CN115841741B - Dynamic height limiting control method, system and device in power transmission and transformation overhaul scene based on Beidou system - Google Patents
Dynamic height limiting control method, system and device in power transmission and transformation overhaul scene based on Beidou system Download PDFInfo
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Abstract
The application provides a dynamic height limiting control method, a system and a device in a power transmission and transformation overhaul scene based on a Beidou system, which are used for defining a height limiting control range for target limiting objects in a power transmission and transformation line and equipment according to requirements of safety management standards, introducing the Beidou system to accurately position Beidou positioning terminals arranged on the equipment to be controlled, monitoring whether the Beidou positioning terminals fall into the height limiting control range in real time, and immediately carrying out alarm prompt once the behavior exceeding the height limiting control range occurs so as to realize full-automatic and accurate dynamic height limiting control in a three-dimensional space and provide reliable and safe operation management for special operation vehicles and personnel.
Description
Technical Field
The application relates to the technical field of engineering safety control, in particular to a dynamic height limiting control method, system and device in a power transmission and transformation overhaul scene based on a Beidou system.
Background
In the power transmission and transformation overhauling construction process operation, the conditions of electrified construction, cross construction and the like often occur. Due to the influence of various factors, the accurate height of electrified bodies such as overhead lines and the like is difficult to judge on site, and great risks are brought to the operation of special vehicles such as cranes, lifting machines, arm-lift trucks and the like.
In recent years, safety accidents caused by the superelevation of some typical special vehicles occur in the power transmission and transformation construction process in the system, the height limitation of the existing safety measures on the special vehicles can only be judged by traditional means such as manual observation, safety rope height and the like, and an accurate and quantitative reference basis is lacked.
In the construction process of electric power system engineering, the existing safety measure facilities often only limit the movable range of constructors and equipment in a plane, and do not relate to the limitation of the height of a construction space, however, in many electric power engineering construction processes, equipment such as a crane, a lifter, an insulating arm car and the like are needed to be used, the movable height range of the equipment cannot be limited by the existing safety measure ranges, ultrahigh construction is often caused, but the constructors are not aware, and great potential safety hazards exist.
The application provides a reliable and safe Beidou positioning-based control measure and means for special working vehicles and personnel, and can accurately monitor and warn the space positions and working states of the working vehicles and personnel.
Disclosure of Invention
In view of the above, the embodiment of the application provides a method, a system and a device for dynamically controlling the height limit in a power transmission and transformation overhaul scene based on a Beidou system, so as to eliminate or improve one or more defects in the prior art, and solve the problem that special operation vehicles and personnel cannot realize safety monitoring in the height direction in the overhaul operation construction process.
The technical scheme of the application is as follows:
in one aspect, the application provides a dynamic height limiting control method in a power transmission and transformation overhaul scene based on a Beidou system, wherein the method is used for running on height limiting control equipment, the height limiting control equipment is connected with the Beidou system, the height limiting control equipment is connected with a laser range finder and a Beidou positioning terminal, the Beidou positioning terminal is arranged on equipment to be controlled, and the method comprises the following steps:
obtaining distance data and measurement angle data obtained by carrying out laser ranging on a target limiter in a power transmission and transformation line at a specified point position through the laser range finder, and obtaining space coordinates of the target limiter according to the distance data, the measurement angle data and coordinates of the specified point position;
setting a safety distance according to the safety control requirement of the target limiter, and defining a height limiting control range according to the space coordinates of the target limiter and the safety distance;
acquiring base station observation coordinates and base station actual coordinates of a differential base station, and acquiring terminal observation coordinates of the Beidou system on the Beidou positioning terminal;
correcting the terminal observation coordinate based on differential positioning by utilizing the base station observation coordinate and the base station actual coordinate to obtain the terminal actual coordinate of the Beidou positioning terminal;
and monitoring the actual coordinates of the terminal, and when the actual coordinates of the terminal fall into the height limiting control range, alarming and prompting.
In some embodiments, the specified point location is a power transmission and transformation device for marking accurate positioning information in a power transmission and transformation line, and the coordinates of the specified point location are obtained by acquiring coordinates pre-stored in the power transmission and transformation device;
or the appointed point location is selected in real time in an actual application scene, and differential positioning is carried out on the appointed point location based on a Beidou satellite system, so that coordinates of the appointed point location are obtained.
In some embodiments, setting the safety distance according to the safety regulatory requirements of the target limiter comprises:
and setting the safety distance according to the working voltage value of the power transmission and transformation line or the power transmission and transformation equipment, wherein the value of the safety distance is in direct proportion to the working voltage value.
In some embodiments, after setting the safety distance according to the safety control requirement of the target limiter, the method further comprises:
and determining the radius of an operation section of the construction equipment according to the power transmission and transformation overhaul service type, and defining a height limiting control range according to the space coordinate of the target limiting object, the radius of the operation section of the construction equipment and the safety distance, wherein the sum of the radius of the operation section of the construction equipment and the safety distance is taken as the safety radius, the space coordinate of the target limiting object is taken as the circle center, and the safety radius is used for defining the height limiting control range.
In some embodiments, correcting the terminal observed coordinates based on differential positioning using the base station observed coordinates and the base station actual coordinates includes:
performing difference analysis on the observed coordinates of the base station and the actual coordinates of the base station to obtain a positioning error correction;
and correcting the terminal observation coordinate according to the error correction quantity to obtain a terminal actual coordinate.
In some embodiments, performing a difference analysis on the base station observed coordinates and the base station actual coordinates to obtain a positioning error correction amount includes:
and establishing a pseudo satellite base station with the determined position on the ground so as to simulate satellites in a Beidou system, and determining the positioning error correction amount according to the coordinates of the pseudo satellite base station, the base station observation coordinates and the base station actual coordinates.
In some embodiments, the method further comprises:
acquiring an air pressure value of the position of the equipment to be controlled by an air pressure sensor arranged on the equipment to be controlled, and converting the air pressure value into the altitude of the equipment to be controlled;
and acquiring a preset altitude safety range, monitoring the altitude, and carrying out alarm prompt when the altitude exceeds the altitude safety range.
On the other hand, the application also provides a dynamic height limiting control system in the power transmission and transformation overhaul scene based on the Beidou system, which comprises the following steps:
the Beidou positioning terminal is arranged on equipment to be managed and controlled, and terminal observation coordinates are obtained through a Beidou system;
the laser range finder is used for carrying out laser range finding on a target limiter in the power transmission and transformation line at a designated point location and positioning the target limiter;
the differential base station is used for implementing differential positioning to obtain a positioning error correction amount by providing the actual coordinates and the observed coordinates of the differential base station;
and the height limiting control equipment is connected with the Beidou positioning terminal and the laser range finder and is used for executing the step of the dynamic height limiting control method in the power transmission and transformation overhaul scene based on the Beidou system.
In some embodiments, the system further comprises: the air pressure sensor is connected with the height limiting control equipment and is used for acquiring an air pressure value of the position of the equipment to be controlled and converting the air pressure value into the altitude of the equipment to be controlled so as to monitor the altitude and carry out alarm prompt according to a preset altitude safety range.
In another aspect, the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the above method when executing the program.
The application has the advantages that:
according to the dynamic height limiting control method, system and device in the power transmission and transformation overhaul scene based on the Beidou system, the height limiting control range is defined for target limiting objects in power transmission and transformation lines and equipment according to the requirements of safety management standards, the Beidou system is introduced to accurately position Beidou positioning terminals arranged on equipment to be controlled, whether the Beidou positioning terminals fall into the height limiting control range is monitored in real time, and once the behavior exceeding the height limiting control range occurs, alarm prompt is immediately carried out so as to realize full-automatic and accurate dynamic height limiting control in a three-dimensional space and provide reliable and safe operation management for special operation vehicles and personnel.
Additional advantages, objects, and features of the application will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present application are not limited to the above-described specific ones, and that the above and other objects that can be achieved with the present application will be more clearly understood from the following detailed description.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and together with the description serve to explain the application. In the drawings:
fig. 1 is a flowchart of a dynamic height limiting control method in a power transmission and transformation overhaul scene based on a beidou system according to an embodiment of the application.
Fig. 2 is a schematic structural diagram of a dynamic height limiting control system in a power transmission and transformation overhaul scene based on a beidou system according to another embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following embodiments and the accompanying drawings, in order to make the objects, technical solutions and advantages of the present application more apparent. The exemplary embodiments of the present application and the descriptions thereof are used herein to explain the present application, but are not intended to limit the application.
It should be noted here that, in order to avoid obscuring the present application due to unnecessary details, only structures and/or processing steps closely related to the solution according to the present application are shown in the drawings, while other details not greatly related to the present application are omitted.
It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.
It is also noted herein that the term "coupled" may refer to not only a direct connection, but also an indirect connection in which an intermediate is present, unless otherwise specified.
In the power transmission and transformation overhaul and construction process, live working is carried out under many conditions, most of equipment operates in a high-voltage or even ultra-high-voltage state in the power grid operation process, most of high-voltage transmission lines can reach 500KV, some of ultra-high-voltage lines can reach 800KV, and even a common transformer substation can reach tens of kilovolts. In these work environments, non-standard operating behaviors tend to create significant safety hazards to construction work equipment and personnel. In order to avoid potential safety hazards, a detailed construction standard is set for power transmission and transformation overhaul by a person skilled in the art, and a safety distance between the power transmission and transformation equipment and a circuit and equipment in a construction process is specified. However, in existing specifications and implemented security regulations, the security scope is usually only specified in two dimensions on the earth's surface and management measures are provided. However, under the circumstance of high-altitude operation, because the position and the shape of the power transmission and transformation in the three-dimensional space are complex, equipment and manual operation are difficult to effectively manage and control, and potential safety hazards are difficult to avoid.
The application provides an aspect, the application provides a dynamic height limiting control method in a power transmission and transformation overhaul scene based on a Beidou system, which is used for running on height limiting control equipment, wherein the height limiting control equipment is connected with the Beidou system, the height limiting control equipment is connected with a laser range finder and a Beidou positioning terminal, and the Beidou positioning terminal is arranged on equipment to be controlled, as shown in fig. 1, the method comprises the following steps S101-S105:
step S101: distance data and measurement angle data obtained by carrying out laser ranging on a target limiter in a power transmission and transformation line at a specified point position are obtained through a laser range finder, and space coordinates of the target limiter are obtained according to the distance data, the measurement angle data and coordinates of the specified point position.
Step S102: and setting a safety distance according to the safety control requirement of the target limiter, and defining a height limiting control range according to the space coordinates and the safety distance of the target limiter.
Step S103: and acquiring the base station observation coordinates and the base station actual coordinates of the differential base station, and acquiring the terminal observation coordinates of the Beidou system on the Beidou positioning terminal.
Step S104: and correcting the terminal observation coordinate based on differential positioning by utilizing the base station observation coordinate and the base station actual coordinate to obtain the terminal actual coordinate of the Beidou positioning terminal.
Step S105: and monitoring the actual coordinates of the terminal, and when the actual coordinates of the terminal fall into the height limiting control range, alarming and prompting are carried out.
In step S101, in order to implement height limiting control in the three-dimensional space, it is necessary to locate a target limiter in the power transmission and transformation line, where the safety control requirement exists, and then perform height limiting control in the construction process based on the control standard. Specifically, in this example, a laser ranging method is first used to measure the distance of the target limiter, so as to determine the coordinates of the target limiter in space. The appointed point location is a known accurate location point, in the practical application process, the site location can be carried out through a Beidou satellite system, and equipment or the point location with the known accurate location in a power transmission and transformation line can be directly selected as the appointed point location. The actual positioning coordinates of the target limiter in the three-dimensional space can be directly calculated according to the distance data and the measurement angle data by measuring the distance of the target limiter at the designated point.
In some embodiments, the designated point location is a power transmission and transformation device, such as a base and a tower, with pre-marked accurate positioning information in the power transmission and transformation line, and the coordinates of the designated point location are obtained by acquiring the coordinates pre-stored by the power transmission and transformation device. Or the appointed point location is selected in real time in an actual application scene, differential positioning is carried out on the appointed point location based on the Beidou satellite system, and coordinates of the appointed point location are obtained.
In step S102, in order to secure safe construction for the power transmission and transformation equipment, the work equipment, personnel and the target limiter are required to maintain a specified safe distance. The safety distance is set with the main body type and the working state of the target limiter as the standard. In some embodiments, setting the safe distance according to the safe regulatory requirements of the target limiter comprises: and setting a safety distance according to the working voltage value of the power transmission and transformation line or the power transmission and transformation equipment, wherein the value of the safety distance is in direct proportion to the working voltage value. Specifically, the standard safety distance may be set as follows: the safety distance of the 500kv power line is 5m; the safety distance of the 220 kv power line is 3m; the safety distance of the 110 kv power line is 1.5m; the safety distance of the 35 kv power line is 1m; the safety distance of a 10 kv power line is 0.7m. Further, the safety distance can be set individually according to the requirements of the actual application scene. And defining a height limiting control range in the three-dimensional space according to the positioning coordinates of the target limiter in the three-dimensional space and the safety distance.
In some embodiments, after setting the safety distance according to the safety control requirement of the target limiter, the method further comprises:
and determining the radius of the operation section of the construction equipment according to the power transmission and transformation overhaul service type, and defining a height limiting control range according to the space coordinate of the target limiting object, the radius of the operation section of the construction equipment and the safety distance, wherein the sum of the radius of the operation section of the construction equipment and the safety distance is taken as the safety radius, the space coordinate of the target limiting object is taken as the circle center, and the height limiting control range is defined by the safety radius.
In step S103, step S104 and step S105, the actual coordinates of the terminal of the beidou positioning terminal, that is, the actual coordinates of the equipment to be controlled, are determined based on the differential positioning technology, and whether the equipment to be controlled is within the height limiting control range is judged by supervising the actual coordinates of the equipment to be controlled.
The principle of the differential positioning method in the reference GPS system is as follows: at a fixed (station) location, the "accurate position data" is obtained by survey, the "measured position data" of the station is transmitted, the data information is received by a c/a code user receiver, and the "GPS positioning error correction amount" can be obtained by differential analysis of the "measured position data" and the "accurate position data". These "positioning error corrections" are then propagated through the radio transmitter, and the receivers of the other c/a code users in the area are just receptive and correct the positioning data of the receivers. The application of the differential GPS system ensures that the c, A code user receiver has more accurate positioning, which is more than 10 times of the prior positioning precision.
The positioning precision can be improved by the differential positioning technology, and the differential positioning technology mainly comprises a pseudo-range single-point positioning algorithm and a carrier phase measuring algorithm. The pseudolite technology in the Beidou navigation and positioning system refers to the navigation algorithm in the traditional global positioning system. The positioning accuracy of the system is improved by satellite receiving stations on the ground. The user can receive the Beidou signal and the satellite signal simultaneously, and quick positioning can be realized. If the number of satellites is more than two, a four-star satellite positioning system can be formed together with the Beidou system. The receiving station 1 calculates the corresponding distance by measuring the distance from 4 stars, typically by measuring the time of signal transmission multiplied by the speed of light. The pseudolite navigation positioning technology is a simulated GPS navigation positioning system, wherein pseudolites are ground base stations, namely receiving stations, for simulating satellite signals to be received by a satellite to send out GPS signals.
In this embodiment, for the beidou system, in the setting process of the satellite base stations, differential positioning can be achieved by setting one of the base stations as a differential base station. The actual distance from the differential satellite can be calculated by knowing the accurate coordinates of the differential satellite, then the actual distance is compared with the observed pseudo-range and corrected, and finally the real-time data is sent out. And (5) carrying out positioning calculation by using the corrected pseudo range, and finally obtaining the accurate position of the user receiver. The common errors such as satellite clock deviation, ephemeris error, ionosphere error and troposphere error can be eliminated by correction, so that the positioning accuracy of the system can be improved better.
In some embodiments, correcting the terminal observation coordinates based on differential positioning using the base station observation coordinates and the base station actual coordinates includes steps S201 to S202:
step S201: and performing differential analysis on the observed coordinates of the base station and the actual coordinates of the base station to obtain a positioning error correction quantity.
Step S202: and correcting the terminal observation coordinate according to the error correction quantity to obtain the terminal actual coordinate.
In some embodiments, performing a difference analysis on the base station observed coordinates and the base station actual coordinates to obtain a positioning error correction amount includes: and establishing a pseudo satellite base station with the determined position on the ground to simulate a satellite in the Beidou system, and determining a positioning error correction amount according to the coordinates of the pseudo satellite base station, the base station observation coordinates and the base station actual coordinates.
Differential positioning does not overcome the drawbacks due to poor satellite constellation geometry, however, to improve navigation accuracy, reliability and integrity. In the existing satellite configuration scheme, once one satellite fails or a signal is not received for some reason, the defect of improper geometric configuration is more prominent. In order to ensure the accuracy and reliability of the Beidou system in specific areas with special purposes, the embodiment refers to pseudolites, and a fixed differential base station similar to the Beidou satellite is established in the areas so as to perform the function of the Beidou satellite.
Pseudolites are essentially only a special solution for differential positioning applications. The pseudolite message format is thus also the same as that of other differential satellites.
The monitoring station receives all the visible Beidou satellite signals and pseudolite signals and compares them with known monitoring station locations and pseudolite antenna locations. The monitoring station controls pseudolite transmissions and provides differential telegrams. The user equipment can receive the Beidou satellite signals and the pseudolite signals simultaneously.
In some embodiments, the method further comprises steps S301 to S302:
step S301: and acquiring the air pressure value of the position of the equipment to be controlled by an air pressure sensor arranged on the equipment to be controlled, and converting the air pressure value into the altitude of the equipment to be controlled.
Step S302: and acquiring a preset altitude safety range, monitoring the altitude, and giving an alarm prompt when the altitude exceeds the altitude safety range.
In order to provide a diversified height-limiting control scheme, a pressure sensor is also introduced in the embodiment for measuring the altitude, and in some special operation processes, the altitude is monitored to ensure the safety of operators and equipment.
In the actual application process, monitoring equipment can be further arranged, and auxiliary observation is performed by manual access.
On the other hand, the application also provides a dynamic height limiting control system in the power transmission and transformation overhaul scene based on the Beidou system, as shown in fig. 2, which comprises the following steps:
the Beidou positioning terminal is arranged on equipment to be managed and controlled, and terminal observation coordinates are obtained through a Beidou system; the laser range finder is used for carrying out laser range finding on a target limiter in the power transmission and transformation line at a designated point location and positioning the target limiter; the differential base station is used for implementing differential positioning to obtain a positioning error correction amount by providing the actual coordinates and the observed coordinates of the differential base station; the height limiting control equipment is connected with the Beidou positioning terminal and the laser range finder and is used for executing the dynamic height limiting control method in the power transmission and transformation overhaul scene based on the Beidou system in the steps S101-S105.
In some embodiments, the system further comprises: the air pressure sensor is connected with the height limiting control equipment and is used for acquiring the air pressure value of the position of the equipment to be controlled and converting the air pressure value into the altitude of the equipment to be controlled so as to monitor the altitude and carry out alarm prompt according to a preset altitude safety range.
In some embodiments, the height limiting control system may be provided with an alarm to give an alarm prompt tone for safety precaution.
In an embodiment, a height limiting control device is provided, which comprises a mobile station (corresponding to a Beidou positioning terminal), a differential base station and a movable monitor (corresponding to the height limiting control device), wherein each module (component) is connected with a control circuit through wireless communication software to work. The device can display state information such as the height difference of the tag relative to the circuit and the ground, the height of the circuit, the safety distance, the battery electric quantity and the like in real time. When the height difference of the label relative to the line is smaller than the safety distance, the data display of the host and the alarm changes color, and the alarm gives out alarm prompt tone. When the mobile tag, the alarm and the host computer are in communication failure, the alarm and the host computer display corresponding state prompt icons, the alarm gives out alarm prompt tones, and the safety precaution and the alarm distance can be set.
In another aspect, the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the above method when executing the program.
According to the dynamic height limiting control method, system and device in the power transmission and transformation overhaul scene based on the Beidou system, the height and safety distance range of the electrified body or the circuit can be set according to the characteristics of lifting construction machinery such as a crane, a bucket arm vehicle and the like used in power transmission and transformation overhaul construction, and the precision can reach the centimeter level. The device can use a mobile monitor or a mobile phone to remotely monitor the dynamic state of special operation of each production site, and once the action exceeding the limit height occurs, an alarm signal is immediately sent out and an alarm message is pushed. The research and development of the device meets the requirement of space height limitation in the electric safety working procedure, provides reliable and safe control measures and means for special operation vehicles, and protects the personal safety of field operators.
In summary, the dynamic height limiting control method, system and device in the power transmission and transformation overhaul scene based on the Beidou system, disclosed by the application, define the height limiting control range for target limiting objects in power transmission and transformation lines and equipment according to the requirements of safety management standards, introduce the Beidou system to accurately position the Beidou positioning terminal arranged on the equipment to be controlled, monitor whether the Beidou positioning terminal falls into the height limiting control range in real time, immediately carry out alarm prompt once the behavior exceeding the height limiting control range occurs, so as to realize full-automatic and accurate dynamic height limiting control in a three-dimensional space and provide reliable and safe operation management for special operation vehicles and personnel.
Those of ordinary skill in the art will appreciate that the various illustrative components, systems, and methods described in connection with the embodiments disclosed herein can be implemented as hardware, software, or a combination of both. The particular implementation is hardware or software dependent on the specific application of the solution and the design constraints. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
In this disclosure, features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, and various modifications and variations can be made to the embodiments of the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. The utility model provides a power transmission and transformation overhauls dynamic limit for height control method in scene based on beidou system, its characterized in that, the method is used for running on limit for height control equipment, limit for height control equipment inserts beidou system, limit for height control equipment connects laser range finder and beidou positioning terminal, beidou positioning terminal sets up on waiting to manage the control equipment, the method includes the following steps:
obtaining distance data and measurement angle data obtained by carrying out laser ranging on a target limiter in a power transmission and transformation line at a specified point position through the laser range finder, and obtaining space coordinates of the target limiter according to the distance data, the measurement angle data and coordinates of the specified point position;
setting a safety distance according to the safety control requirement of the target limiter, and defining a height limiting control range according to the space coordinates of the target limiter and the safety distance;
acquiring base station observation coordinates and base station actual coordinates of a differential base station, and acquiring terminal observation coordinates of the Beidou system on the Beidou positioning terminal;
correcting the terminal observation coordinate based on differential positioning by utilizing the base station observation coordinate and the base station actual coordinate to obtain the terminal actual coordinate of the Beidou positioning terminal;
and monitoring the actual coordinates of the terminal, and when the actual coordinates of the terminal fall into the height limiting control range, alarming and prompting.
2. The method for dynamically controlling the height limit in the power transmission and transformation overhaul scene based on the Beidou system according to claim 1, wherein the designated point location is power transmission and transformation equipment for marking accurate positioning information in a power transmission and transformation line, and the coordinates of the designated point location are obtained by acquiring coordinates pre-stored in the power transmission and transformation equipment;
or the appointed point location is selected in real time in an actual application scene, and differential positioning is carried out on the appointed point location based on a Beidou satellite system, so that coordinates of the appointed point location are obtained.
3. The method for dynamically controlling the height limit in the power transmission and transformation overhaul scene based on the Beidou system according to claim 1, wherein the setting of the safety distance according to the safety control requirement of the target limiter comprises the following steps:
and setting the safety distance according to the working voltage value of the power transmission and transformation line or the power transmission and transformation equipment, wherein the value of the safety distance is in direct proportion to the working voltage value.
4. The method for dynamically controlling the height limit in the power transmission and transformation overhaul scene based on the Beidou system according to claim 1, wherein after the safety distance is set according to the safety control requirement of the target limiter, the method further comprises the following steps:
and determining the radius of an operation section of the construction equipment according to the power transmission and transformation overhaul service type, and defining a height limiting control range according to the space coordinate of the target limiting object, the radius of the operation section of the construction equipment and the safety distance, wherein the sum of the radius of the operation section of the construction equipment and the safety distance is taken as the safety radius, the space coordinate of the target limiting object is taken as the circle center, and the safety radius is used for defining the height limiting control range.
5. The method for dynamically controlling the height limit in the power transmission and transformation overhaul scene based on the Beidou system according to claim 1, wherein correcting the terminal observation coordinate based on differential positioning by utilizing the base station observation coordinate and the base station actual coordinate comprises the following steps:
performing difference analysis on the observed coordinates of the base station and the actual coordinates of the base station to obtain a positioning error correction;
and correcting the terminal observation coordinate according to the error correction quantity to obtain a terminal actual coordinate.
6. The method for dynamically controlling the height limit in the power transmission and transformation overhaul scene based on the Beidou system according to claim 5, wherein the step of performing difference analysis on the base station observation coordinates and the base station actual coordinates to obtain a positioning error correction amount comprises the following steps:
and establishing a pseudo satellite base station with the determined position on the ground so as to simulate satellites in a Beidou system, and determining the positioning error correction amount according to the coordinates of the pseudo satellite base station, the base station observation coordinates and the base station actual coordinates.
7. The method for dynamically controlling the height limit in the power transmission and transformation overhaul scene based on the Beidou system according to claim 1, wherein the method further comprises the following steps:
acquiring an air pressure value of the position of the equipment to be controlled by an air pressure sensor arranged on the equipment to be controlled, and converting the air pressure value into the altitude of the equipment to be controlled;
and acquiring a preset altitude safety range, monitoring the altitude, and carrying out alarm prompt when the altitude exceeds the altitude safety range.
8. Dynamic height limiting control system in power transmission and transformation overhaul scene based on beidou system, which is characterized by comprising:
the Beidou positioning terminal is arranged on equipment to be managed and controlled, and terminal observation coordinates are obtained through a Beidou system;
the laser range finder is used for carrying out laser range finding on a target limiter in the power transmission and transformation line at a designated point location and positioning the target limiter;
the differential base station is used for implementing differential positioning to obtain a positioning error correction amount by providing the actual coordinates and the observed coordinates of the differential base station;
the height limiting control device is connected with the Beidou positioning terminal, the laser range finder and the differential base station and is used for executing the steps of the dynamic height limiting control method in the power transmission and transformation overhaul scene based on the Beidou system according to any one of claims 1 to 7.
9. The Beidou system-based power transmission and transformation overhaul scene dynamic height limiting management and control system of claim 8, wherein the system further comprises:
the air pressure sensor is connected with the height limiting control equipment and is used for acquiring an air pressure value of the position of the equipment to be controlled and converting the air pressure value into the altitude of the equipment to be controlled so as to monitor the altitude and carry out alarm prompt according to a preset altitude safety range.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 7 when the program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211463280.0A CN115841741B (en) | 2022-11-22 | 2022-11-22 | Dynamic height limiting control method, system and device in power transmission and transformation overhaul scene based on Beidou system |
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| JP2005339432A (en) * | 2004-05-31 | 2005-12-08 | Mitsubishi Electric Corp | Collision prevention system and on-vehicle device, relay device and position transmitter for pedestrian |
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