CN116634356A - Target detection method, target detection device, electronic equipment and storage medium - Google Patents

Target detection method, target detection device, electronic equipment and storage medium Download PDF

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Publication number
CN116634356A
CN116634356A CN202310583453.0A CN202310583453A CN116634356A CN 116634356 A CN116634356 A CN 116634356A CN 202310583453 A CN202310583453 A CN 202310583453A CN 116634356 A CN116634356 A CN 116634356A
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CN
China
Prior art keywords
target
detected
area
forbidden
base station
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Pending
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CN202310583453.0A
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Chinese (zh)
Inventor
乔嘉赓
彭子平
易淑智
杨帆
钟红
贾恒杰
洪焕森
刘德龙
龚晓东
柳景斌
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Guangdong Power Grid Co Ltd
Shaoguan Power Supply Bureau Guangdong Power Grid Co Ltd
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Guangdong Power Grid Co Ltd
Shaoguan Power Supply Bureau Guangdong Power Grid Co Ltd
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Application filed by Guangdong Power Grid Co Ltd, Shaoguan Power Supply Bureau Guangdong Power Grid Co Ltd filed Critical Guangdong Power Grid Co Ltd
Priority to CN202310583453.0A priority Critical patent/CN116634356A/en
Publication of CN116634356A publication Critical patent/CN116634356A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a target detection method, a target detection device, electronic equipment and a storage medium. The method is applied to the transformer substation and comprises the following steps: acquiring detection information of at least one base station on the range of each area; acquiring ranging information of targets to be detected of each base station; the ranging information is determined through communication connection between the base station and the target to be detected; and detecting a target area where the target to be detected is located according to the ranging information of the target to be detected and the detection information of the range of each area, and taking the target area as a target detection result of the target to be detected. The technical scheme of the embodiment of the invention improves the efficiency of target detection in the transformer substation.

Description

Target detection method, target detection device, electronic equipment and storage medium
Technical Field
The present invention relates to the field of power distribution network technologies, and in particular, to a target detection method, a target detection device, an electronic device, and a storage medium.
Background
With the development of power distribution network technology, the scale of the transformer substation is larger and larger. Target detection within a substation is becoming increasingly important.
At present, the target detection in the transformer substation is realized mainly by accurately positioning the target to be detected.
However, the target detection in the transformer substation is realized by accurate positioning, and the efficiency of target detection is low.
Disclosure of Invention
The invention provides a target detection method, a target detection device, electronic equipment and a storage medium, which improve the efficiency of target detection in a transformer substation.
According to an aspect of the present invention, there is provided a target detection method, in an application substation, including:
acquiring detection information of at least one base station on the range of each area;
acquiring ranging information of targets to be detected of each base station; the ranging information is determined through communication connection between the base station and the target to be detected;
and detecting a target area where the target to be detected is located according to the ranging information of the target to be detected and the detection information of the range of each area, and taking the target area as a target detection result of the target to be detected.
According to another aspect of the present invention, there is provided a target detection apparatus, in an application substation, comprising:
the area detection information acquisition module is used for acquiring detection information of at least one base station on the range of each area;
the target ranging information acquisition module is used for acquiring ranging information of the target to be detected of each base station; the ranging information is determined through communication connection between the base station and the target to be detected;
The target detection result determining module is used for detecting a target area where the target to be detected is located according to the ranging information of the target to be detected and the detection information of the range of each area, and taking the target area as a target detection result of the target to be detected.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the object detection method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the object detection method according to any one of the embodiments of the present invention.
According to the technical scheme, the range detection information of the base station on the range of each area is obtained, the ranging information of the target to be detected of each base station is obtained, the ranging information is determined through communication connection between the base station and the target to be detected, the target area where the target to be detected is located is detected according to the ranging information of the target to be detected and the range detection information of each area, and the target area is used as the target detection result of the target to be detected, so that the problem that the target detection efficiency is low in a mode of realizing target detection in a transformer substation through accurate positioning is solved, and the target detection efficiency in the transformer substation is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a target detection method according to a first embodiment of the present invention;
fig. 2 is an application scenario diagram of a target detection method according to a first embodiment of the present invention;
FIG. 3 is a flow chart of a target detection method according to a first embodiment of the present invention;
FIG. 4 is a flowchart of a target detection method according to a second embodiment of the present invention;
FIG. 5 is a flowchart of a target detection method according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of an object detection device according to a third embodiment of the present invention;
Fig. 7 is a schematic structural diagram of an electronic device implementing the target detection method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a target detection method according to a first embodiment of the present invention. The embodiment of the invention can be applied to the condition of detecting the target, the method can be executed by a target detection device, the target detection device can be realized in the form of hardware and/or software, and the target detection device can be configured in electronic equipment carrying the target detection function.
Referring to the target detection method shown in fig. 1, in an application substation, the method includes:
s110, acquiring detection information of at least one base station on the range of each area.
The base station may be a base station disposed in each area of the substation. Optionally, at least one base station may be disposed in each area in the substation. The detection information of the range of each area can be the detection information of each base station to the range of each area in the transformer substation. Optionally, the detection information of the range of each area may include distance information of boundary points of each area in the substation, area identification of each area, and the like. For example, the zone identification of each zone may be a zone number within the substation. In order to detect the target to be detected in the transformer substation in real time, the most commonly used method is to locate the target to be detected in real time by means of GPS (Global Positioning System ), but in the environment of the transformer substation room, satellite signals are difficult to penetrate through the wall. The object to be detected can be detected by adopting an indoor positioning technology. Among them, indoor positioning technologies may include Wi-Fi (wireless broadband) positioning technology, bluetooth positioning technology, visible light positioning technology, ultra Wide Band (UWB) positioning technology, and the like. The ultra-bandwidth positioning technology has the advantages of interference resistance, high ranging precision and the like. The positioning modes of the ultra-bandwidth positioning technology can comprise a triangulation positioning method and a fingerprint matching positioning method, wherein the accuracy of the triangulation positioning method can be influenced by indoor multipath effect and non-line-of-sight environment, the position of the ultra-bandwidth base station needs to be accurately mapped, the geometric structure of the ultra-bandwidth base station is required to be deployed, and the operation workload is large and the complexity is high. The fingerprint matching positioning method can acquire accurate positions in a complex indoor environment, so that the fingerprint matching positioning method of the indoor positioning technology can be adopted to acquire detection information of at least one base station in the transformer substation on the range of each area.
Specifically, detection information of the range of at least one base station in the transformer substation to each region can be obtained through a fingerprint matching positioning method of an indoor positioning technology.
S120, obtaining ranging information of targets to be detected of the base stations; and the ranging information is determined through communication connection between the base station and the target to be detected.
The ranging information of the target to be detected by each base station may include a distance between the target to be detected and each base station. Exemplary, the distance information of each base station to the target to be detected may be [ x ] 1 ,x 2 ,x 3 ]. It can be understood that the transformer substation comprises 3 base stations, and the distance between the object to be detected and the base station 1 is x 1 The distance between the object to be detected and the base station 2 is x 2 The distance between the object to be detected and the base station 3 is x 3 。
Specifically, the distance between the target to be detected and each base station can be detected by communication between each base station and the target to be detected, and the distance between the target to be detected and each base station is determined as the ranging information of the target to be detected of each base station.
S130, detecting a target area where the target to be detected is located according to the ranging information of the target to be detected and the detection information of the range of each area, and taking the target area as a target detection result of the target to be detected.
The target area may be an area in which the target to be detected is located. The target detection result may be a target area in which the target to be detected is located.
Specifically, the distance measurement information of the target to be detected and the detection information of the range of each area can be compared, the target area where the target to be detected is located is determined, and the target area is used as the target detection result of the target to be detected.
According to the technical scheme, the ranging information of the target to be detected of each base station is obtained through obtaining the detection information of the range of each area by at least one base station, the ranging information is determined through communication connection between the base station and the target to be detected, the target area where the target to be detected is located is detected according to the ranging information of the target to be detected and the detection information of the range of each area, the target area where the target to be detected is located is used as the target detection result of the target to be detected, the target area where the target to be detected is used as the target detection result of the target to be detected, rather than the accurate positioning of the target to be detected is used as the target detection result of the target to be detected, on one hand, the problem of inaccurate indoor positioning is avoided, the target area where the target to be detected is located can be determined through the relative distance between the base station, the accuracy of the target detection result to be detected is improved, on the other hand, compared with the fact that the positioning point which is accurately positioned is determined as the target detection result of the target to be detected, the calculated amount in the calculation process is large, the calculation efficiency of the target detection is low, the target area is determined as the target detection result of the target to be detected, the calculation amount of the target detection process is reduced, the calculation efficiency of the target detection result is calculated, and the calculation efficiency of the target detection result is improved.
In an optional embodiment of the present invention, after the detecting the target area where the target to be detected is located, the method further includes: acquiring a forbidden region of a transformer substation; and if the target area where the target to be detected is located is the forbidden area, carrying out safety precaution on the target to be detected.
The forbidden area may be an area in the substation where the object to be detected is forbidden to enter. Illustratively, the forbidden area may include a dangerous area or a right area. The dangerous area may be an area where a security problem may exist after the entry of the object to be detected. The authority area can be an area which is only accessed by a certain authority in the transformer substation.
Specifically, an area identifier of a forbidden area of the transformer substation can be obtained. If the area identifier of the target area where the target to be detected is located is the area identifier of a forbidden area, the target to be detected enters the forbidden area in the transformer substation, and then safety early warning is carried out on the target to be detected. Optionally, the safety precaution can be carried out on the target to be detected by means of voice broadcasting, text information prompting and the like. The content of the text message prompt may include, for example, "please note-! Already within the danger zone ≡! "
According to the scheme, after the target area where the target to be detected is located is detected, the forbidden area of the transformer substation is obtained, if the target area where the target to be detected is located is the forbidden area, safety precaution is carried out on the target to be detected, whether the target to be detected is located in the forbidden area or not is determined by comparing the target area where the target to be detected is located with the forbidden area, the convenience of the safety detection process of the target to be detected is improved, the forbidden area detection is carried out on the target to be detected, and after the target to be detected enters the forbidden area, timely safety precaution is carried out on the target to be detected, so that the safety of the target to be detected in the transformer substation is further guaranteed.
In an optional embodiment of the present invention, after the detecting the target area where the target to be detected is located, the method further includes: if the target area where the target to be detected is located is different from each forbidden area, acquiring forbidden base stations in the forbidden areas; detecting two forbidden base stations of which the distance between the forbidden base stations and the target to be detected meets the early warning condition; calculating the sum of the distances between the target to be detected and the two forbidden base stations and the distance difference between the distances between the target to be detected and the two forbidden base stations; and when the distance difference value is smaller than a preset early warning distance difference value, carrying out safety early warning on the target to be detected.
The target area where the target to be detected is located is different from each forbidden area, and it can be understood that the target to be detected is located outside the forbidden areas. The forbidden base station may be a base station disposed in a forbidden region. The two forbidden base stations whose distances from the target to be detected satisfy the pre-warning condition may be two adjacent forbidden base stations that are adjacent and the sum of the distances from the target to be detected is minimum. The preset pre-warning distance difference value may be a preset maximum value of the distance difference value for performing the safety pre-warning. The preset early warning distance difference value can be set and adjusted according to the experience of a technician.
Specifically, if the region identifier of the target region where the target to be detected is located is detected to be different from the region identifiers of the forbidden regions, forbidden base stations in the forbidden regions are obtained. The method comprises the steps of obtaining the distance between each forbidden base station and a target to be detected, calculating the sum of the distances between the target to be detected and each two adjacent forbidden base stations, screening out two forbidden base stations corresponding to the smallest sum of the distances, and determining the two forbidden base stations with the distance between the forbidden base stations and the target to be detected meeting the early warning condition. The distance between the two forbidden base stations can be calculated, and the distance difference between the sum of the distances between the object to be detected and the two forbidden base stations and the distance between the two forbidden base stations can be calculated. The distance difference value can be compared with a preset early warning distance difference value, and when the distance difference value is smaller than the preset early warning distance difference value, safety early warning is carried out on the target to be detected.
Fig. 2 is an application scenario diagram of a target detection method according to an embodiment of the present invention. As shown in fig. 2, if the region identifier of the target region where the target to be detected is located is detectedAnd if the area identifiers of the forbidden areas are different, acquiring forbidden base stations 1, 2, 3 and 4 in the forbidden areas. The distance d between each forbidden base station and the object to be detected is obtained through communication between the tag of the object to be detected and each forbidden base station 1 、d 2 、d 3 And d 4 Calculating the sum d of the distances between the object to be detected and each adjacent two forbidden base stations 1 +d 2 、d 2 +d 3 、d 3 +d 4 And d 1 +d 4 And screening out the sum d of the minimum distances 1 +d 2 The corresponding two forbidden base stations, namely forbidden base station 1 and forbidden base station 2, are determined to be forbidden base stations with the distance from the target to be detected meeting the early warning condition. The distance D between the forbidden base station 1 and the forbidden base station 2 can be calculated 12 And calculates the sum d of the distances between the target to be detected and the two forbidden base stations 1 +d 2 Distance D from two forbidden base stations 12 Difference in distance between (d 1 +d 2 )-D 12 . Can be applied to the distance difference (d 1 +d 2 )-D 12 Comparing with the preset early warning distance difference delta d, and comparing the difference delta d (d 1 +d 2 )-D 12 And when the detected target is smaller than the preset early warning distance difference delta d, carrying out safety early warning on the detected target.
According to the scheme, after the target area where the target to be detected is located is detected, if the target area where the target to be detected is located is different from each forbidden area, forbidden base stations in the forbidden areas are obtained, two forbidden base stations, the distance between the forbidden base stations and the target to be detected meets the early warning condition, the sum of the distances between the target to be detected and the two forbidden base stations is calculated, the distance difference between the distance between the forbidden base stations and the target to be detected is calculated, and when the distance difference is smaller than the preset early warning distance difference, safety early warning is carried out on the target to be detected, so that safety early warning is carried out on the target to be detected in advance when the target to be detected approaches the forbidden areas, the situation that the target to be detected enters the forbidden areas by mistake is avoided, and the safety of the target to be detected in a transformer substation is further improved.
Fig. 3 is a flowchart of an object detection method according to an embodiment of the present invention. Referring to fig. 3, the target detection method includes:
s310, acquiring a target area where a target to be detected is located.
Specifically, the content of the above embodiment may be adopted to determine the target area where the target to be detected is located, and serve as the target detection result of the target to be detected.
S320, judging whether a target area where a target to be detected is located is a forbidden area, if so, executing S370; if not, S330 is performed.
Specifically, the area identifier of the target area where the target to be detected is located and the area identifiers of the forbidden areas can be compared to determine whether the target area where the target to be detected is located is the forbidden area.
S330, obtaining the sum of the distances from the target to be detected to two adjacent forbidden base stations in the forbidden region.
Specifically, the distance from the target to be detected to each forbidden base station in the forbidden region can be obtained, and the sum of the distances between the target to be detected and two adjacent forbidden base stations in the forbidden region can be obtained.
S340, obtaining two forbidden base stations corresponding to the sum of the minimum distances.
Specifically, the sum of the distances can be compared, and two forbidden base stations corresponding to the sum of the minimum distances can be determined.
S350, calculating a distance difference value between the sum of the minimum distances and the distances between the corresponding two forbidden base stations.
Specifically, a distance difference between the sum of the minimum distances and the distances between the corresponding two forbidden base stations may be calculated.
S360, judging whether the distance difference value is smaller than a preset early warning distance difference value, if so, executing S380; if not, S390 is performed.
Specifically, the distance difference value and the preset pre-warning distance difference value may be compared to determine whether the distance difference value is smaller than the preset pre-warning distance difference value.
S370, sending out early warning information to prompt that the forbidden area is entered.
Specifically, when the target area where the target to be detected is located is judged to be the forbidden area, early warning information is sent to the target to be detected to prompt that the target to be detected enters the forbidden area. For example, the early warning information may be "have entered the forbidden region-! "
S380, sending out early warning information to prompt that the vehicle approaches to the forbidden region.
Specifically, when the distance difference is smaller than a preset early warning distance difference, an early warning message is sent to the target to be detected to prompt that the target is close to the forbidden region. For example, the early warning information may be "have approached the forbidden region-! "
S390, no early warning information is sent.
Specifically, when the distance difference is greater than or equal to the preset early warning distance difference, early warning information is not sent to the target to be detected.
And determining whether the target area is a forbidden area through the target area of the target to be detected so as to realize early warning and prompting of entering the forbidden area of the target to be detected and also realize early warning and prompting of approaching the forbidden area by the target to be detected.
In an optional embodiment of the present invention, after the detecting the target area where the target to be detected is located, the method further includes: updating the regional action track of the target to be detected in real time; and tracking the forbidden region track of the target to be detected according to the region action track of the target to be detected.
The regional action trajectory may include a target region in which the target to be detected is located at various moments.
Specifically, the action track of the area of the target to be detected can be updated in real time according to the target area where the target to be detected is located at the historical moment and the current moment. The track of the region of the target to be detected can be tracked according to the region action track of the target to be detected.
According to the scheme, after the target area where the target to be detected is located is detected, the area action track of the target to be detected is updated in real time, and the forbidden area track of the target to be detected is tracked according to the area action track of the target to be detected, so that the real-time tracking of the target area where the target to be detected is located is realized, and meanwhile, the tracking of the target area where the history time of the target to be detected is located is also realized.
In an optional embodiment of the invention, before the acquiring the detection information of the range of each area by at least one base station, the method further includes: setting base stations in all areas of the transformer substation; acquiring ranging information between each base station and acquisition equipment positioned at least one boundary point of the area; and taking the ranging information between the boundary points belonging to the same area and each base station as the detection information of the range of the same area.
The acquisition equipment of the boundary points corresponds to the base stations in the areas of the transformer substation. The base stations in the areas of the transformer substation can be ultra-bandwidth base stations, the collection equipment of the boundary points can be ultra-bandwidth labels, and the distance measurement information between the base stations and the collection equipment located at the boundary points of the areas is determined through communication between the ultra-bandwidth labels and the ultra-bandwidth base stations.
Specifically, a base station may be disposed in each area of the substation. The distance measurement information between each base station and the acquisition equipment positioned at least one boundary point of the area can be detected and acquired by acquiring communication between each base station and the acquisition equipment positioned at least one boundary point of the area. Ranging information between each boundary point and each base station belonging to the same area may be used as detection information of the range of the same area.
According to the scheme, before the detection information of at least one base station on the range of each area is obtained, the base stations are arranged in each area of the transformer substation, the ranging information between each base station and the acquisition equipment located at least one boundary point of the area is obtained, the ranging information between the boundary point belonging to the same area and each base station is used as the detection information of the range of the same area, the detection information of the range of each area by at least one base station is predetermined, and data support is provided for target detection of a target to be detected.
In an alternative embodiment of the invention, the object to be detected comprises a work user within a substation.
The operation users in the transformer substation can comprise operation and maintenance users, installation users and the like in the transformer substation. The operation and maintenance user can be a user for maintaining the operation of equipment in the transformer substation. The service subscribers may be subscribers who service equipment within the substation. The installation user may be a user who installs equipment within the substation. The safety protection of the large-scale indoor operation users of the transformer substation has the requirements of real-time sensing of the positions of the operation users, tracking of the action tracks of the operation users, safety protection of forbidden areas of the operation users and the like. In order to solve the requirements, the most commonly used method at present adopts a video monitoring and physical fence protection mode, namely adopts a video monitoring mode, and monitors the position of the operation user in real time through manual management of a background monitoring center, but the mode is very dependent on manual management, so that the position of the operation user is difficult to monitor in real time, and the action track of the operation user is difficult to trace. The physical fence protection mode is adopted, the preparation work is very tedious, and the action that the operation user approaches or mistakenly enters the forbidden area cannot be timely reminded and warned.
According to the scheme, the target to be detected is embodied as the operation user in the transformer substation, the detection information of at least one base station to the range of each area is obtained, the ranging information of each base station to the operation user in the transformer substation is obtained, the target area where the operation user in the transformer substation is located is detected according to the ranging information of the operation user in the transformer substation and the detection information of the range of each area, and the target area is used as the target detection result of the operation user in the transformer substation, so that the detection of the operation user in the transformer substation is realized, and the detection efficiency of the operation user in the transformer substation is improved.
Optionally, the regional action track of the operation user in the transformer substation can be updated in real time, and the regional action track of the operation user in the transformer substation is forbidden according to the regional action track of the operation user in the transformer substation, so that the action track of the operation user in the transformer substation is tracked.
Optionally, after detecting the target area where the target to be detected is located, a forbidden area of the transformer substation is obtained, and if the target area where the target to be detected is located is the forbidden area, safety precaution is performed on the target to be detected, so that timely reminding and warning are performed on the behavior that the operation user in the transformer substation enters the forbidden area by mistake.
Optionally, after detecting the target area where the target to be detected is located, a forbidden area of the transformer substation is obtained, if the target area where the target to be detected is located is different from each forbidden area, forbidden base stations in the forbidden area are obtained, two forbidden base stations whose distances from the target to be detected meet the early warning condition are detected, the sum of distances between the target to be detected and the two forbidden base stations is calculated, a distance difference value between the distances between the target to be detected and the two forbidden base stations is calculated, and when the distance difference value is smaller than a preset early warning distance difference value, safety early warning is carried out on the target to be detected, so that timely reminding and warning on the behavior that an operation user in the transformer substation approaches the forbidden area are realized.
According to the scheme, the target to be detected is embodied as the operation user in the transformer substation, so that the detection of the operation user in the transformer substation is realized, and the detection efficiency of the operation user in the transformer substation is improved.
Example two
Fig. 4 is a flowchart of a target detection method according to a second embodiment of the present invention. Based on the above embodiments, the embodiments of the present invention embody "the detection information of the range of the area" as "the ranging information of the boundary point of the area", embody "the detection of the target area where the target to be detected is located according to the ranging information of the target to be detected and the detection information of the range of each area", and detect the distance between the target to be detected and the boundary point of each area "according to the ranging information of the target to be detected and the ranging information of the boundary point of each area; screening out target boundary points according to the distance between the target to be detected and the boundary points of the areas; dividing each target boundary point according to the belonging areas, determining the area with the most target boundary points as the target area where the target to be detected is located, further reducing the calculation amount of target detection, and further improving the target detection efficiency. In the embodiments of the present invention, the descriptions of other embodiments may be referred to in the portions not described in detail.
Referring to fig. 4, the target detection method includes:
s410, acquiring detection information of at least one base station on the range of each area; the detection information of the range of the area includes ranging information of boundary points of the area.
The ranging information of the boundary points of the area may include distances between the respective boundary points of the area and the respective base stations. Alternatively, the ranging information of the boundary points of the region may be a set or an array. Exemplary, the ranging information of a certain boundary point of a certain area may be [ y ] 1 ,y 2 ,y 3 ]. It can be understood that the transformer substation comprises 3 base stations, and the distance between a certain boundary point of a certain area and the base station 1 is y 1 The distance between the object to be detected and the base station 2 is y 2 The distance between the object to be detected and the base station 3 is y 3 。
S420, acquiring ranging information of targets to be detected of each base station; and the ranging information is determined through communication connection between the base station and the target to be detected.
S430, detecting the distance between the object to be detected and the boundary points of the areas according to the distance measurement information of the object to be detected and the distance measurement information of the boundary points of the areas.
Specifically, the manhattan distance between the ranging information of the object to be detected and the ranging information of each boundary point of each region may be calculated to detect the distance between the object to be detected and the boundary point of each region.
S440, screening out target boundary points according to the distance between the target to be detected and the boundary points of the areas.
The target boundary points may be a preset number of boundary points closer to the distance between the targets to be detected. Compared with the boundary point with the nearest distance between the screening and the target to be detected, the boundary point is used as the target boundary point, the screening and the target to be detected are closer in distance to the preset number of boundary points, and the problem that the error of determining the target area where the target to be detected is located is larger by a single boundary point can be avoided, and the accuracy of determining the target area is improved while the detection efficiency of the target area is improved.
Specifically, the distances between the object to be detected and the boundary points of the areas can be sorted from small to large, and the boundary points with the preset number in front of the sorting can be selected as the object boundary points.
S450, dividing each target boundary point according to the belonging areas, determining the area with the most target boundary points as the target area where the target to be detected is located, and taking the target area as the target detection result of the target to be detected.
Specifically, each target boundary point may be divided according to the region to which the target boundary point belongs, the number of the target boundary points in each region to which the target boundary point belongs is compared, and the region in which the target boundary point with the largest number exists is determined as the target region in which the target to be detected is located and is used as the target detection result of the target to be detected.
According to the technical scheme, the range detection information of at least one base station for each area is obtained, the range detection information of each area comprises the range detection information of the boundary points of the area, the range detection information of each base station to-be-detected target is obtained, the range detection information is determined through communication connection between the base station and the to-be-detected target, the distance between the to-be-detected target and the boundary points of each area is detected according to the range detection information of the to-be-detected target and the range detection information of the boundary points of each area, the boundary points of the to-be-detected target are screened out according to the distance between the to-be-detected target and the boundary points of each area, the area with the largest number of the boundary points of the target is determined as the target area where the to-be-detected target is located, the range detection information of the boundary points of the area is used for detecting the target area, the calculated quantity of the target to be detected is further reduced compared with the detection of the target area where all the grid points are located in each area, and the target detection efficiency is further improved.
Fig. 5 is a flowchart of an object detection method according to an embodiment of the present invention. Referring to fig. 5, the target detection method includes:
s510, dividing the areas of the transformer substation, arranging base stations, and establishing detection information of the base stations in the transformer substation on the ranges of the areas.
Specifically, the transformer substation can be divided into areas, the ultra-bandwidth base station is arranged, and the area identification of the forbidden area is recorded. The method comprises the steps of sampling around at least one boundary point on the inner boundary of each area in the transformer substation to obtain the ranging information d from the acquisition equipment on each boundary point to each ultra-bandwidth base station i And recording the area identification l of the area where each boundary point is i And constructing detection information D of the range of each ultra-bandwidth base station to each region in the transformer substation.
By way of example, the following data may be used to represent detection information D of the range of each ultra-wideband base station to each region within the substation:
wherein D is detection information D of the range of each ultra-bandwidth base station in the transformer substation to each region; d, d mn Distance from the mth boundary point to the nth base station; lm is the area identification of the area where the mth boundary point is located; [ d ] m1 ,d m2 ,…,d mn ,l m ]Is the ranging information between the mth boundary point and each base station.
S520, carrying out region identification on the ranging information between the target to be detected and each base station acquired in real time and the detection information of the range of each region by each ultra-bandwidth base station in the transformer substation, detecting the target region where the target to be detected is located, and taking the target region as the target detection result of the target to be detected.
Specifically, the ranging information between the target to be detected and each base station can be obtained in real time, and the ranging information between the target to be detected and each base station is constructed.
By way of example, ranging information between an object to be detected and each base station may be represented by the following data:
M＝[x 1 ,x 2 ,x 3 ]；
wherein M is distance measurement information between the target to be detected and each base station; x is x 1 Is the distance between the object to be detected and the base station 1; x is x 2 Is the distance between the object to be detected and the base station 2; x is x 3 Is the distance between the object to be detected and the base station 3.
The Manhattan distance between the ranging information between the target to be detected and each base station and the ranging information between each boundary point and each base station in the range detection information of each ultra-bandwidth base station to each area in the transformer substation can be calculated.
By way of example, ranging information between boundary points and base stations may be represented using the following data:
N＝[y 1 ,y 2 ,y 3 ]；
wherein N is the ranging information between the boundary point and each base station; y is 1 Is the distance between the boundary point and the base station 1; y is 2 Is the distance between the boundary point and the base station 2; y is 3 Is the distance between the boundary point and the base station 3.
The following formula can be adopted to calculate the manhattan distance between each boundary point in the ranging information between the target to be detected and each base station and the ranging information between each boundary point and each base station in the range detection information of each ultra-bandwidth base station to each area in the transformer substation:
wherein dman is Manhattan distance between each boundary point and ranging information between each base station in ranging information between a target to be detected and each base station and ranging information between each boundary point and each base station in detecting information of the range of each ultra-bandwidth base station to each region in the transformer substation; i is the identity of the base station; x is x i The distance between the target to be detected and the base station i is the distance; y is i Is the distance between the boundary point and the base station i.
The distances between the object to be detected and the boundary points of the areas can be sorted from small to large, and the boundary points with the preset number k before sorting are selected as the object boundary points.
The method comprises the steps of dividing each target boundary point according to the belonging areas, comparing the number of the target boundary points of each belonging area, determining the area with the largest number of target boundary points as the target area where the target to be detected is located, and taking the area as the target detection result of the target to be detected, so that the real-time sensing of the position of the target to be detected is realized through the target area where the target to be detected is located in the transformer substation.
S530, acquiring a forbidden region based on a target region where the target to be detected is located, and carrying out safety precaution on the target to be detected by combining the distance between two adjacent forbidden base stations in the forbidden region and the distance between the target to be detected and the forbidden base stations acquired in real time.
Specifically, the region identifier of the target region where the target to be detected is located and the region identifier of the forbidden region can be obtained. Whether the target area where the target to be detected is located is a forbidden area or not can be judged: if yes, early warning information (for example, "entering a forbidden area |") is sent to the target to be detected so as to prompt that the target to be detected enters the forbidden area; if not, the distance between two adjacent forbidden base stations in the forbidden region is obtained (e.g. D 12 、D 23 、D 34 ,…,D n-1,n ) And the distance between the object to be detected and each base station (e.g., d 1 、d 2 、d 3 ,…,d n ) Calculate the sum of the distances between the object to be detected and every two adjacent forbidden base stations (e.g. d 1 +d 2 、d 2 +d 3 、d 3 +d 4 ,…,d n-1 +d n ) The two forbidden base stations corresponding to the minimum sum of distances min (D) are obtained, the sum of the distances between the object to be detected and the two forbidden base stations and the distance difference between the two forbidden base stations are calculated, whether the distance difference is smaller than a preset early warning distance difference is judged, if yes, early warning information (for example, "the object is close to the forbidden area-! ""; if not, the early warning information is not sent to the target to be detected, thereby realizing approaching or entering Safety precaution of the target to be detected in the forbidden area is realized, and safety protection of the forbidden area in the transformer substation is realized.
The method and the device can identify the target area where the target to be detected is located, thereby realizing real-time sensing of the position of the target to be detected and tracing of the action track of the area, combining the real-time sensing of the target area where the target to be detected is located, and carrying out early warning on the behavior that the target to be detected approaches or enters the forbidden area in the transformer substation, so that the stability and high reliability of safety protection of the forbidden area are realized, the occurrence of safety accidents in the transformer substation is reduced, and the safety of the target to be detected is ensured.
Example III
Fig. 6 is a schematic structural diagram of a target detection device according to a third embodiment of the present invention. The embodiment of the invention is applicable to the condition of detecting the target, the device can execute the target detection method, the device can be realized in a form of hardware and/or software, and the device can be configured in the electronic equipment carrying the target detection function.
Referring to the target detection device shown in fig. 6, in an application substation, the target detection device includes: the area detection information acquisition module 610, the target ranging information acquisition module 620, and the target detection result determination module 630. The area detection information obtaining module 610 is configured to obtain detection information of a range of each area from at least one base station; a target ranging information obtaining module 620, configured to obtain ranging information of a target to be detected by each of the base stations; the ranging information is determined through communication connection between the base station and the target to be detected; the target detection result determining module 630 is configured to detect a target area where the target to be detected is located according to the ranging information of the target to be detected and the detection information of the range of each area, and serve as a target detection result of the target to be detected.
According to the technical scheme, the ranging information of the target to be detected of each base station is obtained through obtaining the detection information of the range of each area by at least one base station, the ranging information is determined through communication connection between the base station and the target to be detected, the target area where the target to be detected is located is detected according to the ranging information of the target to be detected and the detection information of the range of each area, the target area where the target to be detected is located is used as the target detection result of the target to be detected, the target area where the target to be detected is used as the target detection result of the target to be detected, rather than the accurate positioning of the target to be detected is used as the target detection result of the target to be detected, on one hand, the problem of inaccurate indoor positioning is avoided, the target area where the target to be detected is located can be determined through the relative distance between the base station, the accuracy of the target detection result to be detected is improved, on the other hand, compared with the fact that the positioning point which is accurately positioned is determined as the target detection result of the target to be detected, the calculated amount in the calculation process is large, the calculation efficiency of the target detection is low, the target area is determined as the target detection result of the target to be detected, the calculation amount of the target detection process is reduced, the calculation efficiency of the target detection result is calculated, and the calculation efficiency of the target detection result is improved.
In an alternative embodiment of the present invention, the detection information of the range of the area includes ranging information of a boundary point of the area; the target detection result determining module 630 includes: a target-to-boundary point distance detection unit, configured to detect a distance between the target to be detected and a boundary point of each region according to the ranging information of the target to be detected and the ranging information of the boundary point of each region; the target boundary point screening unit is used for screening out target boundary points according to the distance between the target to be detected and the boundary points of the areas; and the target area determining unit is used for dividing each target boundary point according to the area to which the target boundary point belongs, and determining the area with the largest number of target boundary points as the target area where the target to be detected is located.
In an alternative embodiment of the present invention, after the target detection result determining module 630 detects the target area where the target to be detected is located, the apparatus further includes: the forbidden region acquisition module is used for acquiring forbidden regions of the transformer substation; and the first safety early warning module is used for carrying out safety early warning on the target to be detected if the target area where the target to be detected is located is the forbidden area.
In an alternative embodiment of the present invention, after the target detection result determining module 630 detects the target area where the target to be detected is located, the apparatus further includes: the forbidden base station acquisition module is used for acquiring forbidden base stations in forbidden regions if the target region where the target to be detected is located is different from each forbidden region; the two forbidden base station detection modules are used for detecting two forbidden base stations of which the distances between the forbidden base stations and the target to be detected meet the early warning conditions; the distance difference calculation module is used for calculating the distance difference between the sum of the distances between the target to be detected and the two forbidden base stations and the distance between the two forbidden base stations; and the second safety early warning module is used for carrying out safety early warning on the target to be detected when the distance difference value is smaller than a preset early warning distance difference value.
In an alternative embodiment of the present invention, after the target detection result determining module 630 detects the target area where the target to be detected is located, the apparatus further includes: the regional action track updating module is used for updating the regional action track of the target to be detected in real time; and the target area track tracking module is used for tracking the forbidden area track of the target to be detected according to the area action track of the target to be detected.
In an alternative embodiment of the present invention, before the area detection information obtaining module 610 obtains detection information of a range of each area by at least one base station, the apparatus further includes: the base station setting module is used for setting base stations in all areas of the transformer substation; the boundary point distance measurement information acquisition module is used for acquiring distance measurement information between each base station and acquisition equipment positioned at least one boundary point of the area; and the area detection information determining module is used for taking the boundary points belonging to the same area and the ranging information between the base stations as the detection information of the range of the same area.
In an alternative embodiment of the invention, the object to be detected comprises a work user within a substation.
The object detection device provided by the embodiment of the invention can execute the object detection method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
In the technical scheme of the embodiment of the invention, the related ranging information between each base station and the acquisition equipment positioned at least one boundary point of the area, the detection information of the range of each area by at least one base station, the ranging information of the target to be detected by each base station, the forbidden area of the transformer substation and the like are acquired, stored and applied, and the like, all meet the regulations of related laws and regulations, and the rule of the law and the welfare are not violated.
Example IV
Fig. 7 shows a schematic diagram of an electronic device 700 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 7, the electronic device 700 includes at least one processor 701, and a memory, such as a Read Only Memory (ROM) 702, a Random Access Memory (RAM) 703, etc., communicatively connected to the at least one processor 701, in which the memory stores a computer program executable by the at least one processor, and the processor 701 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 702 or the computer program loaded from the storage unit 708 into the Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 may also be stored. The processor 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in the electronic device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, etc.; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, an optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the electronic device 700 to exchange information/data with other devices through a computer network, such as the internet, and/or various telecommunication networks.
The processor 701 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 701 performs the various methods and processes described above, such as the target detection method.
In some embodiments, the object detection method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 708. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 700 via the ROM 702 and/or the communication unit 709. When a computer program is loaded into RAM 703 and executed by processor 701, one or more steps of the object detection method described above may be performed. Alternatively, in other embodiments, the processor 701 may be configured to perform the target detection method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS (Virtual Private Server ) service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. The target detection method is characterized by comprising the following steps of:
acquiring detection information of at least one base station on the range of each area;
acquiring ranging information of targets to be detected of each base station; the ranging information is determined through communication connection between the base station and the target to be detected;
and detecting a target area where the target to be detected is located according to the ranging information of the target to be detected and the detection information of the range of each area, and taking the target area as a target detection result of the target to be detected.
2. The method according to claim 1, wherein the detection information of the range of the area includes ranging information of a boundary point of the area;
the detecting the target area where the target to be detected is located according to the ranging information of the target to be detected and the detection information of the range of each area includes:
detecting the distance between the object to be detected and the boundary points of the areas according to the distance measurement information of the object to be detected and the distance measurement information of the boundary points of the areas;
screening out target boundary points according to the distance between the target to be detected and the boundary points of the areas;
dividing each target boundary point according to the belonging areas, and determining the area with the most target boundary points as the target area where the target to be detected is located.
3. The method according to claim 1, further comprising, after said detecting a target area in which said target to be detected is located:
acquiring a forbidden region of a transformer substation;
and if the target area where the target to be detected is located is the forbidden area, carrying out safety precaution on the target to be detected.
4. A method according to claim 3, further comprising, after said detecting the target area in which the target to be detected is located:
If the target area where the target to be detected is located is different from each forbidden area, acquiring forbidden base stations in the forbidden areas;
detecting two forbidden base stations of which the distance between the forbidden base stations and the target to be detected meets the early warning condition;
calculating the sum of the distances between the target to be detected and the two forbidden base stations and the distance difference between the distances between the target to be detected and the two forbidden base stations;
and when the distance difference value is smaller than a preset early warning distance difference value, carrying out safety early warning on the target to be detected.
5. The method according to claim 1, further comprising, after said detecting a target area in which said target to be detected is located:
updating the regional action track of the target to be detected in real time;
and tracking the forbidden region track of the target to be detected according to the region action track of the target to be detected.
6. The method of claim 1, further comprising, prior to said obtaining detection information for the range of each region for at least one base station:
setting base stations in all areas of the transformer substation;
acquiring ranging information between each base station and acquisition equipment positioned at least one boundary point of the area;
And taking the ranging information between the boundary points belonging to the same area and each base station as the detection information of the range of the same area.
7. The method of claim 1, wherein the object to be inspected comprises a work user within a substation.
8. An object detection device, characterized in that, in an application substation, it comprises:
the area detection information acquisition module is used for acquiring detection information of at least one base station on the range of each area;
the target ranging information acquisition module is used for acquiring ranging information of the target to be detected of each base station; the ranging information is determined through communication connection between the base station and the target to be detected;
the target detection result determining module is used for detecting a target area where the target to be detected is located according to the ranging information of the target to be detected and the detection information of the range of each area, and taking the target area as a target detection result of the target to be detected.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the object detection method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the object detection method according to any one of claims 1-7.
CN202310583453.0A 2023-05-22 2023-05-22 Target detection method, target detection device, electronic equipment and storage medium Pending CN116634356A (en)

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