CN114639214B - Intelligent safety distance early warning system and method for electric power hoisting operation - Google Patents
Intelligent safety distance early warning system and method for electric power hoisting operation Download PDFInfo
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- 238000003384 imaging method Methods 0.000 claims abstract description 8
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/02—Mechanical actuation
- G08B13/12—Mechanical actuation by the breaking or disturbance of stretched cords or wires
- G08B13/122—Mechanical actuation by the breaking or disturbance of stretched cords or wires for a perimeter fence
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
- F16M11/32—Undercarriages for supports with three or more telescoping legs
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
- G08B13/19613—Recognition of a predetermined image pattern or behaviour pattern indicating theft or intrusion
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention relates to the technical field of electric power construction, in particular to a safe distance intelligent early warning system and a safe distance intelligent early warning method for electric power hoisting operation. The system has: the boundary building device is used for building safe boundary lines for forming safe boundaries between the construction area and the charged bodies on the periphery of the construction area, and the safe boundary lines and the corresponding connecting lines of the adjacent 2 charged bodies have set safe distances; the boundary monitoring device is provided with an image acquisition unit and is used for being arranged at the end point of the corresponding safety boundary line, and the optical axis of the image acquisition unit is parallel to the corresponding safety boundary line and is used for continuously acquiring a monitoring image with an imaging surface vertical to the corresponding safety boundary line; and the recognition alarm module is used for processing the monitoring images collected by the corresponding boundary monitoring devices and giving an alarm when detecting that a detection target crossing the corresponding safety boundary line exists in the construction area. The method is realized based on the system. The invention can better realize border-crossing detection and alarm.
Description
Technical Field
The invention relates to the technical field of electric power construction, in particular to a safe distance intelligent early warning system and method for electric power hoisting operation.
Background
In the power construction such as reconstruction and extension projects of transformer substations (substations), the construction process needs to be carried out under the condition that various power equipment operates; therefore, in the construction, the key point of safety management is to strengthen supervision and management on the adjacent electrified body on the construction site.
In such reconstruction and extension projects, the operating area and the charged body are required to reach a sufficient safety distance. However, in actual construction, the problem that the safety boundary is difficult to determine generally exists; the main reason is that in the current practical construction, the determination of the safe distance is obtained by manually adopting point-to-point measurement of tools such as a tape measure, but the safe boundary line is a line.
In addition, in the current construction process, after a safety boundary line is determined, identification of the safety boundary line is usually realized by setting a fence, and the method is difficult to realize active detection and alarm of boundary crossing operation, and particularly difficult to judge whether the current operation is boundary crossing in high-altitude operation.
Disclosure of Invention
The invention provides a safe distance intelligent early warning system for electric power hoisting operation, which can overcome the defect that the active detection and alarm of boundary crossing operation are difficult to carry out in the existing electric power construction process.
The invention relates to a safety distance intelligent early warning system used in electric power hoisting operation, which comprises:
the boundary building device is used for building at least one safety boundary line on the periphery of the construction area, the at least one safety boundary line is used for forming a safety boundary between the construction area and the charged body, and a set safety distance is reserved between any safety boundary line and a corresponding connecting line of 2 adjacent charged bodies;
the boundary monitoring device is provided with an image acquisition unit and is used for being arranged at the end point of the corresponding safety boundary line, and the optical axis of the image acquisition unit is parallel to the corresponding safety boundary line and is used for continuously acquiring a monitoring image with an imaging surface vertical to the corresponding safety boundary line; and
and the recognition alarm module is used for processing the monitoring image collected by the corresponding boundary monitoring device and giving an alarm when detecting that a detection target crossing the corresponding safety boundary line exists in the construction area.
By the aid of the method, the construction of the safety boundary line of the construction area can be realized, after the construction of the safety boundary line is completed, continuous monitoring image acquisition can be performed at the safety boundary through the boundary monitoring device, and then whether the moving detection target crosses the safety boundary at the current moment or not can be judged and alarmed better based on the recognition alarm module. Therefore, the active monitoring and alarm prompting of the safe distance of the construction area can be better realized.
Preferably, the boundary building device comprises a bracket, and a safety boundary building system is arranged at the bracket; the safety boundary building system is provided with a safety boundary building system,
the image acquisition mechanism can rotate on a horizontal plane and is used for continuously acquiring an environment image;
the identification unit is used for identifying the charged body in the environment image acquired by the image acquisition mechanism;
the distance measuring mechanism is provided with a measuring reference point, the distance measuring direction of the distance measuring mechanism is always parallel to the optical axis direction of the image collecting mechanism, and the distance measuring mechanism is used for collecting the distance between the charged body and the measuring reference point when the charged body is identified by the identification unit;
the distance measuring device comprises a first linear light source and a second linear light source, wherein the first linear light source is used for generating a first light ray, the second linear light source is used for generating a second light ray, the first linear light source and the second linear light source can synchronously rotate on a vertical surface, the first light ray and the distance measuring direction of the distance measuring mechanism are on the same vertical surface, an included angle is formed between the first light ray and the second light ray, and the plane formed by the first light ray and the second light ray is parallel to the rotating axis of the first linear light source and the rotating axis of the second linear light source;
a calculating unit for calculating the rotation angles of the first and second linear light sources on the horizontal plane and the vertical plane according to the corresponding rotation angles and the corresponding distances of the image capturing mechanisms at the identified first and second charged bodies; and
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the distance measurement mechanism, the first linear light source, the second linear light source and the calculation unit.
Through the system, two adjacent charged bodies can be identified based on the image acquisition mechanism and the identification unit, the corresponding rotation angles and the corresponding distances of the image acquisition mechanisms at the first and second identified charged bodies can be obtained, the rotation angles of the first linear light source and the second linear light source on the horizontal plane and the vertical plane can be better calculated through the calculation unit, then two light spots can be better formed at the ground by controlling the first linear light source and the second linear light source to operate, the connection line of the two light spots can be better used as a safety boundary line, and therefore the construction of the safety boundary can be better realized.
Preferably, the boundary monitoring device has a device body, and the image capturing unit is provided in the device body. And thus can be preferably installed at a construction site.
Preferably, the identification alarm module has,
the image preprocessing unit is used for preprocessing the monitoring image;
a moving target detection unit for detecting a detection target that moves between a previous time and a current time based on the monitored images of the current time and the previous time;
the judging unit is used for judging whether the detection target crosses the corresponding electronic fence area of the corresponding safety boundary line in the monitoring image at the current moment, and if so, an alarm signal is generated; and
and the alarm unit is used for receiving the alarm signal and performing alarm action.
Through the method, the monitoring image can be better processed and the boundary crossing judgment can be better realized, so that the active boundary crossing detection and alarm in the construction process can be better realized.
In addition, the invention also provides an intelligent early warning method for the safe distance in the electric power hoisting operation, and any one of the intelligent early warning systems for the safe distance in the electric power hoisting operation is realized, and the intelligent early warning method specifically comprises the following steps:
step SA, defining a safe boundary line based on a boundary building device;
SB, building a safety boundary based on the boundary monitoring device;
and step SC, performing border crossing detection and alarming based on the identification alarming module.
Through the steps, the construction of the safety boundary line can be better realized, and whether the border crossing behavior exists can be actively detected and alarmed in real time through the identification alarm module.
Preferably, the boundary building device is provided with a safety boundary building system, and the safety boundary building system comprises an image acquisition mechanism, an identification unit, a distance measuring mechanism, a first linear light source, a second linear light source, a calculation unit and a control unit; in the step SA, the boundary building device is first installed in the construction area, and then the following steps are performed,
s1, controlling the image acquisition mechanism to rotate and continuously acquiring the environmental image;
step S2, recognizing the charged bodies appearing in the environment image through a recognition unit, wherein the first charged body and the second charged body recognized by the recognition unit are respectively marked as a first charged body and a second charged body;
step S3, when the first electrified body and the second electrified body are identified, collecting the current rotation angles and recording the current rotation angles as first deflection angles respectively
And a second deflection angle
And acquiring a corresponding first distance by a distance measuring mechanism
And a second pitch
；
Step S4, controlling the image acquisition mechanism to rotate to
At the position of the angle, the angle of the angle is equal to the angle of the angle,
step S5, controlling the first linear light source and the second linear light source to rotate
At the position of the angle, the angle of the angle is equal to the angle of the angle,
wherein the content of the first and second substances,
in order to set the safety distance between the two parts,
the distance between the rotating axes of the first linear light source and the second linear light source and the ground;
step S6, controlling the first linear light source and the second linear light source to work, and taking a connecting line of projection light spots of the first linear light source and the second linear light source on the ground as a safety boundary line;
and repeating the steps S1-S6 to finish the demarcation of each safety boundary line.
Through the steps S1-S6, the vertical distance between the detection point (i.e. the position of the whole system) and the two adjacent charged bodies can be preferably calculated automatically, so that manual measurement is not needed, and the measurement accuracy can be preferably ensured; based on the vertical distance, the safety distance can be preferably introduced, two light spots are formed on the ground through the first linear light source and the second linear light source, and a connecting line of the two light spots can be preferably used as a safety boundary line, so that the establishment of the safety boundary can be preferably realized.
Preferably, the boundary monitoring apparatus has an image pickup unit, and in the step SB, the image pickup unit is set at an end point of the corresponding safety boundary line, and an optical axis of the image pickup unit is set parallel to the corresponding safety boundary line for continuously picking up the monitoring image whose imaging plane is perpendicular to the corresponding safety boundary line. The out-of-range monitoring can be preferably realized.
Preferably, the boundary monitoring device is provided with a device body for arranging the image acquisition unit, a reference mark line is arranged at the device body, and a vertical surface where the reference mark line is arranged is parallel to a vertical surface where an optical axis of the image acquisition unit is arranged; in step SB, the reference mark line is set at the same vertical plane as the corresponding safety boundary line. Therefore, the electronic fence area can be set as a fixed parameter, the fixed parameter is aligned with the reference mark line, and the alignment of the electronic fence area and the corresponding safety boundary line can be better realized by aligning the reference mark line with the corresponding safety boundary line.
Preferably, the recognition alarm module is provided with an image preprocessing unit, a moving target detection unit, a judgment unit and an alarm unit, and in the step SC, the monitoring image is preprocessed through the image preprocessing unit; detecting, by a moving object detecting unit, a detection object that moves between a previous time and a current time based on the monitored images of the current time and the previous time; judging whether a detection target in the monitoring image at the current moment crosses a corresponding electronic fence area corresponding to a corresponding safety boundary line through a judging unit, and if so, generating an alarm signal; and receiving the alarm signal and performing alarm action through the alarm unit. Therefore, the border crossing detection and alarm can be preferably realized.
Preferably, the determination means sets the corresponding fence region corresponding to the safety boundary line in the monitor image to be associated with the position of the reference mark line in the monitor image when the determination means operates. The alignment of the correlation detection reference can be preferably achieved.
Drawings
Fig. 1 is a schematic diagram of a safety distance intelligent early warning system and method in embodiment 1;
FIG. 2 is a schematic configuration diagram of a boundary monitoring apparatus according to embodiment 1;
FIG. 3 is a schematic view showing the arrangement of a boundary monitoring apparatus according to embodiment 1;
fig. 4 is a block diagram schematically illustrating a security boundary building system according to embodiment 2;
fig. 5 is a schematic flow chart of a security boundary establishing method in embodiment 2;
FIG. 6 is a schematic diagram showing a calculation principle of a calculation unit in embodiment 2;
FIG. 7 is a schematic diagram showing a calculation principle of a calculation unit in embodiment 2;
FIG. 8 is one of schematic diagrams of the calculation principle of the calculation unit in embodiment 2;
FIG. 9 is a schematic structural view of a full boundary building apparatus according to example 3;
FIG. 10 is a schematic view showing the fitting of the mounting bracket and the supporting bracket according to embodiment 3;
FIG. 11 is a schematic structural view of the supporting stand according to embodiment 3;
FIG. 12 is a schematic structural view of a mount in embodiment 3;
fig. 13 is a schematic structural view of a light source mounting block according to embodiment 3;
FIG. 14 is a schematic view of an identification alarm module in embodiment 4;
FIG. 15 is a schematic view showing the judgment of a detection target in example 4;
FIG. 16 is a diagram showing that the boundary crossing does not occur in example 4;
fig. 17 is a schematic diagram of the occurrence of the boundary crossing behavior in embodiment 4.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples. It is to be understood that the examples are illustrative of the invention and not limiting.
Example 1
With reference to fig. 1, the present embodiment provides an intelligent early warning system for safety distance in electric power hoisting operation, which includes:
the boundary building device is used for building at least one safety boundary line on the periphery of the construction area, the at least one safety boundary line is used for forming a safety boundary between the construction area and the charged body, and a set safety distance is reserved between any safety boundary line and a corresponding connecting line of 2 adjacent charged bodies;
the boundary monitoring device is provided with an image acquisition unit and is used for being arranged at the end point of the corresponding safety boundary line, and the optical axis of the image acquisition unit is parallel to the corresponding safety boundary line and is used for continuously acquiring a monitoring image with an imaging surface vertical to the corresponding safety boundary line; and
and the recognition alarm module is used for processing the monitoring image collected by the corresponding boundary monitoring device and giving an alarm when detecting that a detection target crossing the corresponding safety boundary line exists in the construction area.
By the aid of the method, the construction of the safety boundary line of the construction area can be realized, after the construction of the safety boundary line is completed, continuous monitoring image acquisition can be performed at the safety boundary through the boundary monitoring device, and then whether the moving detection target crosses the safety boundary at the current moment or not can be judged and alarmed better based on the recognition alarm module. Therefore, the active monitoring and alarm prompting of the safe distance of the construction area can be better realized.
In this embodiment, the boundary building device includes a bracket 10, and a safety boundary building system is provided at the bracket 10. The construction of the safety boundary line can be preferably realized through the safety boundary construction system.
Referring to fig. 2, in the present embodiment, the boundary monitoring device includes a device body 20, and the image capturing unit is disposed in the device body 20. And thus can be preferably installed at a construction site.
In this embodiment, the image acquisition unit includes a camera 21.
Based on the above system, the embodiment further provides an intelligent early warning method for the safety distance in the electric power hoisting operation, which specifically includes the following steps:
step SA, defining a safe boundary line based on a boundary building device;
SB, building a safety boundary based on the boundary monitoring device;
and step SC, performing border crossing detection and alarming based on the identification alarming module.
Through the steps, the construction of the safety boundary line can be better realized, and whether the border crossing behavior exists can be actively detected and alarmed in real time through the identification alarm module.
As shown in fig. 3, the step SA preferably defines a safety boundary line (000 in fig. 3), and a vertical surface passing through the safety boundary line is a safety boundary surface (001 in fig. 3); one side (the left side in fig. 3) of the safety boundary surface is a construction area, and the other side of the safety boundary surface is the side where the charged body is located; then, by arranging the device body 20 of the boundary monitoring device at the end of the corresponding safety boundary line and ensuring that the optical axis of the image acquisition unit is parallel to the corresponding safety boundary line, the imaging shooting can be preferably carried out on the surface vertical to the safety boundary surface, in the acquired monitoring image, the left side of the monitoring image is a construction area (003 in fig. 3), the right side of the monitoring image is an area where an electrified body is located (002 in fig. 3), and an electronic fence area can be constructed to define the construction area and the area where the electrified body is located; and then, whether the moving target passes through the electronic fence area at the current moment can be better judged through the recognition alarm module.
It is understood that the safety margin line can have a plurality of strips.
In this embodiment, the setting of the fence area is associated with the relative positions of the safety boundary line and the boundary monitoring device.
In this embodiment, the boundary monitoring apparatus has an image capturing unit, and in step SB, the image capturing unit is set at an end point corresponding to the safety boundary line, and an optical axis of the image capturing unit is set parallel to the corresponding safety boundary line so as to continuously capture a monitoring image whose imaging surface is perpendicular to the corresponding safety boundary line. The out-of-range monitoring can be preferably realized.
In this embodiment, the boundary monitoring device has a device body 20 for arranging the image acquisition unit, a reference mark line 22 is arranged at the device body 20, and a vertical plane where the reference mark line 22 is located is parallel to a vertical plane where an optical axis of the image acquisition unit is located; in step SB, the reference mark line 22 is set at the same vertical plane as the corresponding safety boundary line. Therefore, the electronic fence area can be set as a fixed parameter, and the fixed parameter is aligned with the reference mark line 22, and the alignment of the electronic fence area and the corresponding safety boundary line can be preferably realized by aligning the reference mark line 22 with the corresponding safety boundary line.
Example 2
As shown in fig. 4, the present embodiment provides a safety boundary building system for electric power hoisting operation based on visual processing, which can be preferably applied to embodiment 1.
The safety boundary building system of the embodiment is provided with:
the image acquisition mechanism can rotate on a horizontal plane and is used for continuously acquiring an environment image;
the identification unit is used for identifying the charged body in the environment image acquired by the image acquisition mechanism;
the distance measuring mechanism is provided with a measuring reference point, the distance measuring direction of the distance measuring mechanism is always parallel to the optical axis direction of the image collecting mechanism, and the distance measuring mechanism is used for collecting the distance between the charged body and the measuring reference point when the charged body is identified by the identification unit;
the distance measuring device comprises a first linear light source and a second linear light source, wherein the first linear light source is used for generating a first light ray, the second linear light source is used for generating a second light ray, the first linear light source and the second linear light source can synchronously rotate on a vertical plane, the first light ray and the distance measuring direction of the distance measuring mechanism are on the same vertical plane, an included angle is formed between the first light ray and the second light ray, and the plane formed by the first light ray and the second light ray is parallel to the rotating axis of the first linear light source and the rotating axis of the second linear light source;
a calculating unit for calculating the rotation angles of the first and second linear light sources on the horizontal plane and the vertical plane according to the corresponding rotation angles and the corresponding distances of the image capturing mechanisms at the identified first and second charged bodies; and
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the distance measurement mechanism, the first linear light source, the second linear light source and the calculation unit.
Through the system, two adjacent charged bodies can be identified based on the image acquisition mechanism and the identification unit, the corresponding rotation angles and the corresponding distances of the image acquisition mechanisms at the first and second identified charged bodies can be obtained, the rotation angles of the first linear light source and the second linear light source on the horizontal plane and the vertical plane can be better calculated through the calculation unit, then two light spots can be better formed at the ground by controlling the first linear light source and the second linear light source to operate, the connection line of the two light spots can be better used as a safety boundary line, and therefore the construction of the safety boundary can be better realized.
The distance measuring direction of the first light ray and the distance measuring mechanism is controlled to be on the same vertical plane, so that calculation can be preferably carried out on the vertical plane where the first light ray is located, and the control of the safety distance can be preferably realized; by controlling the plane of the first and second light rays to be parallel to the rotational axis of the first and second linear light sources, the establishment of the desired safety margin line can be preferably achieved.
In this embodiment, range finding mechanism can include laser range finder, and first linear light source and second linear light source can include laser generator, and image acquisition mechanism can include the camera, and the control unit and the computational unit can be based on the singlechip realization.
In this embodiment, the rotation axes of the first and second linear light sources are on the same vertical plane as the measurement reference point. The calculation error can be preferably reduced.
In this embodiment, the image capturing mechanism, the distance measuring mechanism, the first linear light source and the second linear light source are relatively fixed and are all driven to rotate synchronously on the horizontal plane through a first driving mechanism. So that it can have the same initial angle, and thus can simplify the calculation preferably.
Wherein, first actuating mechanism can adopt step motor, so can realize the accurate control of angle better.
In this embodiment, an angle sensor is disposed at the first driving mechanism, and the angle sensor is configured to collect a rotation angle of the first driving mechanism. The acquisition of the angle data can be preferably realized.
In this embodiment, the first linear light source and the second linear light source are relatively fixedly disposed and synchronously driven to rotate on the vertical surface through a second driving mechanism. It is possible to preferably maintain the synchronous operation of the first and second linear light sources.
Wherein, second actuating mechanism can adopt step motor, so can realize the accurate control of angle better.
In this embodiment, the identification unit identifies the charged body in the environmental image based on an image identification algorithm. The processing of the relevant data can be preferably realized.
The system in this embodiment is disposed at a support 10. The integration of the system can be preferably achieved.
With reference to fig. 5, based on the system in this embodiment, this embodiment further provides a method for building a safety boundary for electric power hoisting operation based on visual processing, which includes the following steps:
s1, controlling the image acquisition mechanism to rotate and continuously acquiring the environmental image;
step S2, recognizing the charged bodies appearing in the environment image through a recognition unit, wherein the first charged body and the second charged body recognized by the recognition unit are respectively marked as a first charged body and a second charged body;
step S3, when the first electrified body and the second electrified body are identified, collecting the current rotation angles and recording the current rotation angles as first deflection angles respectively
And a second deflection angle
And acquiring a corresponding first distance by a distance measuring mechanism
And a second pitch
；
Step S4, controlling the image acquisition mechanism to rotate to
At the position of the angle, the angle of the angle is equal to the angle of the angle,
step S5, controlling the first linear light source and the second linear light source to rotate
At the position of the angle, the angle of the angle is equal to the angle of the angle,
wherein the content of the first and second substances,
in order to set the safety distance between the two parts,
the distance between the rotating axes of the first linear light source and the second linear light source and the ground;
and step S6, controlling the first linear light source and the second linear light source to work, and taking a connecting line of projection light spots of the first linear light source and the second linear light source on the ground as a safety boundary line.
Through the steps S1-S6, the vertical distance between the detection point (i.e. the position of the whole system) and the two adjacent charged bodies can be preferably calculated automatically, so that manual measurement is not needed, and the measurement accuracy can be preferably ensured; based on the vertical distance, the safety distance can be preferably introduced, two light spots are formed on the ground through the first linear light source and the second linear light source, and a connecting line of the two light spots can be preferably used as a safety boundary line, so that the establishment of the safety boundary can be preferably realized.
As shown in fig. 6:
in step S1, at the beginning of the measurement, the whole set of system (actually the whole set of system is installed at a device, so it can be installed anywhere better) can be installed at the construction area, and the image capturing mechanism, the first linear light source and the second linear light source can have an initial and same initial angle on the horizontal plane;
then, the image acquisition mechanism can be controlled to rotate by taking the initial angle as 0 degree, and the environmental image can be continuously acquired in the rotating process; specifically, the corresponding environment image can be shot every time the camera rotates by an angle;
in step S2, in the process of acquiring the environment image, after each time the environment image is captured, the recognition unit recognizes whether a charged body exists in the center of the image, and thus recognizes the first charged body and the second charged body; and obtaining a first deflection angle corresponding to the first and second charged bodies
And a second deflection angle
And a first pitch
And a second pitch
；
In FIG. 6, the first deflection angle
Is < BAC and a second deflection angle
Is < BAD, first spacing
Is the length of line segment AC, the second pitch
Is the length of the line segment AD;
in step S3, the calculation unit calculates and acquires the angle of rotation required by the first and second linear light sources in the horizontal plane
And the angle of rotation required in the vertical plane
；
In FIG. 6, the angle
Is angle BAE, angle
Namely < EAF;
in step S4, with reference to fig. 7, the calculating unit can calculate on the horizontal plane to obtain the angle of < ACD, and then can preferably obtain the angle
Wherein, in the step (A),
meanwhile, the vertical distance L between the measuring point and the connecting line of the first charged body and the second charged body and the length of the line segment AE can be obtained;
in step S5, as shown in connection with fig. 8, the calculation unit can be angled on the vertical plane of the wire section AE
Calculating;
in fig. 8, the safety distance d is the length of the line segment FG, the length of the line segment OG is equal to L, and the length of the line segment OM is the distance h between the rotation axes of the first and second linear light sources and the ground;
in step S6, the first linear light source and the second linear light source are preferably controlled to operate, so as to form a light spot F and a light spot H on the ground, where the connection line between the light spot F and the light spot H is the safety boundary line.
In the process, the image acquisition mechanism, the distance measurement mechanism, the first linear light source and the second linear light source are relatively fixedly arranged and are synchronously driven to rotate on the horizontal plane through the first driving mechanism, so that the image acquisition mechanism, the distance measurement mechanism, the first linear light source and the second linear light source can have the same initial angle, and calculation can be better simplified.
In the process, the first light ray and the distance measuring direction of the distance measuring mechanism are controlled to be on the same vertical plane, so that the angle of ^ BAE can be better taken as the angle
And thus can preferably facilitate the calculation.
Referring to fig. 8, point a is a position of a measurement reference point of the distance measuring mechanism, point M is a position of rotation axes of the first linear light source and the second linear light source, and point K is a position of rotation axes of the first linear light source and the second linear light source, so that by setting the rotation axes of the first linear light source and the second linear light source to be on the same vertical plane as the measurement reference point, the same calculation reference can be preferably ensured, and thus calculation errors can be preferably reduced.
In the above process, by ensuring that the plane formed by the first light ray and the second light ray is parallel to the rotation axes of the first linear light source and the second linear light source, it can be better ensured that the connecting line of the two light spots can be kept parallel to the connecting line of the two charged bodies.
In the present embodiment, the set safety interval d can be set to 6m, for example.
In step S1 of this embodiment, a first driving mechanism drives the image capturing mechanism to rotate; in step S3, the acquisition of the rotation angle of the first driving mechanism is realized by an angle sensor provided at the first driving mechanism. The acquisition of the relevant angle data can be preferably achieved.
In step S2 of the present embodiment, the recognition unit recognizes the charged object based on the image recognition algorithm. The identification of the charged object can be realized preferably by means of existing identification algorithms.
Specifically, the image recognition algorithm in the present embodiment can adopt a YOLO-based target detection algorithm.
Example 3
With reference to fig. 9 to 13, the present embodiment provides a safety boundary building device for electric power hoisting operation based on visual processing, which includes a support 10, and the system of embodiment 2 is disposed at the support 10.
The bracket 10 in this embodiment includes a mounting bracket 11 rotatably disposed on a horizontal plane, the mounting bracket 11 has a bottom mounting plate 11a located at a lower portion and a top mounting plate 11b located at an upper portion, and the bottom mounting plate 11a and the top mounting plate 11b are relatively fixedly disposed;
the top mounting disc 11b is provided with a horizontally arranged top mounting surface 11b1, an image acquisition mechanism 1 and a distance measuring mechanism 2 are arranged at the position of the top mounting surface 11b1, and the distance measuring direction of the distance measuring mechanism 2 is parallel to the optical axis direction of the image acquisition mechanism; the image acquisition mechanism 1 is used for acquiring an environment image, and the distance measurement mechanism 2 is used for acquiring the distance between the environment image and an object in the distance measurement direction to measure;
the bottom layer mounting plate 11a is provided with a light source mounting frame 11c which can rotate on a vertical surface, the light source mounting frame 11c is provided with a light source mounting surface 11c1 which is parallel to the rotation axis of the light source mounting frame, a first linear light source 3 and a second linear light source 4 are arranged on the light source mounting surface 11c1, and an included angle is formed between the first linear light source 3 and the second linear light source 4; the first linear light source 3 and the second linear light source 4 are used to form a projected light spot on the ground.
Through the scheme, the support 10 can be preferably used as a measuring point, the identification of the adjacent charged bodies and the measurement of the distance between the adjacent charged bodies and the measuring point are realized, the distance between the measuring point and the connecting line of the adjacent charged bodies can be preferably acquired based on the parameter, and then 2 projection light spots can be formed on the ground by preferably adjusting the angles of the first linear light source 3 and the second linear light source 4 based on the vertical distance, and the connecting line of the 2 projection light spots can be preferably used as a safety boundary line.
The safety boundary line drawn based on the method can be better parallel to the connecting line of the corresponding adjacent charged bodies, and the safety distance can be better ensured.
A processor 5 is arranged at the mounting rack 11, and the processor 5 is provided with an identification unit, a calculation unit and a control unit;
the identification unit is used for identifying the charged body in the environment image acquired by the image acquisition mechanism, and the distance measurement mechanism is provided with a measurement reference point and is used for acquiring the distance between the charged body and the measurement reference point when the charged body is identified by the identification unit;
the calculating unit is used for calculating the rotating angles of the first linear light source and the second linear light source on the horizontal plane and the vertical plane according to the corresponding rotating angles and the corresponding distances of the image acquisition mechanisms at the identified first electrified body and the second electrified body;
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the distance measurement mechanism, the first linear light source, the second linear light source and the calculation unit.
Automatic processing of the relevant data can be preferably achieved.
The rotation axis of the light source mounting bracket 11c is on the same vertical plane as the measurement reference point. The measurement error can be preferably reduced.
The first linear light source 3 is used for generating a first light ray, the second linear light source 4 is used for generating a second light ray, the first light ray and the distance measuring direction of the distance measuring mechanism 2 are on the same vertical plane, and an included angle is formed between the first light ray and the second light ray. The alignment of the angular reference can be preferably achieved.
The mounting frame 11 is rotatably matched with a support frame 12, a first driving mechanism 6 is fixedly arranged at the support frame 12, and the first driving mechanism 6 is used for driving the mounting frame 11 to rotate. The rotatable arrangement of the mounting bracket 11 can be preferably achieved.
The support frame 12 is provided with a heightening rod 12a and a support frame mounting part 12b arranged at the upper part of the heightening rod 12a, and the support frame mounting part 12b is provided with a mounting part bottom plate 12b1 matched with the heightening rod 12a and a mounting part top plate 12b2 matched with the mounting frame 11; a first driving mechanism mounting cavity 12b3 for arranging the first driving mechanism 6 is formed between the mounting part bottom plate 12b1 and the mounting part top plate 12b2, a matching through hole 12b4 is formed in the middle of the mounting part top plate 12b2, and a coupling part 11a1 for power coupling with the first driving mechanism 6 is formed at the position of the bottom mounting plate 11a corresponding to the matching through hole 12b 4. The mounting of the first drive mechanism 6 can be preferably achieved.
The outer periphery of the matching through hole 12b4 forms a positioning circular groove 12b5, and a positioning circular ring 11a2 which is used for being in clearance fit with the positioning circular groove 12b5 is formed at the position, corresponding to the positioning circular groove 12b5, of the bottom layer mounting plate 11 a. Therefore, the positioning circular groove 12b5 and the positioning circular ring 11a2 can form better matching.
The first driving mechanism 6 adopts a stepping motor, and an angle sensor is arranged at the first driving mechanism 6. The collection of angle data can be preferably realized.
The bottom mounting plate 11a is formed with a hinge bracket 11a3, the light source mounting bracket 11c is formed with a hinge shaft 11c1 for rotatably engaging with the hinge bracket 11a3, and a central axis of the hinge shaft 11c1 constitutes a rotation axis of the light source mounting bracket 11 c. The rotatable connection of the sub-mount tray 11a can be preferably formed.
The bottom installation plate 11a is formed with a notch 11a4 corresponding to the hinge bracket 11a 3. Therefore, the first linear light source 3 and the second linear light source 4 disposed at the light source mounting bracket 11c can be preferably not shielded.
The hinge shaft 11c1 is in power connection with a second driving mechanism 7, and the second driving mechanism 7 adopts a stepping motor. It is possible to preferably realize the rotation control of the floor mounting tray 11 a.
The lower part of the supporting frame 12 is provided with a supporting leg 13. So that the deployment is facilitated.
In this embodiment, range finding mechanism can include laser range finder, and first linear light source and second linear light source can include laser generator, and image acquisition mechanism can include the camera, and the treater can be based on the singlechip realization.
Example 4
Referring to fig. 14, this embodiment provides a specific solution applied to the recognition alarm module in embodiment 1, and also provides a moving object recognition method and system based on deep learning based on the specific solution.
The identification alarm module in this embodiment has:
the image preprocessing unit is used for preprocessing the monitoring image;
a moving target detection unit for detecting a detection target that moves between a previous time and a current time based on the monitored images of the current time and the previous time;
the judging unit is used for judging whether the detection target crosses the corresponding electronic fence area of the corresponding safety boundary line in the monitoring image at the current moment, and if so, an alarm signal is generated; and
and the alarm unit is used for receiving the alarm signal and performing alarm action.
Through the method, the monitoring image can be better processed and the boundary crossing judgment can be better realized, so that the active boundary crossing detection and alarm in the construction process can be better realized.
When the step SC in embodiment 1 is implemented based on the recognition alarm module of this embodiment, the monitoring image is preprocessed by the image preprocessing unit; detecting, by a moving object detecting unit, a detection object that moves between a previous time and a current time based on the monitored images of the current time and the previous time; judging whether a detection target in the monitoring image at the current moment crosses a corresponding electronic fence area corresponding to a corresponding safety boundary line through a judging unit, and if so, generating an alarm signal; and receiving the alarm signal and performing alarm action through the alarm unit. The processing of the relevant data can be preferably realized.
In order to ensure the alignment of the detection reference, that is, the alignment of the fence region in the monitoring image with the actual safety boundary surface, the fence region corresponding to the safety boundary line in the monitoring image and the position of the reference mark line 22 in the monitoring image can be set to be associated with each other when the determination unit is operated. The alignment of the correlation detection reference can be preferably achieved.
Based on the recognition alarm module provided in the embodiment, the moving target recognition method based on deep learning can be realized, and the method comprises the following steps:
step one, acquiring a monitoring image of the current moment
And the monitoring image of the previous moment
And carrying out image preprocessing to obtain corresponding preprocessed image
And pre-processing the image
；
Step two, preprocessing the image based on the frame difference method
And pre-processing the image
Processing is carried out to obtain a preprocessed image
A first target area, a first target areaThe domain is a region which moves between the previous time and the current time;
step three, monitoring images of the current moment based on the YOLO algorithm
Processing the image to obtain a preprocessed image of the monitored object
A second target region of;
step four, taking the overlapped area of the first target area and the second target area as a detection target, and preprocessing the image
Defining an electronic fence area corresponding to the corresponding safety boundary line, and generating an alarm signal when the detection target crosses the electronic fence area;
and fifthly, alarming according to the alarm signal.
Through the first to fifth steps, an object which moves at the current time compared with the previous time, namely a first target area, can be obtained through a frame difference method on the basis of the monitoring images continuously shot on the time axis; then, the area where the monitored object to be identified is located at the current moment, namely a second target area, can be obtained according to a YOLO algorithm; by taking the overlapping area of the first target area and the second target area as the detection target, the part of the target to be monitored, which actually moves, can be better identified, so that the border-crossing detection and alarm can be better realized.
It can be understood that different regions in the two images can be preferably extracted by the frame difference method, and since the shooting angles of the monitoring images in this embodiment are always the same, different regions in the monitoring images at the previous time and the current time can be preferably identified by comparing the monitoring images at different times, where the different regions are generated by a variety of reasons, for example:
1. the object to be detected moves;
2. situations such as birds, people walking, etc. exist;
3. the monitoring pictures at the previous moment and the current moment have object movement, such as equipment moving.
It can be seen that in the above 3 cases, only the 1 st case is the detection target required by the present scheme, and the 2 nd, 3 rd, etc. cases are noise; the detection target cannot be identified well only by the frame difference method.
In the embodiment, the position of the monitored object to be detected in the monitoring image at the current moment can be identified by introducing a YOLO algorithm for auxiliary judgment, and the second target area identified by the YOLO algorithm is an area containing the whole monitored object; it can be understood that the moving part of the detected object is necessarily in the first and second target areas at the same time, so that the detection target can be preferably obtained by obtaining the overlapping area of the first and second target areas. Based on this kind of mode, can reject the noise better, improve and detect the precision.
In addition, as the image recognition algorithm such as the YOLO algorithm is an already mature algorithm, this means is only applied in this embodiment, and is not improved, so the detailed principle is not repeated. It should be noted that in this embodiment, the entire crane can be used as the monitoring object.
In this embodiment, the monitoring image at the current time
Monitoring image of previous moment
Preprocessing the image
And pre-processing the image
Respectively, are shown as being, respectively,
wherein the content of the first and second substances,
、
、
and
monitoring images respectively representing the current time
Monitoring image of previous moment
Preprocessing the image
And pre-processing the image
Image values at row i and column j; m and N are the total number of pixel points of the image in the length direction and the width direction respectively;
in the first step, the image preprocessing specifically includes the following steps,
step 1-1, monitoring image of current moment
And the monitoring image of the previous moment
Processing the image into a gray image, and taking the gray value as the image value of the corresponding pixel point;
and step 1-2, taking the median of the image values of a certain pixel point in the image before processing and K pixel points adjacent to the certain pixel point as the image value of the certain pixel point of the image after processing through median filtering processing.
By the above, the initial image can be preferably processed by median filtering, and thus the final recognition accuracy can be preferably improved.
The second step of the present embodiment is specifically performed as follows,
step 2-1, obtaining a preprocessed image based on differential operation
And pre-processing the image
Differential image of
，
Step 2-2, based on threshold value processing, difference image
Processing into binary image
，
Step 2-3, obtaining a binary image
A set P of all pixels with a median image value of 255, the set P being the first target region, wherein,
by the above, the first target region can be preferably acquired.
It is understood that the first target region includes the detected target as well as the noise region.
The third step of the present embodiment is specifically performed as follows,
step 3-1, preprocessing the image based on the YOLO algorithm
Identifying the monitored substance;
step 3-2, obtaining an identification frame area Q of the monitored object, wherein the identification frame area Q is a second target area; wherein the content of the first and second substances,
wherein the content of the first and second substances,
and
respectively the leftmost and rightmost length coordinates of the monitored object,
and
respectively, the width coordinates of the uppermost and lowermost monitor.
Through the above, the area where the monitored object in the monitored image is located can be better identified.
It is understood that the monitoring region includes a target region where movement may occur and other regions where movement does not occur.
The fourth step of the present embodiment is specifically performed as follows,
step 4-1, constructing an overlapping area S of the first target area and the second target area;
step 4-2, obtaining the length coordinate of the rightmost pixel point of the overlapping area S
；
Step S4-3, constructing the electronic fence area and acquiring the length coordinate of the electronic fence area
；
Step S4-4, if
An alarm signal is generated.
Through the method, the active detection and alarm of time out-of-range can be better.
Referring to fig. 15, in the actual detection process, a cartesian coordinate system can be established with the lower left corner of the image as the origin, and based on step 4-1, the first target region (100 in fig. 15) and the second target region (200 in fig. 15) can be preferably obtained, so as to obtain the overlapping region S, i.e. the detection target.
In this case, i.e. without going beyond the border, no alarm is given, as shown in connection with fig. 16.
In this case, as shown in fig. 17, the boundary has been crossed, and an alarm is given.
The moving target recognition system based on deep learning in the embodiment comprises the recognition alarm module. The above method can be preferably implemented.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, without departing from the spirit of the present invention, a person of ordinary skill in the art should understand that the present invention shall not be limited to the embodiments and the similar structural modes without creative design.
Claims (9)
1. A safe distance intelligence early warning system for in electric power hoist and mount operation, it has:
the boundary building device is used for building at least one safety boundary line on the periphery of the construction area, the at least one safety boundary line is used for forming a safety boundary between the construction area and the charged body, and a set safety distance is reserved between any safety boundary line and a corresponding connecting line of 2 adjacent charged bodies;
the boundary monitoring device is provided with an image acquisition unit and is used for being arranged at the end point of the corresponding safety boundary line, and the optical axis of the image acquisition unit is parallel to the corresponding safety boundary line and is used for continuously acquiring a monitoring image with an imaging surface vertical to the corresponding safety boundary line; and
the identification alarm module is used for processing the monitoring images collected by the corresponding boundary monitoring devices and giving an alarm when detecting that a detection target crossing the corresponding safety boundary line exists in the construction area;
the boundary building device is provided with a safe boundary building system, and the safe boundary building system comprises an image acquisition mechanism, an identification unit, a distance measuring mechanism, a first linear light source, a second linear light source, a calculation unit and a control unit;
when defining a safe boundary line based on the boundary building device, the boundary building device is firstly arranged in a construction area, and then the following steps are carried out,
s1, controlling the image acquisition mechanism to rotate and continuously acquiring the environmental image;
step S2, recognizing the charged bodies appearing in the environment image through a recognition unit, wherein the first charged body and the second charged body recognized by the recognition unit are respectively marked as a first charged body and a second charged body;
step S3, when the first electrified body and the second electrified body are identified, collecting the current rotation angles and recording the current rotation angles as first deflection angles respectively
And a second deflection angle
And acquiring a corresponding first distance by a distance measuring mechanism
And a second pitch
；
Step S4, controlling the image acquisition mechanism to rotate to
At the position of the angle, the angle of the angle is equal to the angle of the angle,
step S5, controlling the first linear light source and the second linear light source to rotateTo is that
At the position of the angle, the angle of the angle is equal to the angle of the angle,
wherein the content of the first and second substances,
in order to set the safety distance between the two parts,
the distance between the rotating axes of the first linear light source and the second linear light source and the ground;
step S6, controlling the first linear light source and the second linear light source to work, and taking a connecting line of projection light spots of the first linear light source and the second linear light source on the ground as a safety boundary line;
and repeating the steps S1-S6 to finish the demarcation of each safety boundary line.
2. The intelligent early warning system for the safe distance in the electric power hoisting operation according to claim 1, characterized in that: the boundary building device comprises a bracket (10), and a safety boundary building system is arranged at the bracket (10); the safety boundary building system is provided with a safety boundary building system,
the image acquisition mechanism can rotate on a horizontal plane and is used for continuously acquiring an environment image;
the identification unit is used for identifying the charged body in the environment image acquired by the image acquisition mechanism;
the distance measuring mechanism is provided with a measuring reference point, the distance measuring direction of the distance measuring mechanism is always parallel to the optical axis direction of the image collecting mechanism, and the distance measuring mechanism is used for collecting the distance between the charged body and the measuring reference point when the charged body is identified by the identification unit;
the distance measuring device comprises a first linear light source and a second linear light source, wherein the first linear light source is used for generating a first light ray, the second linear light source is used for generating a second light ray, the first linear light source and the second linear light source can synchronously rotate on a vertical surface, the first light ray and the distance measuring direction of the distance measuring mechanism are on the same vertical surface, an included angle is formed between the first light ray and the second light ray, and the plane formed by the first light ray and the second light ray is parallel to the rotating axis of the first linear light source and the rotating axis of the second linear light source;
a calculating unit for calculating the rotation angles of the first and second linear light sources on the horizontal plane and the vertical plane according to the corresponding rotation angles and the corresponding distances of the image capturing mechanisms at the identified first and second charged bodies; and
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the distance measurement mechanism, the first linear light source, the second linear light source and the calculation unit.
3. The intelligent early warning system for the safe distance in the electric power hoisting operation according to claim 1, characterized in that: the boundary monitoring device is provided with a device body (20), and the image acquisition unit is arranged in the device body (20).
4. The intelligent early warning system for the safe distance in the electric power hoisting operation according to claim 1, characterized in that: the identification alarm module is provided with a voice recognition alarm module,
the image preprocessing unit is used for preprocessing the monitoring image;
a moving target detection unit for detecting a detection target that moves between a previous time and a current time based on the monitored images of the current time and the previous time;
the judging unit is used for judging whether the detection target crosses the corresponding electronic fence area of the corresponding safety boundary line in the monitoring image at the current moment, and if so, an alarm signal is generated; and
and the alarm unit is used for receiving the alarm signal and performing alarm action.
5. The intelligent early warning method for the safe distance in the electric power hoisting operation is realized on the basis of the intelligent early warning system for the safe distance in the electric power hoisting operation as claimed in any one of claims 1 to 4, and specifically comprises the following steps:
step SA, defining a safe boundary line based on a boundary building device;
SB, building a safety boundary based on the boundary monitoring device;
step SC, based on the recognition alarm module, the border crossing detection and alarm are carried out;
the boundary building device is provided with a safe boundary building system, and the safe boundary building system comprises an image acquisition mechanism, an identification unit, a distance measuring mechanism, a first linear light source, a second linear light source, a calculation unit and a control unit; in the step SA, the boundary building device is first installed in the construction area, and then the following steps are performed,
s1, controlling the image acquisition mechanism to rotate and continuously acquiring the environmental image;
step S2, recognizing the charged bodies appearing in the environment image through a recognition unit, wherein the first charged body and the second charged body recognized by the recognition unit are respectively marked as a first charged body and a second charged body;
step S3, when the first electrified body and the second electrified body are identified, collecting the current rotation angles and recording the current rotation angles as first deflection angles respectively
And a second deflection angle
And acquiring a corresponding first distance by a distance measuring mechanism
And a second pitch
；
Step S4, controlling the image acquisition mechanism to rotate to
At the position of the angle, the angle of the angle is equal to the angle of the angle,
step S5, controlling the first linear light source and the second linear light source to rotate
At the position of the angle, the angle is equal to the angle,
wherein the content of the first and second substances,
in order to set the safety distance, the distance between the two parts is set,
the distance between the rotating axes of the first linear light source and the second linear light source and the ground;
step S6, controlling the first linear light source and the second linear light source to work, and taking a connecting line of projection light spots of the first linear light source and the second linear light source on the ground as a safety boundary line;
and repeating the steps S1-S6 to finish the demarcation of each safety boundary line.
6. The intelligent early warning method for the safe distance in the electric power hoisting operation according to claim 5, characterized in that: the boundary monitoring device is provided with an image acquisition unit, in the step SB, the image acquisition unit is arranged at the end point corresponding to the safety boundary line, and the optical axis of the image acquisition unit is arranged to be parallel to the corresponding safety boundary line so as to be used for continuously acquiring the monitoring image of which the imaging surface is vertical to the corresponding safety boundary line.
7. The intelligent early warning method for the safe distance in the electric power hoisting operation according to claim 6, characterized in that: the boundary monitoring device is provided with a device body (20) for arranging an image acquisition unit, a reference mark line (22) is arranged at the device body (20), and a vertical surface where the reference mark line (22) is located is parallel to a vertical surface where an optical axis of the image acquisition unit is located; in step SB, a reference mark line (22) is set at the same vertical plane as the corresponding safety boundary line.
8. The intelligent early warning method for the safe distance in the electric power hoisting operation according to claim 7, characterized in that: the identification alarm module is provided with an image preprocessing unit, a moving target detection unit, a judgment unit and an alarm unit, and in the step SC, the monitoring image is preprocessed through the image preprocessing unit; detecting, by a moving object detecting unit, a detection object that moves between a previous time and a current time based on the monitored images of the current time and the previous time; judging whether a detection target in the monitoring image at the current moment crosses a corresponding electronic fence area corresponding to the corresponding safety boundary line through a judging unit, and if so, generating an alarm signal; and receiving the alarm signal and performing alarm action through the alarm unit.
9. The intelligent early warning method for the safe distance in the electric power hoisting operation according to claim 8, characterized in that: when the judging unit operates, the electronic fence area corresponding to the corresponding safety boundary line in the monitoring image is set to be related to the position of the reference mark line (22) in the monitoring image.
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| CN106559653A (en) * | 2016-10-28 | 2017-04-05 | 国网福建省电力有限公司 | Nearly electricity operation safe monitoring early warning system |
| CN106971500A (en) * | 2017-05-04 | 2017-07-21 | 国网山东省电力公司武城县供电公司 | The safe distance warning device and method of transformer |
| CN110782495A (en) * | 2018-07-27 | 2020-02-11 | 弗劳恩霍夫应用研究促进协会 | Device and method for generating and monitoring a safety area in a work space |
| CN111582060A (en) * | 2020-04-20 | 2020-08-25 | 浙江大华技术股份有限公司 | Automatic line drawing perimeter alarm method, computer equipment and storage device |
| 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 |
| 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 |
| CN112216049A (en) * | 2020-09-25 | 2021-01-12 | 交通运输部公路科学研究所 | Construction warning area monitoring and early warning system and method based on image recognition |
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Application publication date: 20220617 Assignee: Anhui Runiu Intelligent Technology Co.,Ltd. Assignor: ANHUI TRANSMISSION AND TRANSFORMATION ENGINEERING Co.,Ltd. Contract record no.: X2024980003060 Denomination of invention: An intelligent safety distance warning system and method for electric power lifting operations Granted publication date: 20220812 License type: Common License Record date: 20240325 |