Anti-accidental-touch early warning device for hoisting operation of transformer substation

Abstract

The invention relates to an anti-mistaken-touch early warning device for transformer substation hoisting operation. The anti-mistaken-touch early warning device comprises a plurality of laser curtain wall protection modules, a suspension arm moving distance monitoring module, a base station positioning module, a main control module and an alarm module. The laser curtain wall protection module, the suspension arm moving distance monitoring module, the base station positioning module, the main control module and the alarm module communicate with one another through an ad hoc network. The laser curtain wall protection module is used for constructing a virtual fence; the suspension arm moving distance monitoring module is used for accurately monitoring the movement and height of the suspension arm; the system has the advantages of portable structure, convenience in on-site flexible deployment, real-time monitoring and active early warning.

Description

Technical Field

[0001] The invention belongs to the technical field of auxiliary operations of transformer substations, and in particular relates to an anti-mistaken collision warning device for lifting operations of transformer substations. Background Art

[0002] With the increasing complexity and intelligence of the power system, power maintenance is an important part of ensuring the safe and stable operation of the power grid. However, with the increasing complexity of the power network and the continuous upgrading of power equipment, power maintenance operations are facing unprecedented challenges, especially in complex operating scenarios, such as live maintenance of high-voltage transmission lines, equipment maintenance of large substations, etc., not only the operating environment is harsh, but also there are many risk factors, and serious accidents may be caused by a little carelessness; At present, the schemes and methods related to crane operation collision prevention include: using mechanical protective fences, infrared electronic fences, video intelligent recognition, microwave sensors and other technical means, but the above methods all have blind spots, unable to obtain evidence, no early warning, upper layer cannot monitor, small range, no filtering, many false alarms and missed alarms, poor monitoring accuracy and many other problems, and do not play a real protective role; Therefore, it is very necessary to provide a substation lifting operation anti-collision early warning device with a portable structure, convenient on-site flexible deployment, real-time monitoring, and active early warning. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a portable structure, convenient and flexible on-site deployment, real-time monitoring and active warning device for preventing accidental collision during lifting operations in a substation.

[0004] The object of the present invention is achieved as follows: a transformer substation lifting operation anti-accidental collision warning device comprises a plurality of laser curtain wall protection modules, a boom movement distance monitoring module, a reference station positioning module, a main control module and an alarm module; the laser curtain wall protection module, the boom movement distance monitoring module, the reference station positioning module, the main control module and the alarm module communicate with each other through a self-organizing network; the laser curtain wall protection module is used to construct a virtual fence; the boom movement distance monitoring module is used to realize accurate monitoring of boom movement and height.

[0005] The laser curtain wall protection module adopts a distributed structure, so that the laser curtain wall protection module can freely form irregular protection areas.

[0006] The laser curtain wall protection module uses Beidou high-precision positioning and laser radar detection technology to delineate the perimeter of the complex power operation space, specifically including the following steps:

[0007] S1: Beidou high-precision positioning implementation: Beidou satellite positioning calculates the distance between the receiver and the satellite by measuring the propagation time of the satellite signal, and then uses the distance information of multiple satellites to determine the position of the receiver through the triangulation positioning principle. The specific formula is as follows: d = c × Δt, where d is the distance between the receiver and the satellite; c is the speed of light; Δt is the signal propagation time; assuming that the receiver receives signals from n satellites at the same time, the distances obtained by measurement are d1, d2, ..., dn respectively. It is known that the position coordinates of each satellite are (x1, y1, z1), (x2, y2, z2), ..., (xn, yn, zn), then the position coordinates of the receiver (x, y, z) can be solved by the following equations:

[0008] S2: LiDAR detection implementation;

[0009] S3: Delineation of the perimeter of complex power operation space.

[0010] The laser radar detection implementation in S2 includes the following steps:

[0011] S2.1: LiDAR distance measurement: LiDAR calculates the distance of a target object by measuring the time difference between the emission time and the reception time of the laser signal. The formula is as follows: Where d is the distance between the laser radar and the target object;

[0012] S2.2: LiDAR scanning: LiDAR scans the target object in all directions by rotating or moving the scanning mechanism. The relationship between the scanning angle and the scanning time can be expressed by the following formula: θ = ω × t, where θ is the scanning angle; ω is the angular velocity of the scanning mechanism; and t is the scanning time.

[0013] S2.3: Point cloud data generation: During the scanning process, the laser radar will obtain a large amount of point cloud data. These point cloud data can be expressed in three-dimensional coordinates as (x, y, z), where x, y, and z are the coordinate values ​​of the point in three-dimensional space. The generation of point cloud data can be expressed by the following formula: Where, θ is the pitch angle of the scanning angle; is the azimuth of the scanning angle.

[0014] The implementation of delineating the perimeter of the power complex operation space in S3 includes the following steps:

[0015] S3.1: Data fusion: The location information (x b ,y b ,z b ) and three-dimensional point cloud data obtained by laser radar detection technology (x l ,yl ,z l ) can be fused by the following formula: (x, y, z) = α(x b ,y b ,z b )+(1-α)(x l ,y l ,z l ), where α is the fusion weight;

[0016] S3.2: Perimeter delineation: Assuming that the perimeter can be expressed by an equation \(f(x,y,z)=0\), then whether the point cloud data is within the perimeter can be determined by judging whether it satisfies the equation. The specific formula is as follows: iff(x l ,y l ,z l )=0,then(x l ,y l ,z l )iswithintheboundary;

[0017] S3.3: Solution to strong electromagnetic field interference and signal interference: Use the filter's frequency response function H(f) to filter the signal. The formula is as follows: y(f)=H(f)×x(f), where x(f) is the frequency spectrum of the input signal; y(f) is the frequency spectrum of the output signal.

[0018] The boom movement distance monitoring module adopts a grid-based dynamic positioning algorithm based on the GNSS reference station network to achieve accurate monitoring of the boom movement. The boom elevation information can be fed back to the monitoring module in real time, and the boom safety monitoring can be realized in conjunction with the intelligent early warning module.

[0019] The grid-based dynamic positioning algorithm based on the GNSS reference station network can realize the protection of power equipment from collision in complex power operation space, and includes the following steps:

[0020] Step 1: Collision detection: By real-time monitoring of the position and movement status of power equipment, it is determined whether there is a collision risk. Collision detection can be performed by calculating the distance and relative speed between devices. The specific formula is as follows: Where d is the distance between the devices; (x1, y1, z1) and (x2, y2, z2) are the position coordinates of the two devices respectively; v is the relative speed between the devices; (x1′, y1′, z1′) and (x′2, y′2, z′2) are the speed coordinates of the two devices respectively; Δt is the time interval; when d<d min And v>v min When , it is considered that there is a collision risk, where d min and v min The preset safety distance and safety speed thresholds;

[0021] Step 2: Collision prediction: Using the fused data for collision prediction, the future position and motion trajectory of the device can be predicted by establishing a motion model. Assuming that the motion model of the device is x(t)=f(t), y(t)=g(t), z(t)=h(t), the position of the device in the future can be predicted by solving the motion model.

[0022] Step 3: Warning and collision avoidance: When a collision risk is detected, the system will issue a warning signal and take appropriate measures to avoid the collision. The specific formula is as follows: ifd<d min andv>v min , then send warning signals and take avoidance measures.

[0023] The base station positioning module adopts the improved RTK positioning solution algorithm to achieve centimeter-level positioning. Specifically, RTK technology eliminates or reduces the error in the satellite signal propagation process by performing differential calculation between the base station and the user receiver, thereby achieving high-precision positioning. The basic formula is as follows: i =ρ i +c×(dt-dT)+I i +T i +ε i , where L i is the carrier phase value measured by the receiver; ρ i is the geometric distance from the satellite to the receiver; c is the speed of light; dt is the receiver clock error; dT is the satellite clock error; I i is the ionospheric delay; T i is the tropospheric delay; ε i To measure noise.

[0024] The base station positioning module adopts the least squares parameter estimation and Kalman filter parameter estimation algorithms to establish a random model and eliminate positioning errors.

[0025] The alarm module adopts the three-element pre-alarm strategy of spatial distance, direction and speed in local and remote transmission modes, including: spatial distance pre-alarm implementation, direction pre-alarm implementation, speed pre-alarm implementation and local and remote transmission mode implementation.

[0026] The beneficial effects of the invention are as follows: the invention is a warning device for preventing accidental collision during lifting operation in a substation. During use, the invention realizes the three-dimensional state perception and prevention of substation engineering vehicle operation based on global precise positioning system technology, multi-sensor data fusion technology, etc., and can fill the technical gaps in traditional operation safety protection means, such as large manpower investment in human defense, blind spots and visual deviations, visual fatigue that easily leads to negligence, large technical defense errors, small range, inability to accurately monitor aerial areas, many false alarms and missed alarms, and poor monitoring accuracy. The invention can meet the requirements of portability and easy deployment, facilitate flexible deployment on site, and can also be connected to an external power supply. After the monitoring mode is turned on, if the set height limit is exceeded, the alarm module can actively sound and light alarm to prompt on-site workers to operate safely, so that the work site changes from passive supervision to active warning, effectively curbs the occurrence of safety accidents, and promotes the transformation of power operation mode to be smarter, more efficient, and safer. The invention has the advantages of portable structure, convenient on-site flexible deployment, real-time monitoring, and active warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a working schematic diagram of the present invention. DETAILED DESCRIPTION

[0028] ① Transmission line tower hoisting: When constructing new transmission lines, the distance between the crane and the tower, conductors, etc. is monitored and warned in real time to prevent the crane from touching live lines or damaging the tower structure; when replacing transmission line towers in mountainous areas, due to the complex terrain and many nearby electrical equipment, safety warning technology can promptly remind operators to avoid dangerous areas; ② Substation equipment hoisting: For the hoisting of large equipment such as transformers and switch cabinets, the distance between the crane and surrounding operating equipment is accurately controlled to prevent collision and discharge; in the renovation of old substations in the city center, the working space is small, and safety warning technology can ensure the safety of hoisting operations; ③ Distribution station equipment installation and maintenance: When installing and repairing distribution cabinets, distribution boxes and other equipment in distribution stations, ensure that the crane is installed in a limited space. ④ Emergency repair operations: In the emergency repair of sudden power accidents, temporary lifting equipment is quickly built, and safety warning technology can ensure the safety of operations in emergency situations; for example, after a storm, power transmission lines are repaired and timely warnings are given of the dangerous distance between cranes and fallen trees, damaged poles, etc.; ⑤ Power engineering construction site management: unified monitoring and management of multiple crane operations on the entire construction site, reasonable planning of the operation area, and avoidance of mutual interference and safety accidents; for example, in large-scale power infrastructure projects, multiple cranes are used to lift different equipment at the same time, and safety warning technology can achieve overall space deployment and coordination.

[0029] The present invention will be further described below in conjunction with the accompanying drawings.

[0030] Example 1

[0031] like Figure 1 As shown, a transformer substation lifting operation anti-accidental collision warning device includes a laser curtain wall protection module, a boom movement distance monitoring module, a reference station positioning module, a main control module and an alarm module; the laser curtain wall protection module, the boom movement distance monitoring module, the reference station positioning module, the main control module and the alarm module communicate with each other through a self-organizing network; the laser curtain wall protection module is used to construct a virtual fence; the boom movement distance monitoring module is used to achieve accurate monitoring of boom movement and height.

[0032] The technical solution for constructing a virtual fence and ensuring safety during lifting operations at a substation includes a laser curtain wall protection module, a crane movement distance monitoring module, a base station positioning module, a main control module and an alarm module. Each module communicates with each other through a self-organizing network. The device is portable, which facilitates flexible deployment on site and can also be connected to an external power supply. When the monitoring mode is turned on, if an object hits the virtual curtain wall and exceeds the set height limit, the alarm module will actively sound and light an alarm to remind on-site workers to work safely.

[0033] The laser curtain wall virtual fence monitoring is planned to adopt a distributed design that can freely form irregular protection areas, which is better suitable for the on-site environment; the point cloud data generates a virtual protection curtain wall with a vertical plane of 180°, which can be adjusted from 0 to 30 meters.

[0034] The laser curtain wall protection module adopts a distributed structure, which enables the laser curtain wall protection module to freely form irregular protection areas.

[0035] The laser curtain wall protection module uses Beidou high-precision positioning and laser radar detection technology to delineate the perimeter of the complex power operation space, which specifically includes the following steps:

[0036] S1: Beidou high-precision positioning implementation: Beidou satellite positioning calculates the distance between the receiver and the satellite by measuring the propagation time of the satellite signal, and then uses the distance information of multiple satellites to determine the position of the receiver through the triangulation positioning principle. The specific formula is as follows: d = c × Δt, where d is the distance between the receiver and the satellite; c is the speed of light; Δt is the signal propagation time; assuming that the receiver receives signals from n satellites at the same time, the distances obtained by measurement are d1, d2, ..., dn respectively. It is known that the position coordinates of each satellite are (x1, y1, z1), (x2, y2, z2), ..., (xn, yn, zn), then the position coordinates of the receiver (x, y, z) can be solved by the following equations:

[0037] S2: LiDAR detection implementation;

[0038] S2.1: LiDAR distance measurement: LiDAR calculates the distance of a target object by measuring the time difference between the emission time and the reception time of a laser signal. The formula is as follows: Where d is the distance between the laser radar and the target object;

[0039] S2.2: LiDAR scanning: LiDAR scans the target object in all directions by rotating or moving the scanning mechanism. The relationship between the scanning angle and the scanning time can be expressed by the following formula: θ = ω × t, where θ is the scanning angle; ω is the angular velocity of the scanning mechanism; and t is the scanning time.

[0040] S2.3: Point cloud data generation: During the scanning process, the laser radar will obtain a large amount of point cloud data. These point cloud data can be expressed in three-dimensional coordinates as (x, y, z), where x, y, and z are the coordinate values ​​of the point in three-dimensional space. The generation of point cloud data can be expressed by the following formula: Where, θ is the pitch angle of the scanning angle; is the azimuth of the scanning angle.

[0041] S3: Delineation of the perimeter of complex power operation space

[0042] S3.1: Data fusion: The location information (x b ,y b ,z b ) and three-dimensional point cloud data obtained by laser radar detection technology (x l ,y l ,z l ) can be fused by the following formula: (x, y, z) = α(x b ,y b ,z b )+(1-α)(x l ,y l ,z l ), where α is the fusion weight, which is adjusted according to the actual situation;

[0043] S3.2: Perimeter delineation: According to the requirements of complex power operations, the boundary conditions of the perimeter are set. Assuming that the perimeter can be expressed by an equation as \(f(x,y,z)=0\), it can be determined whether the point cloud data satisfies the equation to determine whether it is within the perimeter. The specific formula is as follows: iff(x l ,y l ,z l )=0,then(x l ,y l ,z l )iswithintheboundary;

[0044] S3.3: Solution to strong electromagnetic field interference and signal interference: In order to solve the problem of strong electromagnetic field interference and signal interference, signal enhancement and filtering technologies can be used. For example, the signal is filtered using the frequency response function H(f) of the filter. The formula is as follows: y(f)=H(f)×x(f), where x(f) is the frequency spectrum of the input signal; y(f) is the frequency spectrum of the output signal.

[0045] The boom movement distance monitoring module adopts a grid-based dynamic positioning algorithm based on the GNSS reference station network to achieve accurate monitoring of the boom movement. The boom elevation information can be fed back to the monitoring module in real time, and the boom safety monitoring can be realized in conjunction with the intelligent early warning module.

[0046] Protecting electrical equipment from collision in complex electrical operation spaces includes the following steps:

[0047] Step 1: Collision detection: By real-time monitoring of the position and movement status of power equipment, it is determined whether there is a collision risk. Collision detection can be performed by calculating the distance and relative speed between devices. The specific formula is as follows: Where d is the distance between the devices; (x1, y1, z1) and (x2, y2, z2) are the position coordinates of the two devices respectively; v is the relative speed between the devices; (x1′, y1′, z1′) and (x′2, y′2, z′2) are the speed coordinates of the two devices respectively; Δt is the time interval; when d<d min And v>v min When , it is considered that there is a collision risk, where d min and v min The preset safety distance and safety speed thresholds;

[0048] Step 2: Collision prediction: Using the fused data for collision prediction, the future position and motion trajectory of the device can be predicted by establishing a motion model. Assuming that the motion model of the device is x(t)=f(t), y(t)=g(t), z(t)=h(t), the position of the device in the future can be predicted by solving the motion model.

[0049] Step 3: Warning and collision avoidance: When a collision risk is detected, the system will issue a warning signal and take corresponding measures to avoid the collision. The warning signal can be issued by sound, light, etc. The measures to avoid collision can include adjusting the movement trajectory of the equipment, slowing down or stopping the equipment, etc. The specific formula is as follows: ifd<d min and v>v min , then send warning signals and take avoidance measures.

[0050] The base station positioning module adopts the improved RTK positioning solution algorithm to achieve centimeter-level positioning. Specifically, RTK technology eliminates or reduces the error in the satellite signal propagation process by performing differential calculation between the base station and the user receiver, thereby achieving high-precision positioning. The basic formula is as follows: i =ρ i +c×(dt-dT)+I i +T i +ε i , where L i is the carrier phase value measured by the receiver; ρ i is the geometric distance from the satellite to the receiver; c is the speed of light; dt is the receiver clock error; dT is the satellite clock error; I i is the ionospheric delay; T i is the tropospheric delay; ε i To measure noise; in RTK technology, the base station and the user receiver observe the same group of satellites at the same time. The base station sends the observation data to the user receiver, and the user receiver performs differential calculation based on the data of the base station to obtain the corrected position information.

[0051] The base station positioning module adopts the least squares parameter estimation and Kalman filter parameter estimation algorithms to establish a random model and eliminate positioning errors.

[0052] The alarm module adopts the three-element pre-alarm strategy of spatial distance, direction and speed in local and remote transmission modes, including: spatial distance pre-alarm implementation, direction pre-alarm implementation, speed pre-alarm implementation and local and remote transmission mode implementation, as follows.

[0053] ① Implementation of spatial distance warning: Distance measurement: Use laser ranging, ultrasonic ranging and other technologies to measure the distance between the operating equipment and surrounding objects. The formula is as follows: (laser ranging), d = v × Δt (ultrasonic ranging), where d is the distance, c is the speed of light (laser ranging) or the speed of sound (ultrasonic ranging); Δt is the time difference; v is the speed of ultrasound; 2) Warning threshold setting: According to the safety requirements and actual conditions of power operations, set a reasonable warning threshold d threshold , when the measured distance d<d threshold When the system triggers an early warning signal.

[0054] ② Direction warning realization: 1) Direction perception: Use sensors such as gyroscopes to perceive the direction changes of the operating equipment. The angular velocity measured by the gyroscope can be expressed by the following formula: Wherein, ω is the angular velocity; Δθ is the angle change; Δt is the time interval; 2) Dangerous direction judgment: According to the movement direction of the operating equipment and the position relationship of the surrounding objects, whether there is a dangerous direction can be judged by calculating the relative angle between the operating equipment and the surrounding objects. The formula is as follows: Among them, θ is the relative angle between the operating equipment and the surrounding objects; (x1, y1) and (x2, y2) are the position coordinates of the operating equipment and the surrounding objects respectively; when θ is within the dangerous angle range, it is considered that there is a dangerous direction.

[0055] ③ Speed ​​pre-alarm implementation: 1) Speed ​​measurement: Use speed sensors to measure the movement speed of the operating equipment. The speed can be expressed by the following formula: Where v is the speed; Δx is the displacement change; Δt is the time interval; 2) Speed ​​limit setting: Set a reasonable speed limit v according to the type of operating equipment and the requirements of the operating environment. limit When the moving speed of the operating equipment v>v limit When the system triggers an early warning signal.

[0056] ④(2) Local and remote transmission methods: 1) Local warning formula: Install a local warning device on the operating equipment. When the system detects that the spatial distance, direction or speed exceeds the warning threshold, the local warning device sends a warning signal, which can be expressed by the following formula: if d<d threshold orθ∈dangerous_angle or v>v limit then local_warning_device_send_signal; 2) Remote warning: The warning information is transmitted to the remote monitoring center or other relevant personnel's equipment through the network, which can be expressed by the following formula:

[0057] In this embodiment, ① the present invention is based on the global precise positioning system technology and the principle of Beidou high-precision positioning technology: based on the reception and processing of Beidou satellite signals, by measuring the propagation time and phase difference of satellite signals and other information, accurate determination of the target position is achieved: (1) Satellite signal reception: The signal transmitted by the Beidou satellite contains information such as the satellite's position and time; the receiver receives signals from multiple satellites and measures the propagation time of these signals at the same time, thereby determining the distance between the receiver and the satellite; since the position of the satellite is known, the position of the receiver can be calculated using the triangulation positioning principle by measuring the distance of multiple satellites.

[0058] (2) Carrier phase differential technology: In order to improve positioning accuracy, Beidou high-precision positioning technology adopts carrier phase differential technology (RTK); RTK technology continuously observes all visible satellites by installing satellite signal receivers on the base station with known coordinates, and sends the observation data to the user receiver in real time through radio transmission equipment; while receiving satellite signals, the user receiver also receives the observation data transmitted by the base station. By differential processing of the observation data of the base station and the user receiver, errors in the satellite signal propagation process, such as atmospheric delay and multipath effect, can be eliminated or reduced, thereby achieving centimeter-level or even millimeter-level high-precision positioning.

[0059] (3) Data processing and positioning algorithm: After receiving satellite signals and base station data, the receiver needs to process the data and calculate the positioning algorithm. Data processing includes signal filtering, noise removal, phase unwrapping and other steps to improve data accuracy and reliability. The positioning algorithm calculates the precise position of the receiver based on the processed data, combined with the satellite's position information and differential processing results. Commonly used positioning algorithms include least squares method, Kalman filtering, etc.

[0060] ② Multi-sensor data fusion technology: laser, high-precision positioning, sound and light alarm and other fusion technologies: (1) Principle of laser, high-precision positioning, sound and light alarm fusion technology: Fusion technology is to fuse the three-dimensional point cloud data obtained by the lidar with the positioning data and alarm data to achieve all-round monitoring and anti-collision protection of power equipment.

[0061] (2) LiDAR point cloud data acquisition: LiDAR acquires the three-dimensional point cloud data of the target object by emitting laser beams and receiving reflected signals. The point cloud data contains information such as the spatial position, shape, and size of the target object.

[0062] (3) Acquisition of high-precision positioning data: Obtain the latitude and longitude information of the site through the Beidou positioning module.

[0063] (4) Data fusion algorithm: The data fusion algorithm is used to fuse the lidar point cloud data with the high-precision positioning and sound and light alarm data. The main task of the fusion algorithm is to match and fuse the spatial position information of the point cloud data with the pixel information of the high-precision positioning and sound and light alarm to achieve the correspondence between the three-dimensional point cloud and the Beidou data.

[0064] (5) Analysis and processing of fused data: Analyze and process the fused data to extract the characteristic information of the power equipment. At the same time, through real-time monitoring and analysis of the data, determine whether there is a risk of collision between the power equipment, and realize the three-dimensional perception and prevention of the operation status of substation engineering vehicles. This can fill the technical gaps in traditional operation safety protection measures, such as large manpower investment in civil defense, blind spots and visual deviations, visual fatigue that easily leads to negligence, large errors in technical defense, small range, inaccurate monitoring of aerial areas, many false alarms and missed reports, and poor monitoring accuracy.

[0065] The present invention is a warning device for preventing accidental collision during lifting operation in a substation. During use, the present invention realizes the three-dimensional state perception and prevention of substation engineering vehicle operation based on global precise positioning system technology, multi-sensor data fusion technology, etc., and can fill the technical gaps in traditional operation safety protection means, such as large manpower investment in human defense, blind spots and visual deviations, visual fatigue and easy negligence, large technical defense errors and small range, inability to accurately monitor aerial areas, many false alarms and missed alarms, and poor monitoring accuracy; the present invention can meet the requirements of portability and easy deployment, facilitate flexible deployment on site, and can also be connected to an external power supply; after the monitoring mode is turned on, if the set height limit is exceeded, the alarm module can actively sound and light alarm to prompt on-site operators to operate safely, so that the work site changes from passive supervision to active warning, effectively curbs the occurrence of safety accidents, and promotes the transformation of power operation mode to be smarter, more efficient, and safer; the present invention has the advantages of portable structure, convenient on-site flexible deployment, real-time monitoring, and active warning.

[0066] Example 2

[0067] like Figure 1 As shown, a transformer substation lifting operation anti-accidental collision warning device includes a laser curtain wall protection module, a boom movement distance monitoring module, a reference station positioning module, a main control module and an alarm module; the laser curtain wall protection module, the boom movement distance monitoring module, the reference station positioning module, the main control module and the alarm module communicate with each other through a self-organizing network; the laser curtain wall protection module is used to construct a virtual fence; the boom movement distance monitoring module is used to achieve accurate monitoring of boom movement and height.

[0068] ①Boom movement monitoring technology based on multi-satellite precise positioning

[0069] Traditional satellite positioning technology has the problems of low positioning accuracy and large errors. The present invention utilizes a grid-based dynamic positioning algorithm based on a GNSS reference station network to achieve accurate monitoring of the boom movement. The boom's elevation information can be fed back to the monitoring module in real time, and the intelligent early warning module can be used to achieve boom safety monitoring, eliminating the problem that engineering vehicle operators cannot effectively perceive the boom height.

[0070] ②Portable base station positioning assistance and fixed object filtering algorithm

[0071] Limited by the space limitations of the substation scene, the base station module design needs to be miniaturized and portable. The present invention adopts an improved RTK positioning solution algorithm, which can achieve centimeter-level positioning standards to compensate for the positioning error caused by hardware performance; proposes least squares parameter estimation and Kalman filter parameter estimation algorithms, establishes a random model, and eliminates positioning errors.

[0072] ③ Substation lifting operation anti-accidental collision warning device based on multi-satellite positioning

[0073] The transformer substation lifting operation anti-accidental collision warning device of the present invention is mainly composed of a boom movement distance monitoring module, a base station positioning module, a main control module and an alarm module. The device adopts a portable design, which is convenient for flexible on-site deployment and can also be connected to an external power supply.

[0074] ④ Overall data interconnection technology of the early warning device for preventing accidental collision of cranes operating near live bodies in substations

[0075] The technical solution for constructing a virtual fence and controlling safety of substation hoisting operations of the present invention comprises a plurality of units including a boom movement distance monitoring module, a base station positioning module, a main control module and an alarm module; each module communicates with each other through a self-organizing network.

[0076] The present invention is a warning device for preventing accidental collision during lifting operation in a substation. During use, the present invention realizes the three-dimensional state perception and prevention of substation engineering vehicle operation based on global precise positioning system technology, multi-sensor data fusion technology, etc., and can fill the technical gaps in traditional operation safety protection means, such as large manpower investment in human defense, blind spots and visual deviations, visual fatigue and easy negligence, large technical defense errors and small range, inability to accurately monitor aerial areas, many false alarms and missed alarms, and poor monitoring accuracy; the present invention can meet the requirements of portability and easy deployment, facilitate flexible deployment on site, and can also be connected to an external power supply; after the monitoring mode is turned on, if the set height limit is exceeded, the alarm module can actively sound and light alarm to prompt on-site operators to operate safely, so that the work site changes from passive supervision to active warning, effectively curbs the occurrence of safety accidents, and promotes the transformation of power operation mode to be smarter, more efficient, and safer; the present invention has the advantages of portable structure, convenient on-site flexible deployment, real-time monitoring, and active warning.

Claims

1. A substation lifting operation anti-accidental collision warning device, characterized in that: It includes multiple laser curtain wall protection modules, boom movement distance monitoring modules, base station positioning modules, main control modules and alarm modules; the laser curtain wall protection modules, boom movement distance monitoring modules, base station positioning modules, main control modules and alarm modules communicate with each other through a self-organizing network; the laser curtain wall protection module is used to build a virtual fence; the boom movement distance monitoring module is used to achieve accurate monitoring of boom movement and height.

2. A transformer substation lifting operation anti-accidental collision warning device as claimed in claim 1, characterized in that: The laser curtain wall protection module adopts a distributed structure, so that the laser curtain wall protection module can freely form irregular protection areas.

3. A transformer substation lifting operation anti-accidental collision warning device as claimed in claim 2, characterized in that: The laser curtain wall protection module uses Beidou high-precision positioning and laser radar detection technology to delineate the perimeter of the complex power operation space, specifically including the following steps: S1: Beidou high-precision positioning implementation: Beidou satellite positioning calculates the distance between the receiver and the satellite by measuring the propagation time of the satellite signal, and then uses the distance information of multiple satellites to determine the position of the receiver through the triangulation positioning principle. The specific formula is as follows: d = c × Δt, where d is the distance between the receiver and the satellite; c is the speed of light; Δt is the signal propagation time; assuming that the receiver receives signals from n satellites at the same time, the distances obtained by measurement are d1, d2, ..., dn respectively. It is known that the position coordinates of each satellite are (x1, y1, z1), (x2, y2, z2), ..., (xn, yn, zn), then the position coordinates of the receiver (x, y, z) can be solved by the following equations: S2: LiDAR detection implementation; S3: Delineation of the perimeter of complex power operation space.

4. A transformer substation lifting operation anti-accidental collision warning device as claimed in claim 3, characterized in that: The laser radar detection implementation in S2 includes the following steps: S2.1: LiDAR distance measurement: LiDAR calculates the distance of a target object by measuring the time difference between the emission time and the reception time of a laser signal. The formula is as follows: Where d is the distance between the laser radar and the target object; S2.2: LiDAR scanning: LiDAR scans the target object in all directions by rotating or moving the scanning mechanism. The relationship between the scanning angle and the scanning time can be expressed by the following formula: θ = ω × t, where θ is the scanning angle; ω is the angular velocity of the scanning mechanism; and t is the scanning time. S2.3: Point cloud data generation: During the scanning process, the laser radar will obtain a large amount of point cloud data. These point cloud data can be expressed in three-dimensional coordinates as (x, y, z), where x, y, and z are the coordinate values ​​of the point in three-dimensional space. The generation of point cloud data can be expressed by the following formula: Where, θ is the pitch angle of the scanning angle; is the azimuth of the scanning angle.

5. The early warning device for preventing accidental collision during lifting operation in a substation according to claim 3, characterized in that: The implementation of delineating the perimeter of the power complex operation space in S3 includes the following steps: S3.1: Data fusion: The location information (x b ,y b ,z b ) and three-dimensional point cloud data obtained by laser radar detection technology (x l ,y l ,z l ) can be fused by the following formula: (x, y, z) = α(x b ,y b ,z b )+(1-α)(x l ,y l ,z l ), where α is the fusion weight; S3.2: Perimeter delineation: Assuming that the perimeter can be expressed by an equation \(f(x,y,z)=0\), then whether the point cloud data is within the perimeter can be determined by judging whether it satisfies the equation. The specific formula is as follows: iff(x l ,y l ,z l )=0,then(x l ,y l ,z l )iswithintheboundary; S3.3: Solution to strong electromagnetic field interference and signal interference: Use the filter's frequency response function H(f) to filter the signal. The formula is as follows: y(f)=H(f)×x(f), where x(f) is the frequency spectrum of the input signal; y(f) is the frequency spectrum of the output signal.

6. The early warning device for preventing accidental collision during lifting operation in a substation according to claim 1, characterized in that: The boom movement distance monitoring module adopts a grid-based dynamic positioning algorithm based on the GNSS reference station network to achieve accurate monitoring of the boom movement. The boom elevation information can be fed back to the monitoring module in real time, and the boom safety monitoring can be realized in conjunction with the intelligent early warning module.

7. A transformer substation lifting operation anti-accidental collision warning device as claimed in claim 6, characterized in that: The grid-based dynamic positioning algorithm based on the GNSS reference station network can realize the protection of power equipment from collision in complex power operation space, and includes the following steps: Step 1: Collision detection: By real-time monitoring of the position and movement status of power equipment, it is determined whether there is a collision risk. Collision detection can be performed by calculating the distance and relative speed between devices. The specific formula is as follows: Where d is the distance between the devices; (x1, y1, z1) and (x2, y2, z2) are the position coordinates of the two devices respectively; v is the relative speed between the devices; (x1′, y1′, z1′) and (x′2, y′2, z′2) are the speed coordinates of the two devices respectively; Δt is the time interval; when d<d min And v>v min When , it is considered that there is a collision risk, where d min and v min The preset safety distance and safety speed thresholds; Step 2: Collision prediction: Using the fused data for collision prediction, the future position and motion trajectory of the device can be predicted by establishing a motion model. Assuming that the motion model of the device is x(t)=f(t), y(t)=g(t), z(t)=h(t), the position of the device in the future can be predicted by solving the motion model. Step 3: Warning and collision avoidance: When a collision risk is detected, the system will issue a warning signal and take appropriate measures to avoid the collision. The specific formula is as follows: ifd<d min andv>v min , then send warning signals and take avoidance measures.

8. The early warning device for preventing accidental collision during lifting operation in a substation according to claim 1, characterized in that: The base station positioning module adopts the improved RTK positioning solution algorithm to achieve centimeter-level positioning. Specifically, RTK technology eliminates or reduces the error in the satellite signal propagation process by performing differential calculation between the base station and the user receiver, thereby achieving high-precision positioning. The basic formula is as follows: i =ρ i +c×(dt-dT)+I i +T i +ε i , where L i is the carrier phase value measured by the receiver; ρ i is the geometric distance from the satellite to the receiver; c is the speed of light; dt is the receiver clock error; dT is the satellite clock error; I i is the ionospheric delay; T i is the tropospheric delay; ε i To measure noise.

9. A transformer substation lifting operation anti-accidental collision warning device as claimed in claim 8, characterized in that: The base station positioning module adopts the least squares parameter estimation and Kalman filter parameter estimation algorithms to establish a random model and eliminate positioning errors.

10. The transformer substation lifting operation anti-accidental collision warning device according to claim 1, characterized in that: The alarm module adopts the three-element pre-alarm strategy of spatial distance, direction and speed in local and remote transmission modes, including: spatial distance pre-alarm implementation, direction pre-alarm implementation, speed pre-alarm implementation and local and remote transmission mode implementation.

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