Personnel safety monitoring method and system based on substation cross-region detection algorithm

Abstract

The application discloses a personnel safety monitoring method and system based on a substation cross region detection algorithm, relates to the technical field of substation safety monitoring, and solves the problems of inaccurate existing electronic fence drawing and inability to early warn safety behaviors, and the technical scheme is as follows: attribute information and spatial position information of live equipment are acquired, and position information of personnel is acquired; a dangerous region is constructed according to the spatial position information and the attribute information of the live equipment, and a safety region is constructed according to a work range; whether the position information of the personnel falls into the dangerous region or is outside the safety region is analyzed, if the position information falls into the dangerous region, an alarm is immediately given, and if the position information does not fall into the dangerous region, the distance between the position information of the personnel and a region boundary is calculated based on a cross detection algorithm, and if the distance is less than a warning threshold, an alarm is given. The method constructs a dangerous region based on live equipment, is suitable for different types of live equipment, and early warns personnel who may cross the region boundary through the cross detection algorithm.

Description

Technical Field

[0001] This invention relates to the field of substation safety monitoring technology, and more specifically, to a personnel safety monitoring method and system based on a substation cross-area detection algorithm. Background Technology

[0002] In substation operations, intelligent maintenance is a crucial component. Inadequate control over personnel's work environment, equipment, and safe behavior can lead to frequent injuries and fatalities, particularly in crane operations and live-line work. Therefore, in addition to ensuring the safety of the most important equipment, personnel safety has become a critical aspect of substation operations.

[0003] Currently, the main approach to addressing personnel safety issues during substation inspections involves using 3D laser scanning technology to create detailed 3D models of the substation's interior and exterior, thus constructing a digital model. Then, high-precision positioning technology using UWB and BeiDou allows personnel working inside and outside the substation to be located in real-time via smartphones. Finally, work routes are planned and electronic fences are drawn based on the work content. The system automatically identifies violations involving crossing dangerous areas based on the personnel's location information, simultaneously issuing warning signals on both the system and their wristbands. However, existing safety detection methods typically involve simply drawing electronic fences, which cannot reliably adapt to different types of live equipment; furthermore, alarms are only triggered when the fence is crossed, failing to provide early warnings for such actions.

[0004] To address these issues, the inventors proposed a personnel safety monitoring method and system based on a substation cross-area detection algorithm. Summary of the Invention

[0005] The purpose of this application is to provide a personnel safety monitoring method and system based on a substation cross-area detection algorithm. By rationally constructing dangerous and safe areas through the attribute information and spatial location information of energized equipment, the cross-detection algorithm analyzes whether personnel are likely to cross the area boundary, calculates the distance to potentially crossing personnel, and issues an alarm for distances less than the warning threshold, thereby achieving early warning for personnel safety.

[0006] The first aspect of this application provides a personnel safety monitoring method based on a substation cross-area detection algorithm, including:

[0007] S1. Obtain the attribute information and spatial location information of the live equipment based on the digital model of the substation, and obtain the location information of the personnel based on the smart wearable safety helmet;

[0008] S2. Construct hazardous areas based on the spatial location and attribute information of energized equipment, and construct safe areas based on the work scope;

[0009] S3. Analyze whether the location information of the person falls into the danger zone or outside the safe zone. If it falls into the danger zone, an alarm is triggered immediately. If it does not fall into the danger zone, calculate the distance between the location information of the person and the boundary of the area based on the cross detection algorithm. If the distance is less than the warning threshold, an alarm is triggered.

[0010] The above technical solution organically combines the digital model of the substation, personnel location information, and live equipment. Hazardous areas are constructed based on the spatial location and attribute information of the live equipment, while safe areas are constructed according to the work scope. The size of the hazardous areas is set according to the attribute information of the live equipment, meeting the safety distance requirements of different types of live equipment and providing accurate early warnings for personnel behavior safety. Simultaneously, a cross-detection algorithm is used to analyze whether personnel are likely to cross the boundary, and distance calculations are performed for personnel who may cross the boundary to achieve early warning.

[0011] In one possible implementation, step S3 includes:

[0012] S31. Convert personnel location information into personnel coordinates in the substation digital model, and convert hazardous areas and safe areas into a system of regional plane equations.

[0013] S32. Analyze whether the personnel coordinates fall within the range of the dangerous area plane equation set or outside the range of the safe area plane equation set. If they fall within the range, an alarm is triggered; if they do not fall within the range, proceed to step S33.

[0014] S33. Analyze whether the person may cross the plane in the area plane equation set based on the person's coordinates and direction of travel. If possible, calculate the distance between the intersection of the person's coordinates and the plane. If the distance is less than the warning threshold, issue an alarm.

[0015] In one possible implementation, step S33 includes:

[0016] Based on the personnel coordinates and the personnel's direction of travel, a straight line equation is constructed. The direction vector of the straight line equation is analyzed to see if it intersects with the normal phasor of each plane in the regional plane equation system. If they intersect, it means that the personnel may cross the plane and the coordinates of the intersection point are calculated.

[0017] Calculate the distance between the personnel's coordinates and the coordinates of the intersection point on the plane; if the distance is less than the warning threshold, an alarm will be triggered.

[0018] If the personnel's coordinates coincide with the plane, an alarm will be triggered directly;

[0019] If the personnel's coordinates are parallel to the plane, the basic warning threshold is used for judgment; if it is less than the threshold, an alarm is triggered.

[0020] In one possible implementation, step S31 includes: when personnel are performing planar operations, converting the hazardous area and the safe area into two-dimensional planar equations in the X and Y directions to form a set of regional planar equations;

[0021] When personnel are performing work at height, the dangerous area and the safe area are transformed into three-dimensional plane equations in the X, Y, and Z directions, forming a set of regional plane equations.

[0022] In one possible implementation, step S33 includes: when multiple personnel are performing planar operations, analyzing whether each straight line equation and the regional planar equation set intersects; if they do, and the distance from the personnel coordinates to the intersection coordinates is less than a warning threshold, then an alarm is triggered.

[0023] In one possible implementation, step S33 includes: when multiple personnel are performing a planar operation, calculating the distance between each personnel, grouping personnel whose distance is less than a threshold, and when any personnel in the group receives an alarm, the other personnel in the group will receive an alarm simultaneously.

[0024] In one possible implementation, step S2 further includes: manually drawing hazardous areas and safe areas, wherein the size of the hazardous areas is set according to the attribute information of the electrical equipment in the area, and the size of the safe areas is set according to the work scope.

[0025] In one possible implementation, the method further includes: S4, drawing a personnel movement trajectory diagram based on the real-time acquired personnel location information, and displaying and replaying it in real time on the substation digital model.

[0026] A second aspect of the present invention provides a personnel safety monitoring system based on a substation cross-area detection algorithm, comprising:

[0027] The information acquisition module is used to obtain attribute information and spatial location information of live equipment based on the substation digital model, and to obtain personnel location information based on smart wearable safety helmets;

[0028] The area construction module is used to construct hazardous areas based on the spatial location and attribute information of energized equipment, and to construct safe areas based on the work scope.

[0029] The safety monitoring module is used to analyze whether the location information of the personnel falls into the danger zone or outside the safety zone. If it falls into the danger zone, an alarm is triggered immediately. If it does not fall into the danger zone, the distance between the personnel's location information and the zone boundary is calculated based on the cross-detection algorithm. If the distance is less than the warning threshold, an alarm is triggered.

[0030] In one possible implementation, the security monitoring module includes:

[0031] The model building module is used to convert personnel location information into personnel coordinates in the substation digital model and to convert hazardous areas and safe areas into a system of regional plane equations.

[0032] The range monitoring module is used to analyze whether the personnel coordinates fall within the range of the dangerous area plane equation set or outside the range of the safe area plane equation set. If they fall within the range, an alarm will be triggered.

[0033] The algorithm monitoring module is used to analyze whether a person is likely to cross a plane in the regional plane equation system based on the person's coordinates and direction of travel using a cross-detection algorithm. If so, it calculates the distance between the person's coordinates and the intersection of the plane. If the distance is less than the warning threshold, it issues an alarm.

[0034] Compared with existing technologies, this application has the following advantages: It constructs hazardous areas based on the spatial location and attribute information of live equipment, and safe areas based on the work scope. These areas are more realistic and adaptable to different types of live equipment, making safety monitoring more reliable. Furthermore, it transforms personnel behavior safety judgment into determining whether personnel intersect with the area boundary based on a cross-detection algorithm. For personnel who may intersect, the distance between the personnel's position coordinates and the intersection point's coordinates is calculated and compared with a preset warning threshold, providing an early warning when personnel are about to enter or leave the hazardous area. Finally, it can output a personnel behavior trajectory map, effectively enabling real-time monitoring and early warning of personnel behavior safety issues, providing safety assurance for intelligent maintenance and personnel behavior management. Attached Figure Description

[0035] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0036] Figure 1 This is a flowchart illustrating the personnel safety monitoring method based on a substation cross-area detection algorithm provided by the present invention.

[0037] Figure 2 A schematic diagram of the personnel safety monitoring system based on the substation cross-area detection algorithm provided by the present invention;

[0038] Figure 3 This is a schematic diagram illustrating the relationship between a straight line and a plane, provided by the present invention. Detailed Implementation

[0039] In the following, the terms “comprising” or “may include” as used in the various embodiments of this application indicate the presence of the claimed function, operation, or element, and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in the various embodiments of this application, the terms “comprising,” “having,” and their cognates are intended only to indicate a specific feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more combinations of the foregoing.

[0040] In various embodiments of this application, the expression "or" or "at least one of B and / or C" includes any combination or all combinations of the words listed simultaneously. For example, the expression "B or C" or "at least one of B and / or C" may include B, may include C, or may include both B and C.

[0041] The terms used in the various embodiments of this application (such as "first," "second," etc.) may modify various constituent elements in the various embodiments, but do not limit the corresponding constituent elements. For example, the above terms do not limit the order and / or importance of the elements. The above terms are only used for the purpose of distinguishing one element from other elements. For example, a first user device and a second user device refer to different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of this application, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0042] The terminology used in the various embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. The terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this application are only for explaining this application and are not intended to limit this application.

[0044] Currently, to address the safety issues related to personnel behavior during substation inspections, the main approach is to utilize 3D laser scanning technology to create detailed 3D models of the substation's interior and exterior, thereby constructing a digital model of the substation. Then, using UWB+BeiDou high-precision positioning technology, personnel working inside and outside the substation can achieve real-time location tracking by wearing smartphones. Finally, based on the work content, work paths are planned and electronic fences are drawn. Based on the location information of the workers, violations involving crossing dangerous areas are automatically identified, and danger warning signals are simultaneously issued on the system and wristbands.

[0045] The problems are as follows: First, the design of electronic fences cannot adapt to different types of live equipment. For example, the required safe distance for live equipment of 10kV and below is 0.7 meters, the required safe distance for live equipment of 20kV and 35kV is 1 meter, and the required safe distance for live equipment of 110kV is 1.5 meters. Existing electronic fences cannot be designed according to the type of live equipment, and the area may be too large or too small, resulting in a decrease in safety and reliability. Second, warnings can only be issued when personnel cross the dangerous area, and cannot provide advance warnings for personnel crossing the dangerous area.

[0046] Based on this, the present invention provides a personnel safety monitoring method and system based on a substation intersection area detection algorithm. The method sets up a danger zone according to the spatial location information of the live equipment, sets the specific size of the danger zone according to the attribute information of the live equipment, analyzes whether the personnel's walking route intersects with the boundary of the area according to the personnel's location information and direction of travel, determines whether the personnel may cross the boundary, and calculates the distance between the personnel's location coordinates and the intersection point coordinates for personnel who may cross the boundary, thereby realizing early warning of personnel safety behavior.

[0047] Please see Figure 1 As shown, Figure 1 This is a flowchart illustrating a personnel safety monitoring method based on a substation cross-area detection algorithm. The method includes:

[0048] S1. Obtain the attribute information and spatial location information of the live equipment based on the digital model of the substation, and obtain the location information of the personnel based on the smart wearable safety helmet;

[0049] S2. Construct hazardous areas based on the spatial location and attribute information of energized equipment, and construct safe areas based on the work scope;

[0050] S3. Analyze whether the location information of the person falls into the danger zone or outside the safe zone. If it falls into the danger zone, an alarm is triggered immediately. If it does not fall into the danger zone, calculate the distance between the location information of the person and the boundary of the area based on the cross detection algorithm. If the distance is less than the warning threshold, an alarm is triggered.

[0051] Specifically, in step S1, spatial location information of the live equipment is obtained based on the substation digital model, including the equipment's location, rotation angle, length, width, and height; attribute information of the live equipment is also obtained, including equipment name, equipment type, operating voltage, and unique equipment code PMSID. Different operating voltages correspond to different safety distances. For example, the safety distance for 10kV and below live equipment is 0.7 meters, for 20kV and 35kV live equipment it is 1 meter, for 110kV it is 1.5 meters, and for 220kV it is 3 meters. Personnel location information is obtained based on a smart wearable safety helmet. The smart wearable safety helmet has a positioning tag, and through outdoor RTK base stations and indoor UWB base stations, based on a differential algorithm, the personnel's location information can be obtained in real time, including longitude, latitude, and elevation data (lon, lat, altitude), as well as time information.

[0052] In step S2, an initial hazardous area is constructed based on the spatial location information of the live equipment. A safe distance is determined based on the attribute information of the live equipment. The initial area is then expanded based on the safe distance to form the hazardous area. The safe area is set according to the work scope. Hazardous / safe areas include location information (x, y, z), rotation angles (α, β, γ), and length, width, and height (l, w, h). A hazardous area can be understood as containing high-voltage live equipment; accidental entry may result in injury or death. Personnel must maintain a safe distance from the live equipment within the hazardous area and must not cross it. A safe area can be understood as a work area that does not contain live equipment or contains non-operating live equipment. It is a safe area within the substation area; personnel can move freely within this area without causing accidents, therefore, personnel are prohibited from crossing out of the safe area.

[0053] In step S3, for hazardous areas, the system first analyzes whether the personnel's location information falls within the hazardous area. If so, an alarm is immediately triggered. Otherwise, a cross-detection algorithm is used to analyze whether the personnel might cross the area boundary. If they might cross, the distance between them and the boundary crossing point is calculated. When the distance is less than a warning threshold, an alarm is triggered, providing early warning for personnel safety during substation operations. For safe areas, the system first analyzes whether the personnel's location information is outside the safe area. If so, an alarm is immediately triggered. Otherwise, a cross-detection algorithm is used to analyze whether the personnel might cross the area boundary. If they might cross, the distance between them and the boundary crossing point is calculated. When the distance is less than a warning threshold, an alarm is triggered, providing early warning for personnel safety during substation operations. The warning threshold can be set manually, such as 1 meter, 0.5 meters, etc.

[0054] It should be noted that the substation digital model is a 1:1 model of the substation equipment and its spatial relationship with all equipment. The construction of hazardous areas and safe areas can be carried out at a 1:1 scale according to the actual situation.

[0055] Understandably, this solution constructs hazardous areas using the spatial location and attribute information of energized equipment, meeting the safety distance requirements of different types of energized equipment and enabling accurate prediction of personnel safety behavior. Personnel safety behavior is transformed into determining whether a person's location intersects with the area boundary and the distance to that intersection. Combined with cross-detection algorithms and the person's direction of movement, precise warnings are issued for actions about to cross the area boundary. This solution organically integrates the substation's digital spatial information, personnel location information, and energized equipment, enabling digital twin interaction between the real and digital worlds. It provides real-time monitoring, prevention, and alarm functions for personnel safety issues, ensuring intelligent maintenance and personnel safety.

[0056] As one possible implementation, step S3 includes: S31, converting the personnel's location information into personnel coordinates in the substation digital model, and converting the hazardous area and safe area into a set of regional plane equations; S32, analyzing whether the personnel coordinates fall within the range of the hazardous area plane equation set or outside the range of the safe area plane equation set. If they fall within the range, an alarm is triggered; if they do not fall within the range, step S33 is executed; S33, analyzing whether the personnel may cross the plane in the regional plane equation set based on their coordinates and direction of travel. If so, the distance between the personnel coordinates and the intersection of the plane is calculated. If the distance is less than the warning threshold, an alarm is triggered.

[0057] Specifically, in step S31, the personnel location information is converted into personnel coordinates in the substation digital model, including: the personnel location information includes longitude, latitude and elevation data, and the personnel location information is converted into a planar coordinate representation in the substation digital model to obtain the personnel coordinates in the substation digital model.

[0058] According to Formula 1, the longitude, latitude, and elevation data (lon,lat,altitude) in the personnel's location information are converted into plane coordinates (x,y,z), with R taking the value of 6378137 (equatorial radius 6378137);

[0059]

[0060] Formula 2 is used to convert the personnel location information, expressed in planar coordinates, into planar coordinates in the substation digital model, resulting in the personnel coordinates in the substation digital model. The planar coordinates of the digital model at the origin (0,0,0) are (x0,y0,z0), and the converted personnel coordinates are:

[0061]

[0062] Specifically, the hazardous and safe areas are transformed into a system of planar equations, including: based on the boundaries of the hazardous / safe areas, the hazardous / safe areas are transformed into at least three planar equations (N≥3), forming a system of planar equations for the hazardous / safe areas.

[0063]

[0064] Specifically, in step S32, it is analyzed whether the personnel coordinates fall within the range of the dangerous area plane equation set or outside the range of the safe area plane equation set; if they fall within, an alarm is triggered; including:

[0065] For hazardous areas, first analyze whether the personnel's coordinates fall within the hazardous area; if so, immediately trigger an alarm. The hazardous area can be represented as follows:

[0066] x[x min ,x max ],y[y min ,y max ],z[z min ,z max ].

[0067] For a safe zone, first analyze whether the personnel's coordinates are outside the safe zone. If they are outside, an alarm is triggered directly. "Outside the safe zone" can be defined as:

[0068]

[0069] Specifically, in step S33, based on the personnel's coordinates and direction of travel, it is analyzed whether the personnel might cross a plane in the area's planar equation set. If so, the distance between the personnel's coordinates and the intersection of that plane is calculated. If the distance is less than a warning threshold, an alarm is triggered, including:

[0070] S331. Construct a straight line equation based on the personnel coordinates and the personnel's direction of travel. Analyze whether the direction vector of the straight line equation intersects with the normal vector of each plane in the regional plane equation set. If they intersect, it indicates that the personnel may cross the plane, and calculate the coordinates of the intersection point. S332. Calculate the distance between the personnel coordinates and the plane intersection point coordinates. If the distance is less than the warning threshold, an alarm is triggered. If the personnel coordinates coincide with the plane, an alarm is triggered directly. If the personnel coordinates are parallel to the plane, a basic warning threshold is used for judgment. If the distance is less than the threshold, an alarm is triggered.

[0071] The linear equation constructed based on personnel coordinates and direction of movement is determined by considering the personnel coordinates, direction of movement, and the relationship between the direction of movement and the plane in the substation digital model. The linear equation is as follows:

[0072]

[0073] Where P(x,y,z) represents the personnel coordinates in the substation digital model, and τ is a parameter indicating whether the personnel's direction of movement is related to the plane; if unrelated, τ can be denoted as 0. It indicates the instantaneous direction of movement of personnel.

[0074] To analyze whether the direction vector of the linear equation intersects with the normal phasors of each plane in the system of regional plane equations, the following cross-detection algorithm is used. The cross-detection algorithm is shown in Formula 3:

[0075]

[0076] First, determine whether the direction vector of the line intersects the boundary of the region. Represents the normal vector of the plane; Indicates the direction in which pedestrians are walking; if This indicates that the line and the plane are either coincident or parallel, meaning they do not intersect; if This means that the line and the plane must intersect at a single point;

[0077] Please see Figure 3 As shown, considering the case of intersection l1(τ), substitute the parametric equation of the line into the parametric equation of the plane to find τ; that is...

[0078] Where D represents a constant; solving for the value of τ, we get:

[0079]

[0080] Substitute the value of τ into the parametric equation of the line to calculate the intersection point J, as shown in Formula 4:

[0081]

[0082] Finally, the distance from P(x,y,z) to the intersection point J(x,y,z) is calculated, and the distance is compared with the pre-set warning threshold to achieve early warning of personnel crossing the area boundary.

[0083] See Figure 3 If l2(τ) and l3(τ) in the middle are This indicates that the line and the plane are either coincident or parallel.

[0084] If the relationship is coincident (l2(τ)), then point P on the line must lie on the plane, and thus:

[0085]

[0086] This indicates that the person's current location P is at the boundary, and a cross-regional warning is immediately issued for the person.

[0087] Otherwise, they are parallel relationships; considering the specificities of practical applications (it may be a parallel relationship within the distance threshold range, see...), Figure 3 Even if l3(τ) is in a parallel relationship, it should be compared based on the warning threshold to achieve early warning of personnel crossing regional boundaries.

[0088] Understandably, this method transforms the location information obtained from smart wearable safety helmets into the coordinates of personnel in the digital model of the substation, reduces the dangerous area to a system of planar equations, and analyzes whether personnel intersect with the boundary plane of the area based on the intersection detection algorithm, i.e. whether they may cross the boundary plane of the area. For personnel who may cross, the distance between the personnel and the intersection point is calculated, and then the distance is compared with a preset warning threshold to achieve early warning.

[0089] As one possible implementation, step S31 includes: when personnel are performing planar operations, transforming the hazardous area and the safe area into two-dimensional planar equations in the X and Y directions to form a set of regional planar equations; when personnel are performing climbing operations, transforming the hazardous area and the safe area into three-dimensional planar equations in the X, Y, and Z directions to form a set of regional planar equations.

[0090] Specifically, considering that personnel only move horizontally when performing planar operations, the danger zone can be transformed into a two-dimensional plane, and whether a person enters or leaves the safety zone can be determined by the distance between the intersection of a straight line and the two-dimensional plane.

[0091]

[0092] When personnel are performing work at height, it is essential to simultaneously make relevant judgments and checks based on the height, namely:

[0093]

[0094] Where N≥4, the height plane must be taken into account within the defined area.

[0095] As one possible implementation, step S33 includes: when multiple personnel are performing planar operations, analyzing whether each straight line equation and the regional planar equation set intersect; if they do, and the distance from the personnel coordinates to the intersection coordinates is less than the warning threshold, then an alarm is triggered.

[0096] Specifically, considering the situation of multiple people working simultaneously, it is necessary to consider the determination of the distance between the multiple people and the plane, as shown in Formula 7:

[0097]

[0098] Where n>1 indicates that there are multiple people working in the safe work area, and that multiple people are doing different jobs in different positions, while safety behavior control is implemented for the workers.

[0099] As one possible implementation, step S33 includes: when multiple personnel are performing a planar operation, calculating the distance between each personnel, grouping personnel whose distance is less than a threshold, and when any personnel in the group receives an alarm, the other personnel in the group will receive an alarm simultaneously.

[0100] Understandably, it's possible to predict in advance whether a person might enter a danger zone or leave a safe zone while walking, considering their speed, the equation of a straight line, and the area boundaries. During typical maintenance work, there are at least 10 people in the safe work area. Compared to existing methods that judge individual boundary crossings, this method allows for grouping people who are close together for assessment, effectively preventing secondary safety accidents that might occur due to close proximity.

[0101] As one possible implementation, step S2 further includes: manually drawing hazardous areas and safe areas, wherein the size of the hazardous area is set according to the attribute information of the electrical equipment in the area, and the size of the safe area is set according to the work scope.

[0102] It should be noted that, in addition to automatically generating hazardous areas based on energized equipment, hazardous areas can also be drawn manually, and safe areas can also be drawn manually based on the scope of work, thereby improving the flexibility of management and control.

[0103] As one possible implementation method, the method also includes: S4, drawing a personnel movement trajectory map based on the real-time acquired personnel location information, and displaying and replaying it in real time on the substation digital model.

[0104] Understandably, this method combines indoor and outdoor hazardous areas, real-time personnel location information (including work at heights), and digital twin technology to achieve visualized real-time control of personnel behavior both indoors and outdoors. It organically combines the digital spatial information of the substation, personnel location information, and live equipment, enabling virtual-real interaction of digital twins. It provides real-time monitoring, prevention, and alarm for personnel behavior safety issues, ensuring intelligent maintenance and personnel safety.

[0105] This method acquires personnel location information based on smart wearable safety helmets, GPSRTK, and indoor UWB base stations. In a substation digital model that meets modeling accuracy requirements, it determines personnel behavior safety in the substation based on automatically generated or manually drawn hazardous and safe zones, real-time acquired personnel location information, personnel movement direction, and zone boundaries. An alarm is triggered when personnel are about to enter a hazardous zone or leave a safe zone, and finally, a personnel behavior trajectory map is output.

[0106] Please see Figure 2 As shown, Figure 2 This is a schematic diagram of a personnel safety monitoring system based on a substation cross-area detection algorithm. The system and method correspond one-to-one, including:

[0107] The information acquisition module is used to obtain attribute information and spatial location information of live equipment based on the substation digital model, and to obtain personnel location information based on smart wearable safety helmets;

[0108] The area construction module is used to construct hazardous areas based on the spatial location and attribute information of energized equipment, and to construct safe areas based on the work scope.

[0109] The safety monitoring module is used to analyze whether the location information of the personnel falls into the danger zone or outside the safety zone. If it falls into the danger zone, an alarm is triggered immediately. If it does not fall into the danger zone, the distance between the personnel's location information and the zone boundary is calculated based on the cross-detection algorithm. If the distance is less than the warning threshold, an alarm is triggered.

[0110] Furthermore, the security monitoring module includes:

[0111] The model building module is used to convert personnel location information into personnel coordinates in the substation digital model and to convert hazardous areas and safe areas into a system of regional plane equations.

[0112] The range monitoring module is used to analyze whether the personnel coordinates fall within the range of the dangerous area plane equation set or outside the range of the safe area plane equation set. If they fall within the range, an alarm will be triggered.

[0113] The algorithm monitoring module is used to analyze whether a person is likely to cross a plane in the regional plane equation system based on the person's coordinates and direction of travel using a cross-detection algorithm. If so, it calculates the distance between the person's coordinates and the intersection of the plane. If the distance is less than the warning threshold, it issues an alarm.

[0114] Furthermore, the algorithm monitoring module is also used to construct a straight line equation based on the personnel coordinates and the personnel's direction of travel, analyze whether the direction vector of the straight line equation intersects with the normal vector of each plane in the regional plane equation set, if they intersect, it indicates that the personnel may cross the plane and calculate the coordinates of the intersection point; calculate the distance between the personnel coordinates and the coordinates of the plane intersection point, and if the distance is less than the warning threshold, an alarm is triggered.

[0115] Furthermore, the model building module is also used to transform the dangerous area and the safe area into two-dimensional plane equations in the X and Y directions when personnel are performing planar operations, thereby forming a set of regional plane equations; and to transform the dangerous area and the safe area into three-dimensional plane equations in the X, Y, and Z directions when personnel are performing climbing operations, thereby forming a set of regional plane equations.

[0116] Furthermore, the algorithm monitoring module is also used to analyze whether there is an intersection between each straight line equation and the regional plane equation set when multiple personnel are performing planar operations. If there is an intersection and the distance from the personnel coordinates to the intersection coordinates is less than the warning threshold, an alarm is triggered.

[0117] Furthermore, the algorithm monitoring module is also used to calculate the distance between multiple personnel when multiple personnel are performing planar operations, and to group personnel whose distance is less than a threshold. When any person in the group receives an alarm, the other personnel in the group will receive an alarm simultaneously.

[0118] Furthermore, the area construction module is also used to manually draw hazardous areas and safe areas. The size of the hazardous area is set according to the attribute information of the electrical equipment in the area, and the size of the safe area is set according to the work scope.

[0119] Furthermore, the system also includes a trajectory drawing module, which is used to draw the personnel's movement trajectory based on the real-time acquired personnel location information, and display and replay it on the substation digital model in real time.

[0120] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A personnel safety monitoring method based on a substation cross-area detection algorithm, characterized in that, include: S1. Obtain the attribute information and spatial location information of the live equipment based on the digital model of the substation, and obtain the location information of the personnel based on the smart wearable safety helmet; S2. Construct hazardous areas based on the spatial location and attribute information of energized equipment, and construct safe areas based on the work scope; S3. Analyze whether the location information of the person falls into the danger zone or outside the safe zone. If it falls into the danger zone, an alarm is triggered immediately. If it does not fall into the danger zone, the distance between the location information of the person and the boundary of the area is calculated based on the cross detection algorithm. If the distance is less than the warning threshold, an alarm is triggered. Step S3 includes: S31. Convert personnel location information into personnel coordinates in the substation digital model, and convert hazardous areas and safe areas into a system of regional plane equations. S32. Analyze whether the personnel coordinates fall within the range of the dangerous area plane equation set or outside the range of the safe area plane equation set. If they fall within the range, an alarm is triggered; if they do not fall within the range, proceed to step S33. S33. Analyze whether the personnel may cross the plane in the area plane equation set based on the personnel coordinates and direction of travel. If possible, calculate the distance between the personnel coordinates and the intersection of the plane. If the distance is less than the warning threshold, issue an alarm. Step S33 includes: Based on the personnel coordinates, personnel direction of travel, and whether the personnel direction of travel is related to the plane, a straight line equation is constructed. The direction vector of the straight line equation is analyzed to see if it intersects with the normal phasor of each plane in the regional plane equation system. If they intersect, it means that the personnel may cross the plane and the coordinates of the intersection point are calculated. Calculate the distance between the personnel's coordinates and the coordinates of the intersection point on the plane; if the distance is less than the warning threshold, an alarm will be triggered. If the line coincides with the plane, an alarm will be triggered immediately; If the line is parallel to the plane, the judgment is based on the warning threshold; if it is less than the threshold, an alarm is triggered. When multiple people are performing a planar operation, the distance between each person is calculated. People whose distance is less than a threshold are grouped together. When any person in the group receives an alarm, the other people in the group will receive an alarm simultaneously.

2. The personnel safety monitoring method based on the substation cross-area detection algorithm according to claim 1, characterized in that, Step S31 includes: when personnel are performing planar operations, converting the hazardous area and the safe area into two-dimensional planar equations in the X and Y directions to form a set of regional planar equations; When personnel are performing work at height, the dangerous area and the safe area are transformed into three-dimensional plane equations in the X, Y, and Z directions, forming a set of regional plane equations.

3. The personnel safety monitoring method based on the substation cross-area detection algorithm according to claim 1, characterized in that, Step S33 includes: when multiple personnel are performing planar operations, analyze whether there is an intersection between each straight line equation and the regional planar equation set. If there is an intersection and the distance from the personnel coordinates to the intersection coordinates is less than the warning threshold, then an alarm is triggered.

4. The personnel safety monitoring method based on the substation cross-area detection algorithm according to claim 1, characterized in that, Step S2 also includes: manually drawing hazardous areas and safe areas, wherein the size of the hazardous area is set according to the attribute information of the electrical equipment in the area, and the size of the safe area is set according to the work scope.

5. The personnel safety monitoring method based on the substation cross-area detection algorithm according to claim 1, characterized in that, The method also includes: S4, drawing a personnel movement trajectory diagram based on the real-time acquired personnel location information, and displaying and replaying it in real time on the substation digital model.

6. A personnel safety monitoring system based on a substation cross-area detection algorithm, characterized in that, include: The information acquisition module is used to obtain attribute information and spatial location information of live equipment based on the substation digital model, and to obtain personnel location information based on smart wearable safety helmets; The area construction module is used to construct hazardous areas based on the spatial location and attribute information of energized equipment, and to construct safe areas based on the work scope. The safety monitoring module is used to analyze whether the location information of the personnel falls into the danger zone or outside the safety zone. If it falls into the danger zone, an alarm is immediately triggered. If it does not fall into the danger zone, the distance between the personnel's location information and the boundary of the area is calculated based on the cross detection algorithm. If the distance is less than the warning threshold, an alarm is triggered. The security monitoring module includes: The model building module is used to convert personnel location information into personnel coordinates in the substation digital model and to convert hazardous areas and safe areas into a system of regional plane equations. The range monitoring module is used to analyze whether the personnel coordinates fall within the range of the dangerous area plane equation set or outside the range of the safe area plane equation set. If they fall within the range, an alarm is triggered; if they do not fall within the range, step S33 is executed. The algorithm monitoring module is used to analyze whether a person is likely to cross a plane in the area's plane equation set based on their coordinates and direction of travel. If so, it calculates the distance between the person's coordinates and the intersection of the plane. If the distance is less than the warning threshold, it issues an alarm. The algorithm monitoring module is also used to construct a straight line equation based on personnel coordinates, personnel direction of travel, and whether the personnel direction of travel is related to the plane. It analyzes whether the direction vector of the straight line equation intersects with the normal vector of each plane in the regional plane equation set. If they intersect, it indicates that the personnel may cross the plane and calculates the coordinates of the intersection point. It calculates the distance between the personnel coordinates and the plane intersection point coordinates. If the distance is less than the warning threshold, an alarm is triggered. If the straight line coincides with the plane, an alarm is triggered directly. If the straight line is parallel to the plane, a judgment is made based on the warning threshold. If the distance is less than the threshold, an alarm is triggered. When multiple personnel are working on the plane, the distance between each person is calculated. Personnel whose distance is less than the threshold are grouped together. When any person in the group receives an alarm, the other personnel in the group will receive an alarm simultaneously.

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