Method for preventing alarm from crossing security area in substation and device thereof

Abstract

The application discloses a kind of alarm method and device for preventing crossing security area in transformer substation, it is related to transformer substation technical field or other technical fields, the method comprises: using multiple sets of binocular camera and auxiliary positioning label to carry out real-time positioning to hoisting equipment and hoisted goods, obtain binocular camera real-time positioning coordinates, using wireless carrier UWB positioning base station and UWB positioning label to carry out real-time positioning to hoisting equipment and hoisted goods, obtain UWB real-time positioning coordinates, binocular camera real-time positioning coordinates are fused with UWB positioning real-time coordinates, obtain real-time trajectory coordinates, using electric field sensor to detect live object, determine the safe distance that hoisting equipment and hoisted goods can approach live object, set up anti-electric shock safety area, when detecting that real-time trajectory coordinates enter anti-electric shock safety area, send alarm information.The application solves the technical problem that crane positioning is not accurate in the related art, which leads to the inability to send safety alarm information in time.

Description

Technical Field

[0001] This invention relates to the field of substation technology or other related fields, and more specifically, to an alarm method and device for preventing people from crossing the safety zone in a substation. Background Technology

[0002] Substations are a crucial component of the power system, undertaking the vital tasks of power transmission and distribution. During the operation and maintenance of substations, cranes or maintenance boom lifts are frequently used for industrial operations, primarily handling equipment handling, high-altitude work, and fault repair. However, substations contain numerous high-voltage electrical devices. If a crane or maintenance boom lift is positioned too close to these devices beyond the safe distance, it could lead to an accident. Therefore, precise positioning of cranes and maintenance boom lifts requires extremely high safety standards.

[0003] In related technologies, products with radio frequency (RF) positioning capabilities are typically used to locate cranes or maintenance boom trucks. However, this positioning method has limitations. For example, the positioning accuracy of RF positioning products can be reduced due to factors such as signal propagation path and weather conditions. When cranes and maintenance boom trucks are engaged in industrial operations, they often need to work for extended periods in environments with high-voltage electric fields and strong magnetic fields. RF positioning products are prone to malfunction in such environments, leading to positioning failure and potentially causing safety accidents.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides an alarm method and apparatus for preventing cranes from crossing safety zones within a substation, thereby at least solving the technical problem in related technologies where inaccurate crane positioning leads to the inability to issue timely safety alarm information.

[0006] According to one aspect of the present invention, an alarm method for preventing crossing of a safety zone in a substation is provided, comprising: using multiple sets of binocular cameras and auxiliary positioning tags to perform real-time positioning of hoisting equipment and hoisted items, obtaining real-time positioning coordinates of the binocular cameras, wherein the hoisting equipment includes the main equipment of a working crane, the crane boom, and the crane hook; using a wireless carrier UWB positioning base station and UWB positioning tags to perform real-time positioning of the hoisting equipment and hoisted items, obtaining UWB real-time positioning coordinates; fusing the real-time positioning coordinates of the binocular cameras and the UWB real-time positioning coordinates to obtain the real-time trajectory coordinates of the hoisting equipment and hoisted items; using an electric field sensor to detect energized objects in the substation, determining a safe distance at which the hoisting equipment and hoisted items can approach the energized objects, and setting an electric shock prevention safety zone based on the safe distance; and issuing an alarm message when the real-time trajectory coordinates of the hoisting equipment and hoisted items indicate that they have entered the electric shock prevention safety zone.

[0007] Optionally, before using multiple sets of binocular cameras and auxiliary positioning tags to perform real-time positioning of the hoisting equipment and the hoisted items, the process includes: fixing multiple sets of binocular cameras at different locations in the substation, fixing auxiliary positioning tags at different locations on the crane boom and crane hook; using multiple sets of binocular cameras to establish a first three-dimensional monitoring model of the substation, establishing a first coordinate system of the substation based on the first three-dimensional monitoring model of the substation, and setting a fixed point in the first coordinate system of the substation as the origin of the first coordinate system of the substation.

[0008] Optionally, the step of using multiple sets of binocular cameras and auxiliary positioning tags to perform real-time positioning of the hoisting equipment and the hoisted object, and obtaining the real-time positioning coordinates of the binocular cameras, includes: controlling multiple sets of binocular cameras to follow the position movement of the hoisting equipment and the hoisted object, performing real-time positioning of the hoisting equipment and the hoisted object, and obtaining the real-time positioning coordinates of the binocular cameras of the hoisting equipment and the hoisted object; mapping the real-time positioning coordinates of the binocular cameras of the hoisting equipment and the hoisted object to the first coordinate system of the substation; and mapping the real-time positioning coordinates of the predetermined position of the hoisting equipment and the hoisted object to the first coordinate system of the substation.

[0009] Optionally, before using a wireless carrier UWB positioning base station and UWB positioning tags to perform real-time positioning of the hoisting equipment and the hoisted items, the process includes: fixing the wireless carrier UWB positioning base station at the first target location of the substation, and fixing the UWB positioning tags at the second target location of the working crane; establishing a second three-dimensional monitoring model of the substation using the wireless carrier UWB positioning base station and UWB positioning tags, establishing a second coordinate system of the substation based on the second three-dimensional monitoring model of the substation, and setting a fixed point in the second coordinate system of the substation as the origin of the second coordinate system of the substation, wherein the origin of the second coordinate system of the substation is located at the same position as the origin of the first coordinate system of the substation.

[0010] Optionally, the step of using a wireless carrier UWB positioning base station and a UWB positioning tag to perform real-time positioning of the hoisting equipment and the hoisted object includes: using a wireless carrier UWB positioning base station and a UWB positioning tag to perform real-time UWB positioning of the hoisting equipment and the hoisted object, and obtaining the real-time UWB positioning coordinates of the hoisting equipment and the hoisted object; mapping the real-time UWB positioning coordinates of the hoisting equipment and the hoisted object to the second coordinate system of the substation.

[0011] Optionally, the step of fusing the real-time positioning coordinates of the binocular camera with the real-time positioning coordinates of UWB to obtain the real-time trajectory coordinates of the hoisting equipment and the hoisted object includes: acquiring multiple real-time positioning coordinates of the binocular camera collected at different sampling times at the first position; calculating the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the binocular camera at different sampling times; and combining the average value of the element values ​​according to the order of the elements in the real-time positioning coordinates of the binocular camera to obtain the first average coordinate, wherein the first position is any position of the hoisting equipment and the hoisted object during the movement; acquiring multiple real-time positioning coordinates of UWB collected at different sampling times at the first position; calculating the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the binocular camera at different sampling times; and calculating the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the binocular camera at different sampling times to obtain the first average coordinate, wherein the first position is any position of the hoisting equipment and the hoisted object during the movement; and acquiring multiple real-time positioning coordinates of UWB collected at different sampling times at the first position; calculating the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates at different sampling times. The average of multiple element values ​​corresponding to a given time is combined according to the order of elements in the UWB real-time positioning coordinates to obtain the second average coordinate. Based on the first and second average coordinates, a third average coordinate is generated. The current position coordinates of the hoisting equipment and the hoisted item are measured to obtain the actual positioning coordinates of the hoisting equipment and the hoisted item. According to the third average coordinate and the actual positioning coordinates, the ratio of the actual positioning coordinates to the third average coordinate is obtained, and the ratio is represented as a correction ratio. The third average coordinates of the hoisting equipment and the hoisted item at all positions except the first position during the actual movement process are calculated. According to the correction ratio and all third average coordinates, all real-time trajectory coordinates of the hoisting equipment and the hoisted item are obtained.

[0012] Optionally, the step of issuing an alarm message when the real-time trajectory coordinates of the hoisting equipment and the hoisted item are detected to have entered the electric shock prevention safety zone includes: setting an inertial measurement unit at a fixed position on the crane boom; using the inertial measurement unit to detect the tilt of the working crane; and issuing an alarm message when the tilt of the working crane exceeds a preset tilt.

[0013] According to another aspect of the present invention, an alarm device for preventing crossing of a safety zone in a substation is also provided, comprising: a first positioning unit, used to perform real-time positioning of the hoisting equipment and the hoisted object using multiple sets of binocular cameras and auxiliary positioning tags to obtain real-time positioning coordinates of the binocular cameras, wherein the hoisting equipment includes the main equipment of a working crane, the crane boom, and the crane hook; a second positioning unit, used to perform real-time positioning of the hoisting equipment and the hoisted object using a wireless carrier UWB positioning base station and UWB positioning tags to obtain UWB real-time positioning coordinates; a coordinate fusion unit, used to fuse the real-time positioning coordinates of the binocular cameras with the real-time UWB positioning coordinates to obtain the real-time trajectory coordinates of the hoisting equipment and the hoisted object; an area setting unit, used to use an electric field sensor to detect energized objects in the substation, determine a safe distance at which the hoisting equipment and the hoisted object can approach the energized object, and set an anti-electric shock safety zone according to the safe distance; and a safety alarm unit, used to issue an alarm message when the real-time trajectory coordinates of the hoisting equipment and the hoisted object indicate that they have entered the anti-electric shock safety zone.

[0014] Optionally, the first positioning unit includes: a first fixing module, used to fix multiple sets of binocular cameras at different locations in the substation, and to fix auxiliary positioning tags at different locations on the crane boom and crane hook; and a first establishing module, used to establish a first three-dimensional monitoring model of the substation using multiple sets of binocular cameras, establish a first coordinate system of the substation based on the first three-dimensional monitoring model of the substation, and set a fixed point in the first coordinate system of the substation as the origin of the first coordinate system of the substation.

[0015] Optionally, the first positioning unit further includes: a first real-time positioning module, used to control multiple sets of binocular cameras to follow the position movement of the hoisting equipment and the hoisted object, to perform real-time positioning of the hoisting equipment and the hoisted object, and to obtain the real-time positioning coordinates of the binocular cameras of the hoisting equipment and the hoisted object; a first mapping module, used to map the real-time positioning coordinates of the binocular cameras of the hoisting equipment and the hoisted object to the first coordinate system of the substation; and a second mapping module, used to map the real-time positioning coordinates of the predetermined position of the hoisting equipment and the hoisted object to the first coordinate system of the substation.

[0016] Optionally, the second positioning unit includes: a second fixing module, used to fix the wireless carrier UWB positioning base station at the first target position of the substation and fix the UWB positioning tag at the second target position of the working crane; and a second establishing module, used to establish a second three-dimensional monitoring model of the substation using the wireless carrier UWB positioning base station and the UWB positioning tag, establish a second coordinate system of the substation based on the second three-dimensional monitoring model of the substation, and set a fixed point in the second coordinate system of the substation as the origin of the second coordinate system of the substation, wherein the origin of the second coordinate system of the substation and the origin of the first coordinate system of the substation are located at the same position in the substation.

[0017] Optionally, the second positioning unit further includes: a second real-time positioning module, used to perform UWB real-time positioning of the hoisting equipment and the hoisted item using a wireless carrier UWB positioning base station and a UWB positioning tag, to obtain the UWB real-time positioning coordinates of the hoisting equipment and the hoisted item; and a third mapping module, used to map the UWB real-time positioning coordinates of the hoisting equipment and the hoisted item to the second coordinate system of the substation.

[0018] Optionally, the coordinate fusion unit includes: a first acquisition module, used to acquire multiple real-time positioning coordinates of binocular cameras collected at different sampling times at the first position, calculate the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the binocular cameras at different sampling times, and combine the average value of the element values ​​according to the order of the elements in the real-time positioning coordinates of the binocular cameras to obtain a first average coordinate, wherein the first position is any position of the hoisting equipment and the hoisted object during the movement process; a second acquisition module, used to acquire multiple real-time positioning coordinates of UWB collected at different sampling times at the first position, calculate the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the UWB, and combine the average value of the element values ​​according to the order of the elements in the real-time positioning coordinates of the binocular cameras to obtain a first average coordinate, wherein the first position is any position of the hoisting equipment and the hoisted object during the movement process; and ..., calculate the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates at different sampling times, and combine the average value of the element values ​​according to the order of the elements in the real-time positioning coordinates of the binocular cameras to obtain a first average coordinate, wherein the first position is any position of the hoisting equipment and the hoisted object during the movement process; and a second acquisition module, used to acquire multiple real-time positioning coordinates of UWB collected at different sampling times, calculate the average value of multiple element values The system calculates the average value of the sequential combination of element values ​​to obtain the second average coordinate; a generation module generates a third average coordinate based on the first and second average coordinates; a measurement module measures the current position coordinates of the hoisting equipment and the hoisted item to obtain the actual positioning coordinates of the hoisting equipment and the hoisted item; a first calculation module calculates the ratio of the actual positioning coordinates to the third average coordinate based on the third average coordinate and the actual positioning coordinates, and represents the ratio as a correction ratio; a second calculation module calculates the third average coordinates of the hoisting equipment and the hoisted item at all positions except the first position during the actual movement process, and obtains all real-time trajectory coordinates of the hoisting equipment and the hoisted item based on the correction ratio and all third average coordinates.

[0019] Optionally, the safety alarm unit includes: a third fixing module for setting the inertial measurement instrument at a fixed position on the crane boom; a detection module for using the inertial measurement instrument to detect the tilt of the working crane; and an alarm module for issuing an alarm message when the tilt of the working crane exceeds a preset tilt.

[0020] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute any of the above-described alarm methods for preventing crossing of a safety zone within a substation.

[0021] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the alarm method for preventing crossing of a safety zone in a substation as described above.

[0022] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of the alarm method for preventing crossing of a safety zone in a substation as described in any of the above embodiments.

[0023] In this disclosure, multiple sets of binocular cameras and auxiliary positioning tags are used to perform real-time positioning of the hoisting equipment and the hoisted object to obtain the real-time positioning coordinates of the binocular cameras. Then, a wireless carrier UWB positioning base station and UWB positioning tags are used to perform real-time positioning of the hoisting equipment and the hoisted object to obtain the UWB real-time positioning coordinates. By fusing the real-time positioning coordinates of the binocular cameras and the real-time positioning coordinates of the UWB positioning, the precise real-time trajectory coordinates of the hoisting equipment and the hoisted object can be obtained. Then, by using an electric field sensor to detect energized objects in the substation, a safe distance for the hoisting equipment and the hoisted object to approach the energized object is determined. An electric shock prevention safety zone is set according to the safe distance. Finally, when the real-time trajectory coordinates of the hoisting equipment and the hoisted object indicate that they have entered the electric shock prevention safety zone, an alarm message is issued. This disclosure achieves accurate real-time trajectory coordinates by integrating real-time positioning coordinates from a binocular camera and UWB. By employing dual real-time positioning using both binocular camera and UWB positioning, and then using a safety alarm through an anti-electric shock safety zone, the accuracy, real-time performance, and anti-interference capability of positioning can be improved. This solves the technical problem in related technologies where inaccurate crane positioning leads to the inability to issue timely safety alarm information. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0025] Figure 1 This is a flowchart of an optional alarm method for preventing crossing of a safety zone in a substation according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of an optional alarm device for preventing crossing of a safety zone in a substation according to an embodiment of the present invention;

[0027] Figure 3This is a hardware structure block diagram of an electronic device (or mobile device) for an alarm method to prevent crossing of a safety zone in a substation, according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] It should be noted that the alarm method and device for preventing crossing of safety zones in substations disclosed herein can be used in the field of substation technology when an alarm needs to be issued when crossing a safety zone in a substation, and can also be used in any field other than the field of substation technology when an alarm needs to be issued when crossing a safety zone in a substation. This disclosure does not limit the application field of the alarm method and device for preventing crossing of safety zones in substations.

[0031] The following embodiments of the present invention can be applied to alarm systems / applications / equipment for preventing crossing of safety zones in various substations. The present invention uses multiple sets of binocular cameras and auxiliary positioning tags to perform real-time positioning of the hoisting equipment and the hoisted object, obtaining the real-time positioning coordinates of the binocular cameras. Then, it uses a wireless carrier UWB positioning base station and UWB positioning tags to perform real-time positioning of the hoisting equipment and the hoisted object, obtaining the UWB real-time positioning coordinates. By fusing the real-time positioning coordinates of the binocular cameras and the UWB real-time positioning coordinates, the precise real-time trajectory coordinates of the hoisting equipment and the hoisted object can be obtained. Then, by using an electric field sensor to detect energized objects in the substation, a safe distance is determined for the hoisting equipment and the hoisted object to approach the energized object. An electric shock prevention safety zone is set according to the safe distance. Finally, when the real-time trajectory coordinates of the hoisting equipment and the hoisted object indicate that they have entered the electric shock prevention safety zone, an alarm message is issued. This invention achieves accurate real-time trajectory coordinates by fusing real-time positioning coordinates from a binocular camera and UWB. By employing dual real-time positioning using both binocular camera and UWB, the accuracy, real-time performance, and anti-interference capability of the positioning are improved. This solves the technical problem in related technologies where inaccurate crane positioning leads to the inability to issue timely safety alarm information.

[0032] The present invention will now be described in detail with reference to various embodiments.

[0033] Example 1

[0034] According to an embodiment of the present invention, an embodiment of an alarm method for preventing crossing of a safety zone in a substation is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0035] Figure 1 This is a flowchart of an optional alarm method for preventing crossing of a safety zone in a substation according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0036] Step S101: Multiple sets of binocular cameras and auxiliary positioning tags are used to perform real-time positioning of the hoisting equipment and the hoisted items to obtain the real-time positioning coordinates of the binocular cameras. The hoisting equipment includes the main equipment of the working crane, the crane boom and the crane hook.

[0037] Step S102: Use a wireless carrier UWB positioning base station and UWB positioning tag to perform real-time positioning of the hoisting equipment and the hoisted items to obtain the UWB real-time positioning coordinates.

[0038] Step S103: The real-time positioning coordinates of the binocular camera are fused with the real-time positioning coordinates of UWB to obtain the real-time trajectory coordinates of the hoisting equipment and the hoisted object.

[0039] Step S104: Use an electric field sensor to detect energized objects in the substation, determine the safe distance that hoisting equipment and hoisted items can approach the energized objects, and set up an electric shock prevention safety zone according to the safe distance.

[0040] Step S105: If the real-time trajectory coordinates of the hoisting equipment and the hoisted item are detected to have entered the electric shock prevention safety zone, an alarm message is issued.

[0041] The alarm method for preventing the hoisting equipment and the hoisted items from crossing the safety zone in the substation described above provides the following steps: Multiple sets of binocular cameras and auxiliary positioning tags are used to perform real-time positioning of the hoisting equipment and the hoisted items, obtaining the real-time positioning coordinates of the binocular cameras. Then, a wireless carrier UWB positioning base station and UWB positioning tags are used to perform real-time positioning of the hoisting equipment and the hoisted items, obtaining the UWB real-time positioning coordinates. By fusing the real-time positioning coordinates of the binocular cameras and the UWB real-time positioning coordinates, the precise real-time trajectory coordinates of the hoisting equipment and the hoisted items can be obtained. Next, an electric field sensor is used to detect energized objects in the substation to determine a safe distance at which the hoisting equipment and the hoisted items can approach energized objects. Based on this safe distance, an electric shock prevention safety zone is set. Finally, when the real-time trajectory coordinates of the hoisting equipment and the hoisted items indicate that they have entered the electric shock prevention safety zone, an alarm message is issued. This invention, through the fusion of real-time positioning coordinates from a binocular camera and real-time positioning coordinates from UWB, can obtain accurate real-time trajectory coordinates. By employing dual real-time positioning using both binocular camera positioning and UWB positioning, and then using a safety alarm through an anti-electric shock safety zone, the accuracy, real-time performance, and anti-interference capability of positioning can be improved. This solves the technical problem in related technologies where inaccurate crane positioning leads to the inability to issue timely safety alarm information.

[0042] The embodiments of the present invention will now be described in detail with reference to the steps described above.

[0043] Step S101: Multiple sets of binocular cameras and auxiliary positioning tags are used to perform real-time positioning of the hoisting equipment and the hoisted items to obtain the real-time positioning coordinates of the binocular cameras. The hoisting equipment includes the main equipment of the working crane, the crane boom and the crane hook.

[0044] The binocular camera mentioned in this embodiment is a vision system consisting of two cameras, which are typically positioned a distance apart to simulate human binocular stereoscopic vision. The binocular camera can obtain object location information by analyzing the differences between the images captured by the two cameras. An auxiliary positioning tag can assist the binocular camera in obtaining object location information; it is usually fixed to the object requiring the positioning operation.

[0045] In this embodiment of the invention, the objects requiring positioning operations include hoisting equipment and the hoisted items. The hoisting equipment includes the main equipment of the working crane, the crane boom, and the crane hook. These items may come into contact with live objects in the substation, so precise positioning is required.

[0046] Optionally, before using multiple sets of binocular cameras and auxiliary positioning tags to perform real-time positioning of the hoisting equipment and the hoisted items, the process includes: fixing multiple sets of binocular cameras at different locations in the substation, fixing auxiliary positioning tags at different locations on the crane boom and crane hook; using multiple sets of binocular cameras to establish a first three-dimensional monitoring model of the substation (which can be understood as a 3D model), establishing a first coordinate system of the substation based on the first three-dimensional monitoring model of the substation, and setting a fixed point in the first coordinate system of the substation as the origin of the first coordinate system of the substation.

[0047] It should be noted that before locating the hoisting equipment and the hoisted items, multiple sets of binocular cameras need to be fixed at different locations in the substation, and auxiliary positioning tags need to be fixed at different locations on the crane boom and crane hook. After the equipment is set up, in order to better represent the positioning information of the hoisting equipment and the hoisted items, a first three-dimensional monitoring model of the substation is established using multiple sets of binocular cameras. A first coordinate system of the substation is established based on the first three-dimensional monitoring model of the substation, and a fixed point in the first coordinate system of the substation is selected as the origin of the first coordinate system of the substation. The first coordinate system established in this way can be used to more accurately represent the positioning coordinates in subsequent steps.

[0048] Optionally, the step of using multiple sets of binocular cameras and auxiliary positioning tags to perform real-time positioning of the hoisting equipment and the hoisted object, and obtaining the real-time positioning coordinates of the binocular cameras, includes: controlling multiple sets of binocular cameras to follow the position movement of the hoisting equipment and the hoisted object, performing real-time positioning of the hoisting equipment and the hoisted object, and obtaining the real-time positioning coordinates of the binocular cameras of the hoisting equipment and the hoisted object; mapping the real-time positioning coordinates of the binocular cameras of the hoisting equipment and the hoisted object to the first coordinate system of the substation; and mapping the real-time positioning coordinates of the predetermined position of the hoisting equipment and the hoisted object to the first coordinate system of the substation.

[0049] In this embodiment of the invention, when using binocular cameras and auxiliary positioning tags to perform real-time positioning of the hoisting equipment and the hoisted items, it is necessary to control multiple sets of binocular cameras to follow the position movement of the hoisting equipment and the hoisted items. That is, the camera within the binocular cameras is controlled to follow the position movement of the hoisting equipment and the hoisted items. This is combined with auxiliary positioning tags fixed to the crane boom and crane hook to perform dynamic positioning of the hoisting equipment and the hoisted items, obtaining the real-time positioning coordinates of the binocular cameras for the hoisting equipment and the hoisted items. To better represent the real-time positioning coordinates of the binocular cameras, this embodiment maps the real-time positioning coordinates of the binocular cameras onto the first coordinate system of the substation, which can more intuitively display the position information of the hoisting equipment and the hoisted items.

[0050] Step S102: Use a wireless carrier UWB positioning base station and UWB positioning tag to perform real-time positioning of the hoisting equipment and the hoisted items to obtain the UWB real-time positioning coordinates.

[0051] A UWB (Ultra-Wideband) positioning base station is a fixed device used to transmit ultra-wideband signals. It is typically installed indoors or outdoors and exchanges signals with UWB positioning tags. A UWB positioning tag is a portable device, usually attached to the object being located, used to receive signals from the UWB positioning base station. The UWB positioning base station and the UWB positioning tag cooperate to measure the time of arrival (TOA) or two-way TOA of the ultra-wideband signal, calculate the distance between the tag and the base station, and thus obtain the real-time coordinates of the object being located.

[0052] Optionally, before using a wireless carrier UWB positioning base station and UWB positioning tags to perform real-time positioning of the hoisting equipment and the hoisted items, the process includes: fixing the wireless carrier UWB positioning base station at the first target location of the substation, and fixing the UWB positioning tags at the second target location of the working crane; establishing a second three-dimensional monitoring model of the substation using the wireless carrier UWB positioning base station and UWB positioning tags, establishing a second coordinate system of the substation based on the second three-dimensional monitoring model of the substation, and setting a fixed point in the second coordinate system of the substation as the origin of the second coordinate system of the substation, wherein the origin of the second coordinate system of the substation is located at the same position as the origin of the first coordinate system of the substation.

[0053] In this embodiment of the invention, before locating the hoisting equipment and the hoisted items, it is necessary to first fix the wireless carrier UWB positioning base station at the first target position of the substation and fix the UWB positioning tag at the second target position of the working crane. After the equipment is set up, in order to better represent the positioning information of the hoisting equipment and the hoisted items, a second three-dimensional monitoring model of the substation (which can be understood as a 3D monitoring model) is established using the wireless carrier UWB positioning base station and the UWB positioning tag. A second coordinate system of the substation is established based on the second three-dimensional monitoring model of the substation, and a fixed point in the second coordinate system of the substation is selected as the origin of the second coordinate system of the substation. The second coordinate system established in this way can be used to more accurately represent the positioning coordinates in subsequent steps.

[0054] It should be noted that in this embodiment of the invention, the origin of the first coordinate system established by the binocular camera and the origin of the second coordinate system established by the UWB positioning base station and the UWB positioning tag are located at the same position in the substation. The purpose is to enable the fusion of the two positioning coordinates in subsequent steps to obtain more accurate real-time positioning coordinates of the hoisting equipment and the hoisted items.

[0055] Optionally, the step of using a wireless carrier UWB positioning base station and a UWB positioning tag to perform real-time positioning of the hoisting equipment and the hoisted object includes: using a wireless carrier UWB positioning base station and a UWB positioning tag to perform real-time UWB positioning of the hoisting equipment and the hoisted object, and obtaining the real-time UWB positioning coordinates of the hoisting equipment and the hoisted object; mapping the real-time UWB positioning coordinates of the hoisting equipment and the hoisted object to the second coordinate system of the substation.

[0056] In this embodiment of the invention, the UWB positioning base station and the UWB positioning tag cooperate to measure the time it takes for the ultra-wideband signal to reach the positioning base station or the positioning tag, calculate the distance between the positioning tag and the positioning base station, and determine the real-time UWB positioning coordinates of the hoisting equipment and the hoisted item based on the distance. To better represent the real-time UWB positioning coordinates, this embodiment maps the real-time UWB positioning coordinates onto the second coordinate system of the substation, which can more intuitively display the position information of the hoisting equipment and the hoisted item.

[0057] Step S103: The real-time positioning coordinates of the binocular camera are fused with the real-time positioning coordinates of UWB to obtain the real-time trajectory coordinates of the hoisting equipment and the hoisted object.

[0058] In this embodiment of the invention, in order to obtain more accurate real-time positioning coordinates, it is necessary to fuse the real-time positioning coordinates of the binocular camera with the real-time positioning coordinates of UWB.

[0059] Optionally, the step of fusing the real-time positioning coordinates of the binocular camera with the real-time positioning coordinates of UWB to obtain the real-time trajectory coordinates of the hoisting equipment and the hoisted object includes: acquiring multiple real-time positioning coordinates of the binocular camera collected at different sampling times at the first position; calculating the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the binocular camera at different sampling times; and combining the average value of the element values ​​according to the order of the elements in the real-time positioning coordinates of the binocular camera to obtain the first average coordinate, wherein the first position is any position of the hoisting equipment and the hoisted object during the movement; acquiring multiple real-time positioning coordinates of UWB collected at different sampling times at the first position; calculating the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the binocular camera at different sampling times; and calculating the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the binocular camera at different sampling times to obtain the first average coordinate, wherein the first position is any position of the hoisting equipment and the hoisted object during the movement; and acquiring multiple real-time positioning coordinates of UWB collected at different sampling times at the first position; calculating the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates at different sampling times. The average of multiple element values ​​corresponding to a given time is combined according to the order of elements in the UWB real-time positioning coordinates to obtain the second average coordinate. Based on the first and second average coordinates, a third average coordinate is generated. The current position coordinates of the hoisting equipment and the hoisted item are measured to obtain the actual positioning coordinates of the hoisting equipment and the hoisted item. According to the third average coordinate and the actual positioning coordinates, the ratio of the actual positioning coordinates to the third average coordinate is obtained, and the ratio is represented as a correction ratio. The third average coordinates of the hoisting equipment and the hoisted item at all positions except the first position during the actual movement process are calculated. According to the correction ratio and all third average coordinates, all real-time trajectory coordinates of the hoisting equipment and the hoisted item are obtained.

[0060] Since binocular camera positioning uses the triangulation principle Z = Bf / d, where Z is the measured value, B is the baseline, f is the camera's focal length, and d is the parallax, with B and f determined by the binocular camera's structure, the main error in binocular camera positioning comes from d. The parallax d is affected by factors such as lighting conditions in the real environment; a small deviation in parallax d can lead to a large error in the actual measured value Z, thus requiring optimization of the binocular camera positioning coordinates. Similarly, when using UWB positioning base stations and tags for positioning, the ultra-wideband signal is easily interfered with by buildings, objects, and other radio signals during transmission, which can lead to signal propagation loss and reduced positioning accuracy. Therefore, optimization of the UWB positioning coordinates is also necessary.

[0061] This invention improves positioning accuracy by fusing real-time positioning coordinates from a binocular camera and real-time UWB positioning coordinates, combining the positioning information from both. In this embodiment, the origins of the first coordinate system and the second coordinate system of the substation are set to the same location within the substation in the aforementioned steps, thus enabling the fusion of the real-time positioning coordinates from the binocular camera and the real-time UWB positioning coordinates.

[0062] In this embodiment of the invention, when using a binocular camera to perform real-time positioning of the hoisting equipment and the hoisted object, the positioning coordinates are acquired multiple times for the same location. Then, the average value of multiple element values ​​corresponding to each element in the coordinates at different sampling times is calculated. The average value of the element values ​​is then combined according to the order of the elements in the binocular camera's real-time positioning coordinates to obtain the first average coordinate. Similarly, when using a UWB positioning base station and tags to perform real-time positioning of the hoisting equipment and the hoisted object, the positioning coordinates are also acquired multiple times for the same location. The average value of multiple element values ​​corresponding to each element in the coordinates at different sampling times is then combined according to the order of the elements in the UWB real-time positioning coordinates to obtain the second average coordinate. Finally, a third average coordinate is generated based on the first and second average coordinates.

[0063] To obtain more accurate positioning coordinates, this embodiment of the invention measures the current position coordinates of the hoisting equipment and the hoisted object at the initial stage of operation to obtain the actual positioning coordinates of the hoisting equipment and the hoisted object. Then, based on the third average coordinate and the actual positioning coordinates, the ratio of the actual positioning coordinates to the third average coordinate is obtained, and this ratio is represented as a correction ratio. In the later stage of operation, the third average coordinates of the hoisting equipment and the hoisted object at all positions except the first position are calculated during the actual movement. Based on the correction ratio and all third average coordinates, all real-time trajectory coordinates of the hoisting equipment and the hoisted object are obtained. These real-time trajectory coordinates have high accuracy and can provide accurate information for subsequent alarm mechanisms.

[0064] Step S104: Use an electric field sensor to detect energized objects in the substation, determine the safe distance that hoisting equipment and hoisted items can approach the energized objects, and set up an electric shock prevention safety zone according to the safe distance.

[0065] An electric field sensor is a device that detects and measures the strength of an electric field. It can identify charged equipment based on the principle of electrostatic induction. After determining the location of the charged equipment, a safety zone against electric shock is set up according to the safe distance that the hoisting equipment and the hoisted item can approach the charged object. In this embodiment of the invention, when the hoisting equipment and the hoisted item enter the safety zone against electric shock, a safety alarm message needs to be issued.

[0066] Step S105: If the real-time trajectory coordinates of the hoisting equipment and the hoisted item are detected to have entered the electric shock prevention safety zone, an alarm message is issued.

[0067] In this embodiment of the invention, the location of energized objects in the substation is determined by using an electric field sensor. An electric shock prevention safety zone is set according to the safe distance that the hoisting equipment and the hoisted items can approach the energized objects. When the real-time trajectory coordinates of the hoisting equipment and the hoisted items, obtained by the fusion of binocular camera positioning and UWB positioning, indicate that they have entered the electric shock prevention safety zone, the embodiment of the invention will issue an alarm message to prevent the hoisting equipment and the hoisted items from getting too close to the energized objects, thereby avoiding the occurrence of safety accidents.

[0068] Optionally, the step of issuing an alarm message when the real-time trajectory coordinates of the hoisting equipment and the hoisted item are detected to have entered the electric shock prevention safety zone includes: setting an inertial measurement unit at a fixed position on the crane boom; using the inertial measurement unit to detect the tilt of the working crane; and issuing an alarm message when the tilt of the working crane exceeds a preset tilt.

[0069] In this embodiment of the invention, the working crane may tilt. To avoid safety accidents caused by the tilting of the working crane, this embodiment of the invention sets an inertial measurement unit (IMU) at a fixed position on the crane boom and uses the IMU to detect the degree of tilt of the working crane. An IMU is a device capable of detecting the tilt of an object. When the IMU detects that the tilt of the working crane exceeds a preset tilt angle, this embodiment of the invention will also issue an alarm message.

[0070] This invention employs dual real-time positioning using binocular camera positioning and UWB positioning to obtain more accurate real-time trajectory coordinates of the hoisting equipment and the hoisted items, thereby improving positioning accuracy, real-time performance, and anti-interference capabilities. It also promptly issues safety alarm information when the hoisting equipment and the hoisted items enter a safe area against electric shock.

[0071] The following is a detailed description with reference to another embodiment.

[0072] Example 2

[0073] The alarm device for preventing people from crossing the safety zone in a substation provided in this embodiment includes multiple implementation units, each of which corresponds to a specific implementation step in Embodiment 1 above.

[0074] Figure 2 This is a schematic diagram of an optional alarm device for preventing crossing of a safety zone in a substation according to an embodiment of the present invention, such as... Figure 2 As shown, the alarm device in the substation to prevent crossing of the safety zone may include: a first positioning unit 20, a second positioning unit 21, a coordinate fusion unit 22, a zone setting unit 23, and a safety alarm unit 24.

[0075] The first positioning unit 20 is used to perform real-time positioning of the hoisting equipment and the hoisted items using multiple sets of binocular cameras and auxiliary positioning tags, and to obtain the real-time positioning coordinates of the binocular cameras. The hoisting equipment includes the main equipment of the working crane, the crane boom and the crane hook.

[0076] The second positioning unit 21 is used to use a wireless carrier UWB positioning base station and a UWB positioning tag to perform real-time positioning of the hoisting equipment and the hoisted items, and obtain the UWB real-time positioning coordinates.

[0077] The coordinate fusion unit 22 is used to fuse the real-time positioning coordinates of the binocular camera with the real-time positioning coordinates of UWB to obtain the real-time trajectory coordinates of the hoisting equipment and the hoisted items.

[0078] The area setting unit 23 is used to detect live objects in the substation using an electric field sensor, determine the safe distance that hoisting equipment and hoisted items can approach the live objects, and set up an electric shock prevention safety zone according to the safe distance.

[0079] The safety alarm unit 24 is used to issue an alarm message when the real-time trajectory coordinates of the hoisting equipment and the hoisted item are detected to have entered the electric shock prevention safety zone.

[0080] The alarm device in the substation that prevents the hoisting equipment and the hoisted items from crossing the safety zone can use the first positioning unit 20 to perform real-time positioning of the hoisting equipment and the hoisted items using multiple sets of binocular cameras and auxiliary positioning tags to obtain the real-time positioning coordinates of the binocular cameras. Then, the second positioning unit 21 uses a wireless carrier UWB positioning base station and UWB positioning tags to perform real-time positioning of the hoisting equipment and the hoisted items to obtain the UWB real-time positioning coordinates. The coordinate fusion unit 22 fuses the real-time positioning coordinates of the binocular cameras and the real-time positioning coordinates of the UWB to obtain the precise real-time trajectory coordinates of the hoisting equipment and the hoisted items. Then, the area setting unit 23 uses an electric field sensor to detect live objects in the substation to determine the safe distance at which the hoisting equipment and the hoisted items can approach the live objects. Based on the safe distance, an electric shock prevention safety zone is set. Finally, the safety alarm unit 24 issues an alarm message when the real-time trajectory coordinates of the hoisting equipment and the hoisted items indicate that they have entered the electric shock prevention safety zone. This embodiment achieves accurate real-time trajectory coordinates by fusing real-time positioning coordinates from a binocular camera and UWB. By employing dual real-time positioning using both binocular camera and UWB, and then triggering a safety alarm through an anti-electric shock safety zone, the accuracy, real-time performance, and anti-interference capability of the positioning can be improved. This solves the technical problem in related technologies where inaccurate crane positioning leads to the inability to issue timely safety alarm information.

[0081] Optionally, the first positioning unit 20 includes: a first fixing module, used to fix multiple sets of binocular cameras at different positions in the substation, and to fix auxiliary positioning tags at different positions of the crane boom and crane hook; and a first establishing module, used to establish a first three-dimensional monitoring model of the substation using multiple sets of binocular cameras, establish a first coordinate system of the substation based on the first three-dimensional monitoring model of the substation, and set a fixed point in the first coordinate system of the substation as the origin of the first coordinate system of the substation.

[0082] Optionally, the first positioning unit 20 further includes: a first real-time positioning module, used to control multiple sets of binocular cameras to follow the position movement of the hoisting equipment and the hoisted object, to perform real-time positioning of the hoisting equipment and the hoisted object, and to obtain the real-time positioning coordinates of the binocular cameras of the hoisting equipment and the hoisted object; a first mapping module, used to map the real-time positioning coordinates of the binocular cameras of the hoisting equipment and the hoisted object to the first coordinate system of the substation; and a second mapping module, used to map the real-time positioning coordinates of the predetermined position of the hoisting equipment and the hoisted object to the first coordinate system of the substation.

[0083] Optionally, the second positioning unit 21 includes: a second fixing module, used to fix the wireless carrier UWB positioning base station at the first target position of the substation and fix the UWB positioning tag at the second target position of the working crane; and a second establishing module, used to establish a second three-dimensional monitoring model of the substation using the wireless carrier UWB positioning base station and the UWB positioning tag, establish a second coordinate system of the substation based on the second three-dimensional monitoring model of the substation, and set a fixed point in the second coordinate system of the substation as the origin of the second coordinate system of the substation, wherein the origin of the second coordinate system of the substation and the origin of the first coordinate system of the substation are located at the same position of the substation.

[0084] Optionally, the second positioning unit 21 further includes: a second real-time positioning module, used to perform UWB real-time positioning of the hoisting equipment and the hoisted item using a wireless carrier UWB positioning base station and a UWB positioning tag, to obtain the UWB real-time positioning coordinates of the hoisting equipment and the hoisted item; and a third mapping module, used to map the UWB real-time positioning coordinates of the hoisting equipment and the hoisted item to the second coordinate system of the substation.

[0085] Optionally, the coordinate fusion unit 22 includes: a first acquisition module, used to acquire multiple real-time positioning coordinates of the binocular camera collected at different sampling times at the first position, calculate the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the binocular camera at different sampling times, and combine the average value of the element values ​​according to the order of the elements in the real-time positioning coordinates of the binocular camera to obtain a first average coordinate, wherein the first position is any position of the hoisting equipment and the hoisted object during the movement process; a second acquisition module, used to acquire multiple real-time positioning coordinates of UWB collected at different sampling times at the first position, calculate the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the UWB, and combine the average value of the element values ​​according to the order of the elements in the real-time positioning coordinates of the binocular camera to obtain a first average coordinate, wherein the first position is any position of the hoisting equipment and the hoisted object during the movement process; and a second acquisition module, used to acquire multiple real-time positioning coordinates of UWB collected at different sampling times at the first position, calculate the average value of multiple element values ​​corresponding to each element in the real-time positioning coordinates of the UWB, and combine the average value of the element values ​​according to the order of the elements in the real-time positioning coordinates of the binocular camera to obtain a first average coordinate. The system employs a first average coordinate module to obtain the average value of the elements in sequence, and a second average coordinate module to generate a third average coordinate based on the first and second average coordinates. A measurement module measures the current position coordinates of the hoisting equipment and the hoisted item to obtain their actual positioning coordinates. A first calculation module calculates the ratio of the actual positioning coordinates to the third average coordinate based on the third average coordinate and the actual positioning coordinates, and represents this ratio as a correction ratio. A second calculation module calculates the third average coordinates of the hoisting equipment and the hoisted item at all positions except the first position during their actual movement, and obtains all real-time trajectory coordinates of the hoisting equipment and the hoisted item based on the correction ratio and all third average coordinates.

[0086] Optionally, the safety alarm unit 24 includes: a third fixing module for setting the inertial measurement instrument at a fixed position on the crane boom; a detection module for using the inertial measurement instrument to detect the tilt of the working crane; and an alarm module for issuing an alarm message when the tilt of the working crane exceeds a preset tilt.

[0087] The alarm device in the substation that prevents crossing of the safety zone may also include a processor and a memory. The first positioning unit 20, the second positioning unit 21, the coordinate fusion unit 22, the area setting unit 23, the safety alarm unit 24, etc. are all stored in the memory as program units. The processor executes the program units stored in the memory to realize the corresponding functions.

[0088] The aforementioned processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured; adjusting kernel parameters enables precise crane positioning and the transmission of safety alarm information.

[0089] The aforementioned memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory, and the memory includes at least one memory chip.

[0090] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the alarm method for preventing crossing of the safety zone in a substation according to any one of the above embodiments.

[0091] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the alarm method for preventing crossing of a safety zone in a substation as described in any of the embodiments of the first one above.

[0092] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the alarm method for preventing crossing of a safety zone in a substation as described in various embodiments of this application.

[0093] This application also provides a computer program product, including a non-volatile computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the alarm method for preventing crossing of a safety zone in a substation as described in various embodiments of this application.

[0094] Figure 3 This is a hardware structure block diagram of an electronic device (or mobile device) for an alarm method to prevent crossing of a safety zone in a substation, according to an embodiment of the present invention. Figure 3 As shown, an electronic device may include one or more ( Figure 3 The processor 302 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and the memory 304 for storing data may also be included, represented by 302a, 302b, ..., 302n. In addition, it may include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports in the I / O interface), a network interface, a keyboard, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 3 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device may also include... Figure 3 The more or fewer components shown, or having the same Figure 3 The different configurations shown.

[0095] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0096] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0098] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0099] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0100] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0101] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of preventing an alarm from being triggered by a security zone being crossed in a substation, characterized by, The application relates to a real-time positioning method and device for a hoisting device and a hoisted object in a substation. The method comprises the following steps: a plurality of binocular cameras and auxiliary positioning tags are used to realize real-time positioning of the hoisting device and the hoisted object, and binocular camera real-time positioning coordinates are obtained, wherein the hoisting device comprises a main machine of a working crane, a crane jib and a crane hook; a wireless carrier UWB positioning base station and a UWB positioning tag are used to realize real-time positioning of the hoisting device and the hoisted object, and UWB real-time positioning coordinates are obtained; the binocular camera real-time positioning coordinates and the UWB real-time positioning coordinates are fused to obtain real-time trajectory coordinates of the hoisting device and the hoisted object, which comprises the following steps: a plurality of binocular camera real-time positioning coordinates collected at different sampling moments at a first position are obtained, average values of a plurality of element values corresponding to each element in the binocular camera real-time positioning coordinates at different sampling moments are calculated respectively, the average values of the element values are combined according to the order of the elements in the binocular camera real-time positioning coordinates to obtain first average value coordinates, wherein the first position is any position of the hoisting device and the hoisted object in a moving process; a plurality of UWB real-time positioning coordinates collected at different sampling moments at the first position are obtained, average values of a plurality of element values corresponding to each element in the UWB real-time positioning coordinates at different sampling moments are calculated respectively, the average values of the element values are combined according to the order of the elements in the UWB real-time positioning coordinates to obtain second average value coordinates; third average value coordinates are generated based on the first average value coordinates and the second average value coordinates; the current position coordinates of the hoisting device and the hoisted object are measured to obtain actual positioning coordinates of the hoisting device and the hoisted object; the actual positioning coordinates relative to the third average value coordinates are obtained according to the third average value coordinates and the actual positioning coordinates, and the proportion of the actual positioning coordinates relative to the third average value coordinates is represented as a correction proportion; the third average value coordinates of the hoisting device and the hoisted object at all positions except the first position in an actual moving process are calculated, and all real-time trajectory coordinates of the hoisting device and the hoisted object are obtained according to the correction proportion and all the third average value coordinates; an electric field sensor is used to detect a live object in the substation, a safe distance at which the hoisting device and the hoisted object can approach the live object is determined, and an anti-electric shock safety area is set according to the safe distance; 2. The method of claim 1, wherein, in the case that the real-time trajectory coordinates of the hoisting device and the hoisted object indicate that the hoisting device and the hoisted object enter the anti-electric shock safety area, an alarm information is sent. Before the real-time positioning of the hoisting device and the hoisted object by the plurality of binocular cameras and the auxiliary positioning tags, the following steps are included: the plurality of binocular cameras are fixed at different positions of the substation, and the auxiliary positioning tags are fixed at different positions of the crane jib and the crane hook; a first three-dimensional monitoring model of the substation is established by using the plurality of binocular cameras, a first coordinate system of the substation is established according to the first three-dimensional monitoring model of the substation, and a fixed point in the first coordinate system of the substation is set as an origin of the first coordinate system of the substation.

3. The method of claim 2, wherein, The step of adopting a plurality of binocular cameras and auxiliary positioning tags to perform real-time positioning on the hoisting equipment and the hoisted object to obtain binocular camera real-time positioning coordinates comprises: controlling the plurality of binocular cameras to follow the positions of the hoisting equipment and the hoisted object to perform real-time positioning on the hoisting equipment and the hoisted object, and obtaining binocular camera real-time positioning coordinates of the hoisting equipment and the hoisted object; mapping the binocular camera real-time positioning coordinates of the hoisting equipment and the hoisted object into the transformer substation first coordinate system; mapping the real-time positioning coordinates of the predetermined positions of the hoisting equipment and the hoisted object into the transformer substation first coordinate system.

4. The method of claim 1, wherein, Before adopting a wireless carrier UWB positioning base station and a UWB positioning tag to perform real-time positioning on the hoisting equipment and the hoisted object, the step comprises: fixing the wireless carrier UWB positioning base station at a first target position of the transformer substation and fixing the UWB positioning tag at a second target position of the working crane; establishing a transformer substation second three-dimensional monitoring model by adopting the wireless carrier UWB positioning base station and the UWB positioning tag, establishing a transformer substation second coordinate system according to the transformer substation second three-dimensional monitoring model, and setting a fixed point in the transformer substation second coordinate system as an origin of the transformer substation second coordinate system, wherein the origin of the transformer substation second coordinate system and the origin of the transformer substation first coordinate system are at the same position of the transformer substation.

5. The method of claim 4, wherein, The step of adopting a wireless carrier UWB positioning base station and a UWB positioning tag to perform real-time positioning on the hoisting equipment and the hoisted object comprises: adopting the wireless carrier UWB positioning base station and the UWB positioning tag to perform UWB real-time positioning on the hoisting equipment and the hoisted object to obtain UWB real-time positioning coordinates of the hoisting equipment and the hoisted object; mapping the UWB real-time positioning coordinates of the hoisting equipment and the hoisted object into the transformer substation second coordinate system.

6. The method of claim 1, wherein, In the case where it is detected that the real-time trajectory coordinates of the hoisting equipment and the hoisted object indicate that the anti-electric shock safety area is entered, the step of issuing an alarm information comprises: setting an inertial measurement instrument at a fixed position of the crane jib; adopting the inertial measurement instrument to detect the inclination of the working crane; in the case where it is detected that the inclination of the working crane exceeds a preset inclination, issuing an alarm information.

7. An alarm device for preventing the crossing of a security zone in a substation, characterized in that comprise: a first positioning unit configured to adopt a plurality of binocular cameras and auxiliary positioning tags to perform real-time positioning on hoisting equipment and a hoisted object to obtain binocular camera real-time positioning coordinates, wherein the hoisting equipment comprises a main machine of a working crane, a crane jib, and a crane hook; a second positioning unit configured to adopt a wireless carrier UWB positioning base station and a UWB positioning tag to perform real-time positioning on the hoisting equipment and the hoisted object to obtain UWB real-time positioning coordinates; The coordinate fusion unit is configured to fuse the binocular camera real-time positioning coordinates and the UWB real-time positioning coordinates to obtain real-time trajectory coordinates of the hoisting device and the hoisted object. The coordinate fusion unit comprises: obtaining a plurality of binocular camera real-time positioning coordinates collected at different sampling moments at a first position, calculating an average value of a plurality of element values corresponding to each element in the binocular camera real-time positioning coordinates at different sampling moments, respectively, combining the average values of the element values in the order of elements in the binocular camera real-time positioning coordinates to obtain first average value coordinates, wherein the first position is any position of the hoisting device and the hoisted object in a moving process; obtaining a plurality of UWB real-time positioning coordinates collected at different sampling moments at the first position, calculating an average value of a plurality of element values corresponding to each element in the UWB real-time positioning coordinates at different sampling moments, respectively, combining the average values of the element values in the order of elements in the UWB real-time positioning coordinates to obtain second average value coordinates; generating third average value coordinates based on the first average value coordinates and the second average value coordinates; measuring a current position coordinate of the hoisting device and the hoisted object to obtain actual positioning coordinates of the hoisting device and the hoisted object; obtaining a ratio of the actual positioning coordinates relative to the third average value coordinates according to the third average value coordinates and the actual positioning coordinates, and representing the ratio as a correction ratio; calculating third average value coordinates of the hoisting device and the hoisted object at all positions except the first position in an actual moving process, and obtaining all real-time trajectory coordinates of the hoisting device and the hoisted object according to the correction ratio and all the third average value coordinates. The area setting unit is configured to detect live objects in the transformer substation by using an electric field sensor, determine a safe distance at which the hoisting device and the hoisted object can approach the live objects, and set a shockproof safety area according to the safe distance. The safety alarm unit is configured to issue an alarm information when it is detected that the real-time trajectory coordinates of the hoisting device and the hoisted object indicate that the hoisting device and the hoisted object enter the shockproof safety area.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored computer program, wherein the computer readable storage medium controls a device in which the computer readable storage medium is located to execute the alarm method for preventing crossing of a safety area in a transformer substation according to any one of claims 1 to 6 when the computer program is running.

9. An electronic device, comprising: The device comprises one or more processors and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the alarm method for preventing crossing of a safety area in a transformer substation according to any one of claims 1 to 6.

Images