as follows: according to the method, a three-dimensional model of an operation environment is established in an operation tower area to be overhauled, and the live condition of a line is marked in the three-dimensional model according to the live condition of the line; when in the process of maintenance operation, high-frequency RTK real-time differential positioning equipment is arranged on projecting parts such as hands and feet of an operator or projecting devices of a crane, the spatial position information of each part of a human body or the crane is obtained, the positioning information of the operator is fused in real time, the spatial safety distance between a target object and the live equipment is calculated, the action of triggering the safety distance is subjected to alarm operation such as sound and light in time, and the safety risk in the operation process is ensured; the system can remind operators in time and is convenient for guardians to correct unsafe behaviors.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An RTK positioning-based power transmission overhaul safety early warning method is characterized by comprising the following steps:
establishing a three-dimensional model according to the three-dimensional space point cloud data of the target operation environment;
marking electric shock high-risk points of the live line in the three-dimensional model according to the line operation condition to obtain a marking model;
acquiring spatial position information of a protruding part in a target object in real time through RTK positioning equipment, and performing data fusion on the spatial position information and a labeling model to obtain a working model;
and analyzing and determining the safety distance of the corresponding electric shock high-risk point according to the voltage grade of the charged line, calculating the actual distance of each convex part in the target relative to the electric shock high-risk point, and outputting an early warning signal when the actual distance corresponding to the convex part is smaller than the corresponding safety distance.
2. The RTK positioning-based power transmission overhaul safety pre-warning method as claimed in claim 1, wherein the electric shock high-risk points are obtained by screening according to actual electric shock probabilities of all point locations in historical electric shock data;
or, screening according to the theoretical electric shock probability calculated by the design parameters of the power equipment in the target operation environment;
or, the electric shock probability is obtained by carrying out weighted average comprehensive screening according to the actual electric shock probability and the theoretical electric shock probability.
3. An RTK positioning-based power transmission overhaul safety precaution method as claimed in claim 1, wherein the protruding parts include a worn safety helmet top and a limb joint point.
4. The RTK positioning-based transmission overhaul safety pre-warning method according to claim 1, wherein the three-dimensional space point cloud data of the target operation environment is obtained by carrying out surrounding flying patrol scanning on a tower to be operated by an unmanned aerial vehicle mounted laser radar device.
5. The transmission overhaul safety precaution method based on RTK positioning as claimed in claim 1, wherein the analysis process of the actual distance and the corresponding safety distance is specifically:
acquiring space coordinate information of each protruding part of a target object to obtain a space coordinate sequence;
calculating a linear distance value by simultaneously using the space coordinate information in the space coordinate sequence and the electric shock high-risk point to obtain a distance value sequence;
judging whether the minimum value in the distance value sequence is smaller than the safety distance of the corresponding electric shock high-risk point meter or not; if so, outputting an early warning signal of the convex part corresponding to the minimum value relative to the electric shock high-risk point.
6. Transmission of electricity maintenance safety precaution system based on RTK location, characterized by includes:
the model building module is used for building a three-dimensional model according to the three-dimensional space point cloud data of the target operation environment;
the danger point marking module is used for marking electric shock high-danger points of the live line in the three-dimensional model according to the line operation condition to obtain a marking model;
the positioning fusion module is used for acquiring the spatial position information of the protruding part in the target object in real time through RTK positioning equipment, and performing data fusion on the spatial position information and the labeling model to obtain a working model;
and the early warning analysis module is used for analyzing and determining the safety distance of the corresponding electric shock high-risk point according to the voltage grade of the live line, calculating the actual distance of each convex part in the target relative to the electric shock high-risk point, and outputting an early warning signal when analyzing that the actual distance corresponding to the convex part is smaller than the corresponding safety distance.
7. An RTK positioning-based power transmission overhaul safety pre-warning system as claimed in claim 6, wherein each RTK positioning device is provided with an alarm, the respective alarm being activated in response to the pre-warning signal.
8. An RTK positioning-based power transmission overhaul safety pre-warning system as claimed in claim 6, wherein the target is equipped with a display screen, and the pre-warning analysis module is provided with a three-dimensional screenshot unit;
the three-dimensional screenshot unit is used for respectively intercepting at least one plane graph for displaying the electric shock early warning state of the target object from the X-axis direction, the Y-axis direction and the Z-axis direction of the working model and transmitting the plane graph to the display screen;
and the display screen is used for displaying the plane graph in real time through the multi-view window.
9. A computer terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the RTK positioning-based power transmission overhaul safety precaution method according to any one of claims 1 to 5 when executing the program.
10. A computer-readable medium, on which a computer program is stored, which computer program is executed by a processor to implement the RTK positioning based power transmission overhaul safety precaution method according to any one of claims 1 to 5.
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