Space object intrusion detection system and method based on laser ranging

Abstract

The present invention relates to a space object intrusion detection system and method based on laser ranging, including multiple groups of detection devices, each group of detection devices including a laser ranging sensor and a communication unit connected by a steering gear; a background server connected to the communication unit obtains the distance information obtained by the laser ranging sensor in each group of detection devices driven by the steering gear, and when the object distance information obtained by a certain group of detection devices is within the intrusion range, the scanning parameters of another group of detection devices adjacent to the group of detection devices are set to the same to form a double scan, and after the two adjacent groups of detection devices jointly obtain the object intrusion information, an alarm message is issued. Double scanning is formed, and after the two adjacent groups of detection devices jointly obtain the intrusion information, it is confirmed that an object has invaded the detection area and an alarm message is issued, which can avoid the use of complex map models to save computing power and improve accuracy to avoid false alarms.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a space object intrusion detection system and method based on laser ranging. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] During the operation of lifting equipment, it is necessary to prevent unrelated personnel from entering the lifting site to prevent accidents. In some important fields such as electricity and railways, lifting operations often occur near running equipment. It is necessary to use early warning to remind surrounding personnel and workers involved in the lifting that objects (possibly people or equipment) have entered the lifting area. Although attempts have been made to use electronic fences to remind people entering the site, electronic fences are not suitable for places where dynamic regional management is required.

[0004] At present, during the on-site lifting operation of the substation, a positioning device is usually used in combination with a map model to perform lifting over-limit early warning detection. This requires pre-model construction. This method is affected by the complex modeling process and relies on high computing power, which is not conducive to on-site installation and deployment.

[0005] In addition, the alarm accuracy of this detection method depends on the accuracy of the model. After secondary development, the accuracy of the three-dimensional models of many maps is greatly different from that of the original survey models, resulting in large detection alarm errors. During the detection process, random objects such as flying birds and leaves are detected, causing the system to falsely alarm, making it difficult to meet the early warning needs of hoisting operations when objects invade. Summary of the invention

[0006] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a space object intrusion detection system and method based on laser ranging, which adopts a combination of laser ranging and a servo to perform dynamic intrusion ranging alarm, and promptly alarms when a person or object intrudes within the ranging alarm range.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A first aspect of the present invention provides a space object intrusion detection system based on laser ranging, comprising:

[0009] The detection device has a plurality of groups, each group of the detection device includes a laser ranging sensor and a communication unit connected via a steering gear;

[0010] The background server is connected to the communication unit to obtain the distance information obtained by the laser sensor in each group of detection devices driven by the servo. When the object distance information obtained by a group of detection devices is within the intrusion range, the scanning parameters of another group of detection devices adjacent to the group of detection devices are set to the same to form a double scan. After the two adjacent groups of detection devices jointly obtain the object intrusion information, an alarm message is issued.

[0011] The detection device also has a steering gear control unit, which is connected to the laser ranging sensor through the steering gear to control the speed and angle of rotation of the steering gear, thereby driving the laser ranging sensor to rotate to obtain the distance information of objects in the measurement area.

[0012] The detection device communicates with the background server through the communication unit and sends out alarm information according to the processing result of the background server.

[0013] The detection device is fixed in the required detection area by means of a mounting bracket.

[0014] The detection device scans the distance from the object to the detection device in the detection area in the horizontal plane and the vertical plane respectively.

[0015] A second aspect of the present invention provides a detection method for the above system, comprising the following steps:

[0016] According to the working area, each set of detection devices scans the set angle range in the vertical or horizontal direction at the set speed to obtain the distance information from the object to the detection device;

[0017] When the distance information obtained by the kth group of detection devices is within the intrusion range, the servo measurement angle in the group of detection devices is shortened according to the set change range, and the servo measurement speed is increased according to the set change range;

[0018] The detection device adjacent to the k-th detection device is the f-th detection device. When the distance information obtained by the k-th detection device is within the intrusion range, the scanning parameters of the f-th detection device are set as the steering parameters of the k-th detection device. The f-th detection device executes the scanning direction of the k-th detection device to form a double scan.

[0019] When both the k-group detection device and the f-group detection device detect an intrusion of an object, an alarm message is issued.

[0020] If no intrusion of an object is detected after double scanning, the k-group detection device and the f-group detection device restore the original detection direction and detection parameters.

[0021] According to the working area, there are n groups of detection devices for laser ranging scanning, where n = 1, 2, 3, ...

[0022] Scan in vertical or horizontal direction depending on the working area.

[0023] The detection devices scanning in the vertical and horizontal directions are arranged in pairs.

[0024] The rotation of the servo drives the laser ranging sensor to obtain distance information within the set angle range. The rotation speed of the servo is not less than 2 times the running speed of the monitored object.

[0025] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0026] 1. When the distance information obtained by a group of detection devices is within the intrusion range, there is suspected intrusion of an object in the detection area at this time. The scanning parameters of another group of detection devices adjacent to the group of detection devices are set to the detection devices that obtained the suspected intrusion information, forming a double scan. After the two adjacent groups of detection devices jointly obtain the intrusion information, it is confirmed that there is an object invading the detection area and an alarm message is issued. This can not only avoid the use of complex map models to save computing power, but also improve accuracy and avoid false alarms.

[0027] 2. Each set of detection devices can be arranged according to the actual shape of the detection area, with a simple deployment method. It is suitable for intrusion detection of personnel and equipment objects. Through the combination of multiple devices, 100% coverage of the area can be achieved, millisecond-level over-limit alarm, and double scanning can prevent false alarms. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0029] Figure 1 is a schematic diagram of the structure of a detection device provided by one or more embodiments of the present invention;

[0030] Figure 2 is a schematic diagram of scanning of a detection device in a horizontal plane and a vertical plane provided by one or more embodiments of the present invention;

[0031] Figure 3 is a schematic diagram of the position of the detection device provided by one or more embodiments of the present invention arranged in the hoisting area;

[0032] Figure 4 is a schematic diagram of a sector-shaped enclosed area formed by scanning by a detection device provided by one or more embodiments of the present invention;

[0033] Figure 5 is a schematic diagram of a system structure formed by a detection device provided by one or more embodiments of the present invention;

[0034] Figure 6 It is a schematic diagram of the communication control structure in the system provided by one or more embodiments of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] As described in the background technology, during the on-site lifting operation of the substation, a positioning device is usually used in combination with a map model to detect lifting over-limit warnings. This requires the model to be built in advance. This method is affected by the complex modeling process and relies on high computing power, which is not conducive to on-site installation and deployment. The alarm accuracy of this detection method depends on the accuracy of the model. However, the accuracy of the three-dimensional models of many maps after secondary development is quite different from that of the original survey model, resulting in excessive detection alarm errors. During the detection process, random objects detected, such as flying birds, leaves, etc., will cause the system to falsely alarm, making it difficult to meet the early warning needs of lifting operations when objects invade.

[0039] Another method is electronic fence, which is not suitable for places where dynamic regional management is required. It can only simply determine whether an object has passed through the electronic fence by the on-off signal and issue an early warning. Existing laser radar scanning detection devices are generally used to obtain distances and usually cannot accurately identify and detect intruding objects.

[0040] The lifting operations at the substation site often occur near the running equipment. To ensure that the lifting operations will not affect the normal operation of the surrounding equipment, there is a requirement for a safe distance between the lifting equipment and the other normal equipment around it. Therefore, the following embodiment provides a space object intrusion detection system and method based on laser ranging. The laser ranging and the steering gear are combined to perform dynamic intrusion ranging alarm. When a person or object invades within the ranging alarm range, an alarm is issued in time, so that the lifting equipment meets the safety distance requirements.

[0041] Embodiment 1:

[0042] like Figure 1-6As shown, the space object intrusion detection system based on laser ranging includes:

[0043] The detection device has a plurality of groups, each group of the detection device includes a laser ranging sensor and a communication unit connected via a steering gear;

[0044] The backend server is connected to the communication unit, obtains the distance information obtained by the laser sensor in each detection device driven by the steering gear, and issues a reminder after processing.

[0045] Specific:

[0046] like Figure 1 As shown, the steering gear control unit is connected to the laser ranging sensor through the steering gear to control the speed and angle of the steering gear rotation, thereby driving the laser ranging sensor to rotate to obtain the distance between people and objects in the measurement area. After being sent to the background server for processing through the communication unit, an alarm prompt signal is issued according to the processing result. Each group of detection units is supported by a mounting bracket to fix the detection device in the required detection area.

[0047] The communication unit has wireless or wired communication capability, for example, it can be 4G communication.

[0048] The servo control unit has local control capabilities, for example, the upper and lower limits of the laser ranging sensor alarm range can be set by a potentiometer.

[0049] like Figure 2 As shown, the detection device in this embodiment has at least two groups, which scan the distance of objects or people in the detection area in the horizontal plane and the vertical plane respectively.

[0050] In this embodiment, the steering engine control unit in each set of detection devices can use a single chip microcomputer as a processor, for example Figure 5-6 As shown, the servo control unit in each group of detection devices adopts an STM32 single-chip microcomputer as a controller, and a communication control circuit is formed by a laser ranging sensor, a 4G module, an audible and visual alarm, an operating indicator light, a limiting device, an upper limit adjustment potentiometer, and a lower limit adjustment potentiometer with buttons respectively connected to the single-chip microcomputer; each group of detection devices is connected to the background server by wire or wireless means.

[0051] When the distance information obtained by a group of detection devices is within the intrusion range, there is suspected intrusion of an object in the detection area at this time, and the scanning parameters of another group of detection devices adjacent to the group of detection devices are set to the detection devices that have obtained the suspected intrusion information, forming a double scan. After the two adjacent groups of detection devices jointly obtain the intrusion information, it is confirmed that there is an object invading the detection area and an alarm message is issued. This can not only avoid the use of complex map models to save computing power, but also improve accuracy and avoid false alarms.

[0052] Each set of detection devices can be arranged according to the actual shape of the detection area, with a simple deployment method. It is suitable for intrusion detection of personnel and equipment objects. Through the combination of multiple devices, 100% coverage of the area can be achieved, millisecond-level over-limit alarm, and double scanning can be used to prevent false alarms.

[0053] Embodiment 2:

[0054] The above system implements the following method for detecting object intrusion, including the following steps:

[0055] According to the working area, each set of detection devices scans the set angle range in the vertical or horizontal direction at the set speed to obtain the distance information from the object to the detection device;

[0056] When the distance information obtained by the kth group of detection devices is within the intrusion range, the servo measurement angle in the group of detection devices is shortened according to the set change range, and the servo measurement speed is increased according to the set change range;

[0057] The detection device adjacent to the detection device group k is group f, the scanning parameters of the detection device group f are set as the steering parameters of the detection device group k, and the detection device group f executes the scanning direction of the detection device group k;

[0058] When both the k-group detection device and the f-group detection device detect an intrusion of an object, an alarm message is issued.

[0059] Specific:

[0060] Step 1: Measurement starts, the servo turns;

[0061] Step 2: According to the operation area, n sets of detection devices can be set to perform laser ranging scanning, where n = 1, 2, 3...; for example, Figure 3 As shown, the working area of ​​this embodiment is the hoisting area in the live running equipment;

[0062] Step 3: Use the rangefinder to measure the distance of the working area on site and set the upper limit of the detection device scanning alarm threshold {d 1h , d 2h , d 3h , ..., d nh} and the lower limit {d 1l , d 2l , d 3l , ..., d nl};

[0063] Step 4: According to the working area, set the scanning direction, including vertical scanning and horizontal scanning of the detection device. Vertical scanning can control horizontal operations, and horizontal scanning can control vertical operations, which can fully cover the working surface;

[0064] Step 5: Set the scanning angles of each servo {θ1, θ2, θ3, ..., θ n}, the scanning angle range is 0 to 360°, where n is the number of scanning devices set up on site, for example Figure 4 As shown, the steering gear in each detection device forms a sector-shaped scanning area with an angle of 150°;

[0065] Step 6: Set the servo rotation speed {ω1, ω2, ω3, ..., ω n}, set the servo rotation speed to be determined by the speed of the object being monitored for intrusion, and the servo rotation speed must be greater than or equal to 2 times the speed of the object being monitored;

[0066] In this embodiment, the intrusion object, such as a substation lifting crane, can obtain the moving speed of the boom during the lifting operation through a speed sensor installed on the boom in a communication manner, thereby adjusting the scanning speed of the servo.

[0067] In this embodiment, according to Shannon sampling theorem, in order to restore the analog signal without distortion, the sampling frequency should be no less than twice the highest frequency in the analog signal spectrum. Drawing on this theorem, the scanning speed is approximately equal to twice the number of monitored objects, and the intrusion of the detected object can be detected at the first time, ensuring the accuracy and real-time nature of the early warning.

[0068] Step 5: Start the laser scanning rangefinder and obtain the measured distance {d1, d2, d3, ..., d n};

[0069] Step 6: Determine whether the measured distance of each servo is within [d kl ,d kh ] range, k=1,2,3,...,n, when d kl ≤d k ≤d kh When , the detection device reports the information to the background server, and the background server sends a command to the kth detection device to shorten the steering gear measurement angle and increase the steering gear measurement speed;

[0070] At this time, it is found that the detection area is suspected to be invaded by an object, and there is a distance change within the scanned intrusion angle range. In order to prevent false alarms, the servo speed is immediately increased to perform high-speed scanning to confirm whether there is an intrusion.

[0071] Step 7: The backend server sets the scanning parameters of the adjacent detection device f to the steering gear parameters of the kth detection device [ω k ,θ k , d kl ,d kh ], the adjacent detection device f scans the kth detection device scanning direction;

[0072] In this embodiment, four devices can be arranged on site to form a rectangular monitoring surface in the detection area, arranged diagonally, with every two devices at one point scanning two surfaces, and two devices at the same point are adjacent detection devices f.

[0073] In this embodiment, if the detection area is suspected of being invaded by an object, the k device shortens the angle range to confirm whether there is an intrusion by the object to prevent false alarms. At the same time, in order to prevent the intrusion of the object from exceeding the angle of the k scanning device, the adjacent device f is used to scan the original scanning surface of the k device to accurately warn and prevent missed alarms.

[0074] Step 8: Through double scanning, when both the kth detection device and the fth detection device detect an intrusion, an alarm signal is issued;

[0075] Step 9: If no intrusion of the corresponding object is detected after double detection, the kth detection device and the fth detection device restore the original detection direction and detection parameters.

[0076] When the distance information obtained by a group of detection devices is within the intrusion range, there is suspected intrusion of an object in the detection area at this time, and the scanning parameters of another group of detection devices adjacent to the group of detection devices are set to the detection devices that have obtained the suspected intrusion information, forming a double scan. After the two adjacent groups of detection devices jointly obtain the intrusion information, it is confirmed that there is an object invading the detection area and an alarm message is issued. This can not only avoid the use of complex map models to save computing power, but also improve accuracy and avoid false alarms.

[0077] Each set of detection devices can be arranged according to the actual shape of the detection area, with a simple deployment method. It is suitable for intrusion detection of personnel and equipment objects. Through the combination of multiple devices, 100% coverage of the area can be achieved, millisecond-level over-limit alarm, and double scanning can be used to prevent false alarms.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A space object intrusion detection method based on laser ranging, characterized in that: The following steps are involved: According to the working area, each set of detection devices scans the set angle range in the vertical or horizontal direction at the set speed to obtain the distance information from the object to the detection device; When the distance information obtained by the kth group of detection devices is within the intrusion range, the servo measurement angle in the group of detection devices is shortened according to the set change range, and the servo measurement speed is increased according to the set change range; The detection device adjacent to the k-th detection device is the f-th detection device. When the distance information obtained by the k-th detection device is within the intrusion range, the scanning parameters of the f-th detection device are set as the steering parameters of the k-th detection device. The f-th detection device executes the scanning direction of the k-th detection device to form a double scan. When both the k-group detection device and the f-group detection device detect an intrusion, an alarm message is issued; Specific: Step 1: Measurement starts, the servo turns; Step 2: According to the operation area, set n groups of detection devices to perform laser ranging scanning, where n = 1, 2, 3...; Step 3: Use the rangefinder to measure the distance of the working area on site and set the upper limit of the detection device scanning alarm threshold {d 1h , d 2h , d 3h , ..., d nh } and the lower limit {d 1l , d 2l , d 3l , ..., d nl }; Step 4: According to the working area, set the scanning direction, including vertical scanning and horizontal scanning of the detection device. Vertical scanning can control horizontal operations, and horizontal scanning can control vertical operations. The detection devices for vertical and horizontal scanning are set in pairs; Step 5: Set the scanning angles of each servo {θ1, θ2, θ3, ..., θ n }, the scanning angle range is 0 to 360°, where n is the number of scanning devices set up on site; Step 6: Set the servo rotation speed {ω1, ω2, ω3, ..., ω n }, set the servo rotation speed to be determined by the speed of the object being monitored for intrusion, and the servo rotation speed must be greater than or equal to 2 times the speed of the object being monitored; The intruder obtains the moving speed of the boom during the hoisting operation through the speed sensor installed on the boom by means of communication, thereby adjusting the scanning speed of the servo; According to Shannon sampling theorem, in order to restore the analog signal without distortion, the sampling frequency should be no less than twice the highest frequency in the analog signal spectrum; the scanning speed should be greater than or equal to twice the monitoring object; Step 5: Start the laser scanning rangefinder and obtain the measured distance {d1, d2, d3, ..., d n }; Step 6: Determine whether the measured distance of each servo is within [d kl ,d kh ] range, k=1,2,3,...,n, when d kl ≤d k ≤d kh When , the detection device reports the information to the background server, and the background server sends a command to the kth detection device to shorten the steering gear measurement angle and increase the steering gear measurement speed; At this time, it is found that the detection area is suspected to be invaded by an object, and there is a distance change within the scanned intrusion angle range. In order to prevent false alarms, the servo speed is immediately increased to perform high-speed scanning to confirm whether there is an intrusion; Step 7: The backend server sets the scanning parameters of the adjacent detection device f to the steering gear parameters of the kth detection device [ω k ,θ k , d kl ,d kh ], the adjacent detection device f scans the kth detection device scanning direction; If the detection area is suspected to be invaded by an object, the k device shortens the angle range to confirm whether there is an intrusion of the object to prevent false alarms. At the same time, in order to prevent the intrusion of the object beyond the angle of the k scanning device, the adjacent device f is used to scan the original scanning surface of the k device; Step 8: Through double scanning, when both the kth detection device and the fth detection device detect an intrusion, an alarm signal is issued; Step 9: If no corresponding object intrusion is detected after double detection, the kth detection device and the fth detection device restore the original detection direction and detection parameters; When the distance information obtained by a group of detection devices is within the intrusion range, there is suspected intrusion of an object in the detection area at this time. The scanning parameters of another group of detection devices adjacent to the group of detection devices are set to the detection devices that have obtained the suspected intrusion information, forming a double scan. After the two adjacent groups of detection devices jointly obtain the intrusion information, it is confirmed that there is an object intruding the detection area and an alarm message is issued.

2. A space object intrusion detection system based on laser ranging, based on the space object intrusion detection method based on laser ranging as claimed in claim 1, characterized in that: include: The detection device has a plurality of groups, each group of the detection device includes a laser ranging sensor and a communication unit connected via a steering gear; The background server is connected to the communication unit to obtain the distance information obtained by the laser sensor in each group of detection devices driven by the servo. When the object distance information obtained by a group of detection devices is within the intrusion range, the scanning parameters of another group of detection devices adjacent to the group of detection devices are set to the same to form a double scan. After the two adjacent groups of detection devices jointly obtain the object intrusion information, an alarm message is issued.

3. The space object intrusion detection system based on laser ranging as claimed in claim 2, characterized in that: The detection device also has a steering gear control unit, which is connected to the laser distance measuring sensor via the steering gear to control the speed and angle of rotation of the steering gear, thereby driving the laser distance measuring sensor to rotate to obtain distance information of objects in the measurement area.

4. The space object intrusion detection system based on laser ranging as claimed in claim 2, characterized in that: The detection device communicates with the background server through the communication unit and issues an alarm message according to the processing result of the background server.

5. The space object intrusion detection system based on laser ranging as claimed in claim 2, characterized in that: The detection device is fixed in a required detection area through a mounting bracket.

6. The space object intrusion detection system based on laser ranging as claimed in claim 2, characterized in that: The detection device scans the distance from the object to the detection device in the detection area in the horizontal plane and the vertical plane respectively.

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