Substation operation safety management and control system and method based on indoor and outdoor fusion positioning

Abstract

The present invention discloses a substation operation safety management and control system and method based on indoor and outdoor fusion positioning, the system includes: indoor UWB positioning module, outdoor RTK positioning module, positioning terminal, data receiving service module, safety isolation module, data analysis and processing module, operation and inspection workbench, operation safety management and control platform, through the cooperation between the modules, the virtual electronic fence function is realized according to the positioning data, and the on-site staff is reminded to enter the dangerous or unauthorized area in time to avoid the situation of walking into the wrong interval, mistakenly entering the energized interval, etc.; according to the positioning data, the camera is linked to monitor the working area in real time. The present invention reduces the original complicated work area warning arrangement work by setting up the electronic fence, reduces the workload on site and improves the safety of on-site work; through the operation safety management and control platform, the on-site work situation can be grasped in real time, and the remote real-time monitoring of on-site operations can be realized.

Description

Technical Field

[0001] The present invention relates to the field of power transmission and transformation safety production, and in particular to a substation operation safety management and control system and method based on indoor and outdoor fusion positioning. Background Art

[0002] Substation on-site construction and operation and inspection operations are widespread, with a large number of large-scale maintenance workers and uneven personnel quality. Relying on the traditional "man-to-man tactics" for on-site supervision is inefficient and the control effect is poor. The existing positioning technology, by setting up RTK base stations in substations, can achieve high positioning accuracy in open scenes outdoors of substations using differential positioning technology; however, in indoor scenes, RTK positioning cannot achieve accurate positioning due to signal obstruction. The existing substation safety control solution is to mark the work area on site for warning signs and use cameras for video monitoring, but the workload is large and the safety is not high. In order to ensure that the safety risks of on-site operations are controllable, controllable, and under control, it is urgent to adopt technical means to implement an operation safety control solution based on high-precision positioning technology. Summary of the invention

[0003] Purpose of the invention: The present invention provides a substation operation safety management and control system and method based on indoor and outdoor fusion positioning, which at least partially solves the problems in the prior art.

[0004] Technical solution: A substation operation safety management and control system based on indoor and outdoor integrated positioning, including:

[0005] The indoor UWB positioning module includes a UWB positioning base station and a UWB positioning controller. Depending on the size of the room and the layout of the equipment, different numbers of UWB positioning base stations are installed on the ceiling or wall. The UWB positioning base station receives the positioning terminal message, and after the UWB positioning controller calculates the location information of the positioning terminal and forwards it to the data receiving service module to complete the indoor positioning.

[0006] The outdoor RTK positioning module includes an RTK positioning base station and a satellite positioning receiving part. According to the substation layout, the RTK positioning base station is installed on the top of the substation building. The visual range above the installation location is unobstructed. The RTK positioning base station receives satellite signals and calculates RTK differential data, and sends the differential data to the positioning terminal through the in-station wireless network. The positioning terminal fuses the differential data to calculate the positioning data, and forwards it to the data receiving service module through the in-station wireless network to achieve outdoor positioning;

[0007] Positioning terminal, used for receiving, calculating and forwarding positioning data, communicating with the data receiving service module, realizing real-time transmission of positioning data and local sound and light alarm functions;

[0008] Data receiving service module, used for receiving, parsing, and converting positioning data formats to achieve the unification of the coordinate system of positioning data and substation map data;

[0009] Security isolation module, used for data transmission encryption and decryption, to achieve secure interaction between substation positioning data and the application platform of the production intranet;

[0010] The data analysis and processing module is used to analyze and process the positioning data transmitted from the external network, obtain work information and draw electronic fences, realize the functions of operator mistakenly entering the interval alarm, out-of-range operation alarm, alarm video linkage capture, and video analysis and alarm of unsafe behavior;

[0011] The operation and inspection workbench is used for charging and managing the positioning terminal, binding the staff identity with the positioning terminal, checking and reading the work ticket, so as to realize the management of the work ticket circulation and the positioning terminal;

[0012] The operation safety management and control platform is used for work ticket analysis, electronic fence display and interaction, real-time display of on-site workers' positioning on a three-dimensional map, violation and cross-border alarms and video linkage display, and operation trajectory playback.

[0013] Preferably, the positioning terminal obtains positioning data by combining the improved TDOA algorithm with the RTK positioning algorithm, and then obtains the final positioning result of the positioning terminal by using the particle swarm algorithm. The final positioning result is transmitted to the data receiving service module. The improved TDOA algorithm uses TDOA to calculate the current positioning point data, and uses the current positioning point data and the previous positioning point data to calculate the displacement, speed, acceleration and heading angle parameters, and combines these parameters to predict the next positioning data, and fuses the positioning data with the predicted data through the Kalman filter algorithm to eliminate invalid positioning data; the particle swarm algorithm evaluates the parameters of UWB positioning and the parameters of RTK positioning. When the evaluation parameters of UWB are better than the evaluation parameters of RTK positioning, it is judged to be indoors, and when the evaluation parameters of UWB are worse than the evaluation parameters of RTK positioning, it is judged to be outdoors, thereby realizing global positioning indoors and outdoors.

[0014] Preferably, the data analysis and processing module draws the electronic fence including: drawing the electronic fence for the working area of ​​the substation on the three-dimensional map according to the equipment layout of the substation, referring to the substation operation procedures and the principle of pulling the physical fence, obtaining the coordinates of the vertices of the electronic fence by selecting points and drawing a frame in the three-dimensional map, assigning a unique id and description information to each electronic fence, storing the vertex coordinates, id and description information of the electronic fence in a database for matching and crossing-boundary operations of the electronic fence.

[0015] Preferably, the data analysis and processing module mobilizes the cameras in the corresponding area to conduct video surveillance of the area where the positioning terminal is located according to the positioning data uploaded by the positioning terminal, and performs identity recognition of the people in the video, and real-time identification of violations such as not wearing a safety helmet, not wearing work clothes, smoking, and unreasonable use of tools, and the identification results are displayed on the operation safety management and control platform in the form of pop-up alarms and video screenshots, forming alarm records and storing them in the database.

[0016] Preferably, the operation and inspection workbench reads the identity information of the staff, associates the identity information of the staff with the ID of the positioning terminal, and issues the associated positioning terminal to the staff, thereby realizing the unique correspondence between the positioning data and the identity of the staff.

[0017] Preferably, the operation safety management and control platform reads the work ticket information, uses a keyword search algorithm to parse the work ticket to obtain work content, work team members, and guardian information, filters out the work area keywords of the work content, and matches them with the keywords of the electronic fence to obtain the electronic fence ID number of the work area and enable the electronic fence.

[0018] Preferably, the operation safety management and control platform is connected to the video systems inside and outside the substation to realize real-time video tracking and behavior analysis of personnel entering the substation, as well as alarm linkage and snapshot functions.

[0019] A substation operation safety management and control method based on indoor and outdoor fusion positioning includes the following steps:

[0020] 1) According to the size of the room and equipment deployment in the indoor area of ​​the substation, a specified number of UWB positioning base stations are installed in each room to achieve indoor positioning; according to the outdoor situation of the substation, RTK positioning base stations are deployed and installed on the top of the building to achieve outdoor positioning;

[0021] 2) Use 3D point cloud scanning equipment to build a 3D map of the substation, and unify the coordinate system of the constructed 3D map of the substation with the positioning data to display personnel location, trajectory drawing, regional population statistics, heat map, electronic fence setting, alarm display and video linkage display functions;

[0022] 3) By drawing the working area on the three-dimensional map of the substation, a virtual electronic fence is set up. Each electronic fence has a unique number. The electronic fence can be automatically set according to the work content to realize the function of the virtual electronic fence;

[0023] 4) The operation and maintenance personnel import the work ticket into the operation safety management and control system on the operation safety management and control platform. The system automatically parses the work ticket content, obtains the list of staff and work area, and starts the work process after confirmation;

[0024] 5) The staff goes to the operation and inspection workbench to obtain the work content. The operation and inspection workbench has the function of issuing positioning terminals and automatically counting tickets. The staff clicks to start work, and the system completes the work ticket counting and the issuance of positioning terminals according to the content of the work ticket. After the counting is completed, the staff completes the identity authentication and receives their own positioning terminal, starts work and activates the electronic fence function;

[0025] 6) After the staff wears the positioning terminal, the positioning data will be uploaded to the operation safety management and control platform in real time through the wireless security network in the station. The location of the workers can be viewed in real time on the platform, and the operation safety management and control can be carried out according to the location of the workers;

[0026] 7) According to the location of the operator, the video camera is linked to monitor the operator in real time. The operation safety management and control platform can display the monitoring screen and analyze the video screen for violations or unsafe behaviors such as not wearing a safety helmet, not wearing work clothes, smoking, climbing over safety warning guardrails, and climbing high. If an alarm is calculated, an audible and visual alarm will be issued through the positioning terminal to remind the operator of the violation, and the violation type and violation screenshot and alarm pop-up window will be displayed;

[0027] 8) Based on the real-time location of the operator, the boundary crossing calculation is performed in combination with the electronic fence. When the operator walks normally in the safe passage or authorized work area, the positioning terminal works normally. If the operator mistakenly enters the interval or is closer to the live equipment than the safe distance, the positioning terminal will issue an audible and visual alarm to remind the operator that there is danger. The operation safety management and control platform will also use the video camera to capture and pop up an alarm window to remind the operation and maintenance personnel that there is an illegal alarm on site. The positioning terminal will be used for voice calls to pay attention to the situation of the on-site staff in a timely manner.

[0028] 9) When working on-site, the work location of the operators is displayed in real time through the work safety management and control platform, and it has the functions of work heat map, regional headcount statistics, personnel detention reminder, cross-regional post alarm, staff information display, and work route display.

[0029] Beneficial effects: (1) The present invention adopts UWB positioning technology indoors and reasonably deploys UWB positioning base stations indoors, so that the positioning accuracy of 20cm can be achieved in indoor environments, and high-precision positioning in indoor scenes can be achieved. A positioning terminal that integrates RTK and UWB positioning technology is used to achieve global and precise positioning of substations indoors and outdoors. Based on the positioning of personnel, combined with video cameras, the operating personnel, vehicles, tools, etc. in the substation are managed and controlled, and the entire process of substation operation is managed and controlled. The present invention realizes management and control functions such as on-the-job inspection of personnel, regional headcount statistics, long-term detention reminders, cross-regional post alarms, electronic fence crossing alarm capture, video tracking analysis, and personnel trajectory drawing by displaying the position of operating personnel in real time. (2) The present invention realizes the function of virtual electronic fence according to the positioning data, and timely reminds the on-site staff to enter dangerous or unauthorized areas to avoid the situation of walking into the wrong interval or mistakenly entering the energized interval; according to the positioning data, the camera is linked to monitor the working area in real time. If there is unsafe behavior such as personnel entering the unauthorized area or mistakenly entering the interval, an immediate voice alarm is issued to timely remind the relevant personnel of the violation, and the violation is captured and retained, which plays a restraining role on the on-site staff, and at the same time helps to trace the illegal operation site and improve the safety awareness of the on-site staff. By setting up the electronic fence, the original complicated work area warning arrangement work is reduced, the on-site workload is reduced and the on-site work safety is improved; the on-site work situation can be grasped in real time through the operation safety management and control platform, and the remote real-time monitoring of the on-site operation is realized. (3) The system of the present invention has the advantages of low use cost, strong equipment reusability and strong system scalability. It can be operated independently, or it can be connected as a basic business of the digital substation, or it can be added to the original microcomputer anti-error system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is an architecture diagram of the system of the present invention;

[0031] Figure 2 The figure is a schematic diagram of the system arrangement of an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0033] Reference Figure 1The substation operation safety management and control system based on indoor and outdoor fusion positioning described in the present invention includes an indoor UWB positioning module, an outdoor RTK positioning module, a positioning terminal, a data receiving service module, a safety isolation module, a data analysis and processing module, an operation and inspection workbench, and an operation safety management and control platform. The indoor UWB positioning module includes a UWB positioning base station and a UWB positioning controller. According to the size of the room and the layout of the equipment, different numbers of UWB positioning base stations are installed on the ceiling / wall. The base station receives the positioning terminal message, and after the UWB positioning controller calculates the location information of the positioning terminal and forwards it to the data receiving service module to achieve high-precision indoor positioning. The outdoor RTK positioning module includes an RTK positioning base station and a satellite positioning receiving part. According to the layout of the substation, the RTK positioning base station is installed on the top of a higher building of the substation. The installation position has no obstruction in the visual range. The base station receives satellite signals and completes the calculation and sending of RTK differential data. The differential data is sent to the positioning terminal (i.e., the satellite positioning receiving part) through the wireless network in the station. The positioning terminal fuses the differential data to calculate the positioning data, which is forwarded to the data receiving service module through the wireless network in the station to achieve high-precision outdoor positioning. The positioning terminal is a fusion positioning terminal that supports UWB positioning and satellite positioning technology. It is used for receiving, pre-calculating and forwarding positioning data, communicating with the data receiving service module, and realizing the real-time transmission of positioning data and the on-site sound and light alarm function. The data receiving service module is used to receive, analyze, and convert the positioning data format to realize the unification of the coordinate system of the positioning data and the substation map data. The security isolation module is used to encrypt and decrypt data transmission to realize the safe interaction between the substation positioning data and the application platform of the production intranet. The data analysis and processing module is used to analyze and process the positioning data transmitted from the external network, obtain work information to draw an electronic fence, and realize the functions of the operator's mistaken entry interval alarm, out-of-range operation alarm, alarm video linkage capture, video analysis and alarm of unsafe behavior. The operation and inspection workbench is used for charging and management of the positioning fusion terminal, binding the identity of the staff with the positioning terminal, viewing the work ticket, and counting the tickets, so as to realize the circulation of the work ticket and the management of the positioning terminal. The operation safety management and control platform is used for ticket analysis, electronic fence display and interaction, real-time display of the on-site operator positioning on the three-dimensional map, illegal crossing alarm and video linkage display, operation trajectory playback and other functions.

[0034] In the implementation manner of the present invention, the arrangement of the wireless network within the station is as follows: by setting up wireless communication base stations inside and outside the substation, full coverage of the wireless communication signal of the substation is achieved, which is used for the transmission of RTK positioning messages and positioning information of the positioning terminal. The positioning base station and the positioning terminal have wireless access functions and can transmit data through the wireless network. The wireless network finally accesses the data receiving service module to complete the transmission of positioning data and alarm information.

[0035] The substation control range includes the outdoor open-air equipment area of ​​the substation and indoor areas such as the switch room, protection room, main control room, tool room and workshop. It is an area where all tools, personnel and vehicles in the substation can reach and work; the control objects include staff, work tools and operation and maintenance vehicles, etc. In the present invention, the staff positioning is described as an example, that is, the description of the staff is also applicable to the implementation plan of work tools, operation equipment and operation and maintenance vehicles. The positioning display of the present invention realizes the operation safety control in the three-dimensional space of the indoor and outdoor substation by constructing a 1:1 three-dimensional map of the indoor and outdoor substation. By utilizing the system of the present invention, electronic fences are demarcated on a three-dimensional map for indoor and outdoor areas of a substation according to the work content, and the work position of the operator is displayed according to the real-time positioning data of the positioning terminal. In combination with the content of the work ticket, the work ticket is automatically parsed to realize intelligent deployment of virtual safety measures before work, automatic ticket reading and warning of dangerous work points, real-time display of positioning information during work in a three-dimensional map, alarms for entering the wrong interval, alarms for out-of-range operations, video linkage capture of alarms, video recognition of unsafe behaviors (not wearing a safety helmet, not wearing work clothes, smoking, unreasonable use of protective equipment, etc.), alarm voice prompts of the positioning terminal, display of work trajectories after work, analysis and evaluation of the work process, and other functions.

[0036] In the implementation manner of the present invention, the construction of the substation three-dimensional map includes but is not limited to the use of map construction technologies such as three-dimensional point cloud real-scene scanning, and the constructed map is a 1:1 high-precision restoration of the actual substation, and the constructed map has three-dimensional information of geographic coordinates (longitude, latitude and altitude or x / y / z coordinates), etc. Alternatively, a 1:1 three-dimensional map of the substation can be constructed by field survey, satellite remote sensing, etc.; or an already constructed three-dimensional digital substation system can be used.

[0037] The positioning terminal is a wearable device, and its form is not limited to work badges, walkie-talkies, safety helmet pendants, vehicle-mounted positioning terminals, etc. The positioning terminal has a rechargeable battery, a working life of more than 10 hours, and has the functions of positioning, sound and light alarm, and two-way voice. In the present invention, the positioning terminal adopts an improved TDOA algorithm combined with an RTK positioning algorithm to calculate positioning data. The improved TDOA algorithm adds a positioning analysis function to the TDOA algorithm, uses TDOA to calculate current positioning point data, uses the current positioning point data and the previous positioning point data to calculate displacement, speed, acceleration, heading angle and other data, and combines these data to predict the next positioning data, and uses the Kalman filter algorithm to fuse the positioning data with the predicted data to eliminate invalid positioning or data with large positioning deviations; then a particle swarm algorithm is used to obtain the final positioning result of the positioning terminal, and the particle swarm algorithm is to evaluate the strength, confidence, delay, entry and exit marker light parameters of the UWB positioning signal and the number of satellites, confidence, solution accuracy, signal strength and other parameters of the RTK positioning. When the evaluation parameters of the UWB are better than the evaluation parameters of the RTK positioning, it is judged to be indoors, and when the evaluation parameters of the UWB are worse than the evaluation parameters of the RTK positioning, it is judged to be outdoors, and finally global positioning indoors and outdoors is achieved.

[0038] The data analysis and processing module supports the function of drawing an electronic fence. According to the equipment layout of the substation, an electronic fence is set on the three-dimensional map. Referring to the substation operation procedures and the principle of pulling the physical fence, the electronic fence is drawn for the working area of ​​the substation at one time. By selecting points and drawing frames in the three-dimensional map, the coordinates of the vertices of the electronic fence are obtained, and each electronic fence is assigned a unique ID and description information. The vertex coordinates, ID, and description information of the electronic fence are stored in the database for matching and crossing the boundary of the electronic fence. Each working area can contain multiple electronic fences. The electronic fence will be automatically enabled according to the work content through the work content association algorithm, and the administrator is supported to manually select or modify the electronic fence that needs to be associated; the administrator can manage the electronic fence area, and can also re-divide a new electronic fence to facilitate the demarcation of the electronic fence area that meets the current work.

[0039] In an embodiment of the present invention, a work content association algorithm reads work ticket information, utilizes a keyword search algorithm, parses the work ticket to obtain work content, work team members, and guardian information, filters out keywords for the work area of ​​the work content, matches them with keywords for the electronic fence, obtains the electronic fence ID number for the work area, and enables the electronic fence.

[0040] The data analysis and processing module supports the alarm function. According to the positioning data uploaded by the positioning terminal, combined with the electronic fence, it can realize the functions of real-time display of personnel position, wrong-entry interval alarm, out-of-range operation alarm, operation trajectory display, personnel wandering alarm, etc. After the alarm is generated, the alarm signal is used for on-site alarm through the sound and light of the positioning terminal. At the same time, the platform will also issue an alarm pop-up window and capture the video screenshot, and form an alarm record to store in the database. Through the electronic fence, the cross-border situation is monitored and reminded in real time to improve the overall safety of the operation. At the same time, it is linked with the video surveillance, and the video screenshot is captured and archived when the alarm is generated, further improving the system availability.

[0041] The data analysis and processing module supports the video recognition function. According to the positioning data uploaded by the positioning terminal, the camera in the corresponding area is mobilized to conduct video monitoring of the area where the positioning terminal is located, and the identity of the personnel in the video is identified, and the illegal behaviors of not wearing a safety helmet, not wearing work clothes, smoking, and unreasonable use of tools are identified in real time, and the recognition results are pop-up alarms and video capture screenshots on the operation safety management and control platform to form alarm records and store them in the database. If the safety management and control of work tools, operation equipment, operation and maintenance vehicles, etc. is carried out, the video recognition algorithm will pre-learn and identify the illegal behaviors of these equipment / vehicles. The existing technology of video recognition algorithm is relatively mature and will not be repeated here. In an embodiment, the operation safety management and control platform connects the video system inside and outside the substation to realize real-time video tracking and behavior analysis of personnel entering the substation, and alarm linkage capture functions. If there is no camera in the substation or the number of cameras is small, and the demand for personnel tracking cannot be met, it is necessary to build a linkage video system.

[0042] The staff members go to the inspection and maintenance workbench to swipe their ID cards or faces to receive the positioning terminal, thus binding the work content with the staff members. If it is for the safety control of work tools, operating equipment, operation and maintenance vehicles, etc., the identity can also be identified on the inspection and maintenance workbench, so that the identity identification is associated with the positioning terminal. The inspection and maintenance workbench supports the binding of the positioning terminal with the identity of the staff members. By reading the identity information of the staff members, the identity information of the staff members is associated with the ID of the positioning terminal, and the associated positioning terminal is issued to the staff members, thus realizing the unique correspondence between the positioning data and the identity of the personnel.

[0043] The operation and inspection workbench also supports the charging and management functions of the positioning terminal. The charging and management device of the positioning terminal is deployed in the operation and inspection workbench, which can realize the functions of charging the positioning terminal, reading the unique ID and authorization management.

[0044] The operation control platform supports work ticket parsing, automatically reads work ticket information by connecting to the substation's PMS system or manually importing work tickets, automatically parses work tickets through keyword search algorithms, and automatically obtains work content, work team members, guardians and other information. Through learning the work content, the work area keywords of the work content are screened out and matched with the keywords of the electronic fence to obtain the electronic fence ID number of the work area, automatically associate the electronic fence and enable it, and display and interact with the electronic fence on the operation control platform, including the display of the authorized electronic fence and the key display after the cross-border alarm.

[0045] The operation safety management and control platform supports the trajectory playback function, which generates the work trajectory of the staff on site after the work is completed. It is used to view the staff's work surface, arrival at the post, operation trajectory, violation and other data, which is conducive to the subsequent operation analysis and recollection, and realizes the function of operation analysis and evaluation.

[0046] The present invention also provides a substation operation safety management and control method based on high-precision positioning technology, comprising the following process:

[0047] 1) UWB positioning base stations are installed indoors in substations. Depending on the size of the room and the deployment of equipment, a certain number of positioning base stations need to be installed in each room to achieve high-precision indoor positioning. The UWB positioning base station is a one-time installation and deployment work. After the installation is completed, the function can be enabled when needed.

[0048] 2) Install Beidou RTK base station outdoors in the substation. According to the outdoor conditions of the substation, deploy and install a set of RTK positioning base stations to achieve outdoor high-precision positioning. The RTK base station is a one-time installation and deployment work. After the installation is completed, the function can be enabled when needed.

[0049] 3) Through the 3D point cloud scanning equipment, a 1:1 3D map of the substation is constructed, and the constructed 3D map of the substation is unified with the positioning data in a unified coordinate system to display personnel location, trajectory drawing, regional population statistics, heat map, electronic fence setting, alarm display and video linkage display, etc.;

[0050] 4) By drawing the work area on the three-dimensional map of the substation, a virtual electronic fence is set. Each electronic fence has a unique number. The electronic fence can be automatically set according to the work content to realize the function of the virtual electronic fence; the setting of the electronic fence supports manual adjustment. The user can manage the electronic fence area and re-divide the new electronic fence, which is convenient for the user to demarcate the electronic fence area that meets the current work;

[0051] 5) The operation and maintenance personnel import the work ticket into the operation safety management and control system on the operation safety management and control platform (automatically imported by PMS or manually imported). The system automatically parses the content of the work ticket, obtains the list of staff and the work area, and starts the work process after confirmation. It supports the import of multiple work tickets, that is, multiple work tasks are carried out at the same time, and multiple threads run in parallel without affecting each other. After importing multiple work tickets, the system parses the imported multiple work tickets in turn, and each work ticket occupies a thread exclusively, and the start and end of each work ticket do not interfere with each other. If the work area of ​​the automatically parsed production is different from the actual work area, the staff manually chooses to add or delete a certain area as an authorized area;

[0052] 6) The staff goes to the operation and inspection workbench to obtain the work content. The operation and inspection workbench has the function of issuing positioning terminals and automatically counting tickets. The staff clicks to start work, and the system completes the work ticket counting and the issuance of the work positioning terminal according to the content of the work ticket; after the counting is completed, the staff scans their face or ID card to complete the identity authentication and receive their own positioning terminal, start work and enable the electronic fence function;

[0053] 7) After the staff wears the positioning terminal, the positioning data will be uploaded to the operation safety management and control platform in real time through the wireless security network in the station. The location of the workers can be viewed in real time on the platform, and the operation safety management and control can be carried out according to the location of the workers. The positioning terminal realizes the fusion of UWB positioning and RTK positioning, and calculates the positioning data through the improved TDOA algorithm combined with the RTK positioning algorithm, and then uses the particle swarm algorithm to obtain the final indoor positioning result of the positioning terminal, and finally transmits the positioning result to the data receiving module;

[0054] 8) According to the location of the operator, the linked video camera monitors the worker's screen in real time. The operation safety management and control platform can display the monitoring screen and conduct video analysis on the video screen for violations or unsafe behaviors such as not wearing a safety helmet, not wearing work clothes, smoking, climbing over safety warning guardrails, climbing high, etc. If an alarm is calculated, an audible and visual alarm will be issued through the positioning terminal to remind the operator of the location behavior, and the violation type and violation screenshot and alarm pop-up window will be displayed; the linked video camera can be the original video system in the substation or a new one built on demand. The camera is connected to this system to configure the linkage function; the video analysis function is implemented in the operation safety management and control platform;

[0055] 9) According to the real-time position of the operating personnel, the boundary crossing calculation is performed in combination with the electronic fence. When the staff walks normally in the safe passage or the authorized working area, the positioning terminal works normally. If the staff mistakenly enters the interval or is less than the safe distance from the live equipment, the positioning terminal will issue an audible and visual alarm to remind the staff that there is danger, and the video camera will be used to capture and pop up an alarm window on the operation safety management and control platform to remind the operation and maintenance personnel that there is an illegal alarm on the scene. The positioning terminal will make a voice call and pay attention to the situation of the on-site staff in time; the audible and visual alarm of the positioning terminal includes the first entry into the unauthorized area or the dangerous area, a single voice alarm, if the unauthorized area or the dangerous area is evacuated in time, the alarm will be restored. If it is not evacuated in time, the positioning terminal will beep and play the voice alarm in a loop until the unauthorized area or the dangerous area is evacuated; the voice alarm includes "entering the unauthorized area", "do not approach live equipment", "please evacuate the dangerous area", etc.;

[0056] 10) When working on site, the work safety management and control platform can display the work position of the operators in real time, and has alarm functions such as work heat map, regional headcount, personnel detention reminder, cross-regional post alarm, staff information display, and work route display; the work safety management and control platform can be deployed in the operation and maintenance center, so that the substation operation and maintenance personnel can grasp the on-site work situation in real time without arriving at the site;

[0057] 11) After the work is completed, return the positioning terminal to the operation and inspection workbench, click the "Finish" button, submit the "Finish" button, and the operation and maintenance personnel will confirm and complete the work; if the work needs to be carried out across days, after the work tasks of the day are completed, the work can be suspended and the positioning terminal can be returned to the operation and inspection workbench for charging and replenishing. After entering the station the next day, perform steps 6) and 7) and then work normally;

[0058] 12) After the work is completed, the operation safety management and control platform automatically generates a work status list, performs statistics and displays operation alarms, draws work trajectories, etc., summarizes the work and submits it to the operation and maintenance personnel for confirmation. The completion of the work means that all work contents of this work ticket have been completed. The operation and maintenance personnel can evaluate the on-site work based on the generated work status list.

[0059] Taking a 220kV substation as an example, the system layout is as follows Figure 2As shown in the figure, UWB positioning base stations are installed in indoor scenes such as the substation main control room, relay protection room, and switch room; Beidou RTK positioning base station is installed on the roof of the main control building, and the installation location should not be blocked within the visible range; wireless environment (or power 4G wireless network) is deployed in the substation to ensure good network signals in indoor and outdoor areas of the substation; a 1:1 three-dimensional substation map of the substation is constructed, and electronic fences are drawn according to on-site intervals and work procedures, and each electronic fence has a unique number; the substation video surveillance system is connected or a new linkage camera is newly built, and the video resources of the substation are included in the operation safety management and control platform, and video linkage and operator behavior analysis are performed.

[0060] Taking the routine maintenance of the #1 main transformer as an example, the work content is read from the work ticket to obtain the work content. The associated work areas are the 1# main transformer area and the #1 main transformer protection screen area. The staff are members 1, 2 and 3, and the guardian is guardian 1. An electronic fence is automatically generated according to the work area, and the #1 main transformer area, the protection room channel and the #1 main transformer protection screen area are authorized. Members 1, 2, 3 and guardian 1 are associated with the positioning terminal; the work team goes to the operation and maintenance workbench to check the work content and apply for work start; the application for work start requires the consent of the operation and maintenance personnel. After the operation and maintenance personnel click "agree" on the operation safety management and control platform, they start work; Guardian 1 applies for on-site vote counting, and the operation and maintenance workbench performs voice vote counting according to the content of the work ticket; after the vote counting is completed, the working members scan their faces to receive the positioning terminal, and each staff member receives a positioning terminal and wears it to start on-site work. The operation safety management and control platform can display the location of on-site workers in real time and mobilize nearby cameras for video tracking and viewing. The workers first arrive at the main transformer to view the appearance of the equipment. The positioning terminal automatically performs Beidou RTK positioning outdoors. On-site workers can be seen working in the #1 main transformer area on the platform. Multi-channel videos can be used to view the on-site work situation to ensure that there are no safety hazards for on-site workers. If on-site member 1 takes off his helmet to work after arriving at the site due to poor safety awareness, the video analysis will identify that member 1 is not wearing a helmet, and member 1's positioning terminal will start to speak "Please wear a helmet". The voice prompt and video screenshot will be taken until the on-site member 1 puts on the helmet; at this time, the non-electric information of the #1 main transformer needs to be checked, and the member needs to go to the protection room. After the member walks to the protection room, the positioning terminal automatically connects to the UWB positioning base station and switches to the UWB positioning data, realizing the automatic switching of outdoor to indoor positioning data. If member 1 walks to the #2 main transformer protection screen due to negligence at work and enters the unauthorized area, the positioning terminal will send a voice alarm of "entering the unauthorized area" and capture the video. At this time, member 1 finds that he has walked to the wrong interval and discovers the error in time, avoiding the hidden danger of accidents caused by operating the #2 main transformer protection screen cabinet. During work, the operation and maintenance personnel can view the on-site work status in real time on the operation safety control platform. The alarms that appear on the site are pop-up alarms and recorded on the platform. The operation and maintenance personnel can also conduct two-way voice calls with on-site staff through the positioning terminal, which is convenient for communication with on-site staff. After the work is finished, everyone returns the positioning terminal to the operation and inspection workbench. After the return is completed, click on the end of work and contact the operation and maintenance personnel for confirmation. After the operation and maintenance personnel confirm that the work is completed based on the video screenshots on site, they will confirm the end of work. After confirmation, the work is over and the on-site staff leave the station. After the work is finished, the operation safety management and control platform automatically stores the video resources, violation screenshots, positioning data, trajectory screenshots, etc. of this work, and generates a list of the work status, which is convenient for the operation and maintenance personnel to view the on-site work status and any violations.

Claims

1. A substation operation safety management and control system based on indoor and outdoor fusion positioning, characterized in that: include: The indoor UWB positioning module includes a UWB positioning base station and a UWB positioning controller. Depending on the size of the room and the layout of the equipment, different numbers of UWB positioning base stations are installed on the ceiling or wall. The UWB positioning base station receives the positioning terminal message, and after the UWB positioning controller calculates the location information of the positioning terminal and forwards it to the data receiving service module to complete the indoor positioning. The outdoor RTK positioning module includes an RTK positioning base station and a satellite positioning receiving part. According to the substation layout, the RTK positioning base station is installed on the top of the substation building. The visual range above the installation location is unobstructed. The RTK positioning base station receives satellite signals and calculates RTK differential data, and sends the differential data to the positioning terminal through the in-station wireless network. The positioning terminal fuses the differential data to calculate the positioning data, and forwards it to the data receiving service module through the in-station wireless network to achieve outdoor positioning; Positioning terminal, used for receiving, calculating and forwarding positioning data, communicating with the data receiving service module, realizing real-time transmission of positioning data and local sound and light alarm functions; Data receiving service module, used for receiving, parsing, and converting positioning data formats to achieve the unification of the coordinate system of positioning data and substation map data; Security isolation module, used for data transmission encryption and decryption, to achieve secure interaction between substation positioning data and the application platform of the production intranet; The data analysis and processing module is used to analyze and process the positioning data transmitted from the external network, obtain work information and draw electronic fences, realize the functions of operator mistakenly entering the interval alarm, out-of-range operation alarm, alarm video linkage capture, and video analysis and alarm of unsafe behavior; The operation and inspection workbench is used for charging and managing the positioning terminal, binding the staff identity with the positioning terminal, checking and reading the work ticket, so as to realize the management of the work ticket circulation and the positioning terminal; The operation safety management and control platform is used for work ticket analysis, electronic fence display and interaction, real-time display of on-site workers' positioning on a three-dimensional map, violation and cross-border alarms and video linkage display, and operation trajectory playback.

2. The system according to claim 1, characterized in that The positioning terminal obtains positioning data by combining the improved TDOA algorithm with the RTK positioning algorithm, and then obtains the final positioning result of the positioning terminal by using the particle swarm algorithm. The final positioning result is transmitted to the data receiving service module. The improved TDOA algorithm calculates the current positioning point data by using TDOA, calculates the displacement, speed, acceleration and heading angle parameters by using the current positioning point data and the previous positioning point data, and predicts the next positioning data by combining these parameters. The positioning data and the predicted data are fused by the Kalman filter algorithm to eliminate invalid positioning data. The particle swarm algorithm evaluates the parameters of UWB positioning and the parameters of RTK positioning. When the evaluation parameters of UWB are better than the evaluation parameters of RTK positioning, it is judged to be indoors. When the evaluation parameters of UWB are worse than the evaluation parameters of RTK positioning, it is judged to be outdoors, thereby realizing global positioning indoors and outdoors.

3. The system according to claim 2, characterized in that The positioning terminal is a wearable device, and the form includes any one or more of a work badge, a walkie-talkie, a safety helmet pendant, and a vehicle-mounted positioning terminal.

4. The system according to claim 1, characterized in that The data analysis and processing module draws the electronic fence, including: drawing the electronic fence for the working area of ​​the substation on the three-dimensional map according to the equipment layout of the substation, referring to the substation operation procedures and the principle of pulling the physical fence, obtaining the coordinates of the vertices of the electronic fence by selecting points and drawing a frame in the three-dimensional map, assigning a unique id and description information to each electronic fence, storing the vertex coordinates, id, and description information of the electronic fence in a database for matching and crossing-boundary operations of the electronic fence.

5. The system according to claim 1, characterized in that The data analysis and processing module mobilizes the cameras in the corresponding area to conduct video monitoring of the area where the positioning terminal is located based on the positioning data uploaded by the positioning terminal, and conducts real-time identification of the identities of the people in the video, and identifies illegal behaviors such as not wearing a safety helmet, not wearing work clothes, smoking, and unreasonable use of tools, and displays the identification results on the operation safety management and control platform in the form of pop-up alarms and video screenshots, forming alarm records and storing them in the database.

6. The system according to claim 1, characterized in that The operation and inspection workbench reads the identity information of the staff, associates the identity information of the staff with the ID of the positioning terminal, and issues the associated positioning terminal to the staff, thereby realizing the unique correspondence between the positioning data and the identity of the staff.

7. The system according to claim 4, characterized in that The operation safety management and control platform reads the work ticket information, uses a keyword search algorithm to parse the work ticket to obtain work content, work team members, and guardian information, filters out the work area keywords of the work content, and matches them with the keywords of the electronic fence to obtain the electronic fence ID number of the work area and enable the electronic fence.

8. The system according to claim 5, characterized in that The operation safety management and control platform is connected to the video systems inside and outside the substation to realize real-time video tracking and behavior analysis of personnel entering the substation, as well as alarm linkage and snapshot functions.

9. A substation operation safety management and control method based on indoor and outdoor fusion positioning, characterized in that: The following steps are involved: 1) According to the size of the room and equipment deployment in the indoor area of ​​the substation, a specified number of UWB positioning base stations are installed in each room to achieve indoor positioning; according to the outdoor situation of the substation, RTK positioning base stations are deployed and installed on the top of the building to achieve outdoor positioning; 2) Use 3D point cloud scanning equipment to build a 3D map of the substation, and unify the coordinate system of the constructed 3D map of the substation with the positioning data to display personnel location, trajectory drawing, regional population statistics, heat map, electronic fence setting, alarm display and video linkage display functions; 3) By drawing the working area on the three-dimensional map of the substation, a virtual electronic fence is set up. Each electronic fence has a unique number. The electronic fence can be automatically set according to the work content to realize the function of the virtual electronic fence; 4) The operation and maintenance personnel import the work ticket into the operation safety management and control system on the operation safety management and control platform. The system automatically parses the work ticket content, obtains the list of staff and work area, and starts the work process after confirmation; 5) The staff goes to the operation and inspection workbench to obtain the work content. The operation and inspection workbench has the function of issuing positioning terminals and automatically counting tickets. The staff clicks to start work, and the system completes the work ticket counting and the issuance of positioning terminals according to the content of the work ticket. After the counting is completed, the staff completes the identity authentication and receives their own positioning terminal, starts work and activates the electronic fence function; 6) After the staff wears the positioning terminal, the positioning data will be uploaded to the operation safety management and control platform in real time through the wireless security network in the station. The location of the workers can be viewed in real time on the platform, and the operation safety management and control can be carried out according to the location of the workers; 7) According to the location of the operator, the video camera is linked to monitor the operator in real time. The operation safety management and control platform can display the monitoring screen and analyze the video screen for violations or unsafe behaviors such as not wearing a safety helmet, not wearing work clothes, smoking, climbing over safety warning guardrails, and climbing high. If an alarm is calculated, an audible and visual alarm will be issued through the positioning terminal to remind the operator of the violation, and the violation type and violation screenshot and alarm pop-up window will be displayed; 8) Based on the real-time location of the operator, the boundary crossing calculation is performed in combination with the electronic fence. When the operator walks normally in the safe passage or authorized work area, the positioning terminal works normally. If the operator mistakenly enters the interval or is closer to the live equipment than the safe distance, the positioning terminal will issue an audible and visual alarm to remind the operator that there is danger. The operation safety management and control platform will also use the video camera to capture and pop up an alarm window to remind the operation and maintenance personnel that there is an illegal alarm on site. The positioning terminal will be used for voice calls to pay attention to the situation of the on-site staff in a timely manner. 9) When working on-site, the work location of the operators is displayed in real time through the work safety management and control platform, and it has the functions of work heat map, regional headcount statistics, personnel detention reminder, cross-regional post alarm, staff information display, and work route display.

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