WO2022037281A1 - 一种基于机器视觉的变电现场作业实时监控与报警系统 - Google Patents

一种基于机器视觉的变电现场作业实时监控与报警系统 Download PDF

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Publication number
WO2022037281A1
WO2022037281A1 PCT/CN2021/103959 CN2021103959W WO2022037281A1 WO 2022037281 A1 WO2022037281 A1 WO 2022037281A1 CN 2021103959 W CN2021103959 W CN 2021103959W WO 2022037281 A1 WO2022037281 A1 WO 2022037281A1
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WIPO (PCT)
Prior art keywords
apriltag
icon
real
machine vision
camera
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Ceased
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PCT/CN2021/103959
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English (en)
French (fr)
Chinese (zh)
Inventor
朱明增
胡凯博
黄新华
孙春日
覃剑永
岑建军
刘荣洲
张炜
黎华
梁兆庭
周承秀
覃秋勤
刘小兰
周虹妤
丘浩
林翔宇
莫梓樱
陈少暖
黄承伟
陈琴
蒙亮
李永栈
杨芳
韦妙香
陈极万
罗小波
杨波
谢辉
张展声
吕鸣
胡清智
朱敦森
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HEZHOU POWER SUPPLY BUREAU GUANGXI POWER GRID Co Ltd
Original Assignee
HEZHOU POWER SUPPLY BUREAU GUANGXI POWER GRID Co Ltd
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Application filed by HEZHOU POWER SUPPLY BUREAU GUANGXI POWER GRID Co Ltd filed Critical HEZHOU POWER SUPPLY BUREAU GUANGXI POWER GRID Co Ltd
Priority to JP2021575905A priority Critical patent/JP2022554044A/ja
Publication of WO2022037281A1 publication Critical patent/WO2022037281A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/048—Monitoring; Safety
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C11/00—Arrangements, systems or apparatus for checking, e.g. the occurrence of a condition, not provided for elsewhere

Definitions

  • the invention relates to the technical field of safety monitoring, and more particularly, to a real-time monitoring and alarm system for substation field operations based on machine vision.
  • the substation undertakes the tasks of regional voltage level transformation, use and power transmission.
  • on-site operations must strictly follow safety regulations to ensure safe construction in compliance with regulations, and avoid casualties and economic losses caused by illegal construction. Due to the wide area of substation operations and the irregular construction location, fixed cameras cannot cover every scene.
  • the existing video surveillance system only has the functions of collection, storage and playback, and lacks in intelligent analysis and processing capabilities.
  • the purpose of the present invention is to aim at the deficiencies in the prior art, to provide a real-time monitoring and alarm system for substation field operations based on machine vision, using AprilTag image processing technology to determine the working position and work content of electric power workers through positioning, real-time monitoring Worker's work station information.
  • a real-time monitoring and alarm system for substation field operations based on machine vision including:
  • an AprilTag icon is provided on the wearable device, and the AprilTag icon has a unique ID number
  • the processor processes the AprilTag icon on the wearable device based on the AprilTag image processing technology, and identifies the ID number of the icon;
  • the camera is used to collect image information, capture the AprilTag icon on the wearable device, and transmit it to the processor;
  • Voice system the voice system is used for voice prompting of the operation process and operation precautions or to issue a voice alarm signal
  • the communication system is used to upload alarm information and video, and accept the designation of the host computer.
  • the camera includes a plurality of cameras with independent angles, and the range of collecting images covers all workstations in the work area.
  • the wearable device includes insulating gloves, insulating boots, work clothes and safety helmets.
  • a plurality of AprilTag icons are installed on the wearable device, which are respectively arranged on the front, the back or the left and right sides of the wearable device.
  • the processor includes an AprilTag icon encoding library.
  • the processor determines the position and workstation of the operator according to the image information collected by the camera, and controls the voice system to make a relative response according to the determined situation.
  • the determination process includes the following steps:
  • R ij and T k can be calculated. s as a scale factor is unknown. Since the columns of the rotation matrix must be normalized, the size of s can be constrained according to R ij ; the columns of the rotation matrix are orthogonal, and the third column can be based on the cross of the first two columns. Multiply to get; get a rotation matrix and a translation matrix; the translation matrix T x , T y , T z is the coordinate value of the tag relative to the camera center, T X is the lateral offset of the tag center relative to the camera center, T z is the depth of the tag center from the camera;
  • T X and T z values Use the T X and T z values to compare with the station coordinate system in the database to obtain the position and working station information.
  • step S1 also includes comparing the ID value of the AprilTag icon with the ID value of the workstation's dressing requirements in the database, and it is judged whether it is Dress code required.
  • step S1 the camera can be switched to perform image sampling from another angle for comparison.
  • step S1 the voice system sends out a voice alarm signal, and the communication system uploads alarm information and video images.
  • the invention can intelligently analyze and process the collected image information, determine the work position and work content of the electric power workers, and prompt the work flow and work precautions through voice. hidden danger.
  • multiple comparisons can be performed based on omnidirectional cameras, the monitoring system is reliable, and the determination result is accurate.
  • Figure 1 is a wearable device with an AprilTag icon
  • Fig. 2 is a flow chart for determining the working position of the operator
  • Figure 3 is a flow chart for the detection and automatic alarm of workers' dress violations.
  • this embodiment provides a real-time monitoring and alarm system for substation field operations based on machine vision, including:
  • an AprilTag icon is provided on the wearable device, and the AprilTag icon has a unique ID number
  • the processor processes the AprilTag icon on the wearable device based on the AprilTag image processing technology, and identifies the ID number of the icon;
  • the camera is used to collect image information, capture the AprilTag icon on the wearable device, and transmit it to the processor;
  • Voice system the voice system is used for voice prompting of the operation process and operation precautions or to issue a voice alarm signal
  • the communication system is used to upload alarm information and video, and accept the designation of the host computer.
  • a plurality of cameras with independent angles are installed in the working area, and the range of collecting images covers all the workstations in the working area, so as to achieve full coverage of the working area.
  • the wearable equipment used by the operator includes insulating gloves, insulating boots, work clothes and safety helmets.
  • Multiple AprilTag icons are installed on the above-mentioned wearable equipment, which are respectively arranged on the front, back or left and right sides of the wearable equipment.
  • the processor includes the AprilTag icon encoding library, which determines the position and workstation of the operator according to the image information collected by the camera, and controls the voice system to make a relative response according to the judgment.
  • the determination process in this embodiment includes the following steps:
  • R ij and T k can be calculated. s as a scale factor is unknown. Since the columns of the rotation matrix must be normalized, the size of s can be constrained according to R ij ; the columns of the rotation matrix are orthogonal, and the third column can be based on the cross of the first two columns. Multiply to get; get a rotation matrix and a translation matrix; the translation matrix T x , T y , T z is the coordinate value of the tag relative to the camera center, T X is the lateral offset of the tag center relative to the camera center, T z is the depth of the tag center from the camera;
  • T X and T z values Use the T X and T z values to compare with the station coordinate system in the database to obtain the position and working station information, and monitor the situation of the on-site operation.
  • the present embodiment provides a method for determining the working position of an operator.
  • the ID values of the devices that are required to be dressed by different workstations are stored in the database.
  • Step S1 also includes comparing the ID values of the AprilTag icons and the database The ID value of the dress requirements of the station is compared to determine whether it is the required dress.
  • the camera can be switched to another angle to perform image sampling for comparison; after multiple comparisons fail in step S1, the voice system sends a voice alarm signal, and the communication system uploads the alarm information and the video image .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Emergency Alarm Devices (AREA)
  • Alarm Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
PCT/CN2021/103959 2020-08-19 2021-07-01 一种基于机器视觉的变电现场作业实时监控与报警系统 Ceased WO2022037281A1 (zh)

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JP2021575905A JP2022554044A (ja) 2020-08-19 2021-07-01 マシンビジョンに基づく変電所現場における作業リアルタイムモニタリングと警報システム

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CN202010837588.1 2020-08-19

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CN114782893A (zh) * 2022-04-20 2022-07-22 杭州海潮橡胶有限公司 一种轮胎纤维压延安全生产ai智能监控方法
CN114998271A (zh) * 2022-06-10 2022-09-02 海南浙江大学研究院 一种变电站高压开关柜二次仓面板图像识别系统
CN115497268A (zh) * 2022-09-19 2022-12-20 中铁第四勘察设计院集团有限公司 一种基于智慧工地的人员定位管理系统及应用
CN115567690A (zh) * 2022-09-22 2023-01-03 国网山东省电力公司莒县供电公司 一种自动识别现场作业危险点的智慧监控系统
CN115767036A (zh) * 2022-12-01 2023-03-07 国网福建省电力有限公司经济技术研究院 一种变电站工程视频监控设备时序优化配置方法及系统
CN115760976A (zh) * 2022-11-08 2023-03-07 国网江西省电力有限公司超高压分公司 一种变电站非接触式无感变电作业风险识别方法
CN116030399A (zh) * 2022-12-22 2023-04-28 广西科技大学 基于机器视觉的装载机三项和时间在线检测系统及方法
CN118627871A (zh) * 2024-08-15 2024-09-10 国网安徽省电力有限公司信息通信分公司 基于人工智能平台的变电站无计划作业智能核查方法
CN118627911A (zh) * 2024-08-09 2024-09-10 国网四川省电力公司 一种电力现场作业人员智能安全管控方法
CN119274110A (zh) * 2024-09-03 2025-01-07 广州境开科技有限公司 基于多视角视频与高精度定位的变电站作业风险辨识方法
CN120833545A (zh) * 2025-09-17 2025-10-24 成都飞机工业（集团）有限责任公司 一种基于多模态边缘云传输的受限空间质量检测方法

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Cited By (11)

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Publication number Priority date Publication date Assignee Title
CN114782893A (zh) * 2022-04-20 2022-07-22 杭州海潮橡胶有限公司 一种轮胎纤维压延安全生产ai智能监控方法
CN114998271A (zh) * 2022-06-10 2022-09-02 海南浙江大学研究院 一种变电站高压开关柜二次仓面板图像识别系统
CN115497268A (zh) * 2022-09-19 2022-12-20 中铁第四勘察设计院集团有限公司 一种基于智慧工地的人员定位管理系统及应用
CN115567690A (zh) * 2022-09-22 2023-01-03 国网山东省电力公司莒县供电公司 一种自动识别现场作业危险点的智慧监控系统
CN115760976A (zh) * 2022-11-08 2023-03-07 国网江西省电力有限公司超高压分公司 一种变电站非接触式无感变电作业风险识别方法
CN115767036A (zh) * 2022-12-01 2023-03-07 国网福建省电力有限公司经济技术研究院 一种变电站工程视频监控设备时序优化配置方法及系统
CN116030399A (zh) * 2022-12-22 2023-04-28 广西科技大学 基于机器视觉的装载机三项和时间在线检测系统及方法
CN118627911A (zh) * 2024-08-09 2024-09-10 国网四川省电力公司 一种电力现场作业人员智能安全管控方法
CN118627871A (zh) * 2024-08-15 2024-09-10 国网安徽省电力有限公司信息通信分公司 基于人工智能平台的变电站无计划作业智能核查方法
CN119274110A (zh) * 2024-09-03 2025-01-07 广州境开科技有限公司 基于多视角视频与高精度定位的变电站作业风险辨识方法
CN120833545A (zh) * 2025-09-17 2025-10-24 成都飞机工业（集团）有限责任公司 一种基于多模态边缘云传输的受限空间质量检测方法

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