Space object out-of-limit prevention sensor arrangement method based on ray scanning
By adopting a sensor arrangement method based on ray scanning at the substation site, the problem of preventing cross-limits in hoisting operations is solved, and an effective warning of the dynamic entry area of objects and equipment is achieved, avoiding the monitoring blind spot problems caused by the large number of sensors and the complex 3D modeling in traditional methods.
Patent Information
- Application Number
- CN202411734489.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-29
- Publication Date
- 2025-03-11
AI Technical Summary
During the lifting operation, the prior art is difficult to effectively prevent irrelevant personnel or equipment from entering the lifting area, especially in complex substation sites. The traditional map modeling method combined with electronic fences and positioning devices has problems with high cost and complex modeling processes.
The spatial object protection sensor arrangement method based on ray scanning is adopted. By measuring on-site object data, a ray distance measuring sensor is set, and an appropriate measurement distance and arrangement method is selected according to the conventional working area to ensure that the sensor can effectively scan and warning objects to enter the area.
It realizes rapid arrangement of sensors on site at the substation, and can effectively warn of the dynamic entry areas of objects and equipment, solving the monitoring blind spots caused by the large number of sensors and the complex 3D modeling in traditional methods.
Smart Images
Figure CN119596406A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of power construction safety management and control, and in particular to a method for arranging space object anti-over-limit sensors based on ray scanning. Background Art
[0002] During the operation of lifting equipment, it is necessary to prevent unrelated personnel from entering the lifting site to prevent accidents. In some important fields such as electricity and railways, lifting operations often occur near running equipment. It is necessary to use early warning to remind surrounding personnel and workers involved in the lifting that someone or equipment has entered the lifting area. Although attempts have been made to use electronic fences to remind people entering the site, electronic fences are not suitable for places where dynamic regional management is required.
[0003] At present, during the on-site lifting operation of the substation, a positioning device is usually used in combination with a map model for lifting over-limit warning detection, which requires pre-model construction. This method is affected by the complex modeling process and relies on high computing power, which is not conducive to on-site installation and deployment. Common scanning devices include laser radar and millimeter-wave radar, but due to the large number of sensors deployed on site, the cost of laser radar and millimeter-wave radar is high, which is not conducive to large-scale promotion and application. Summary of the invention
[0004] The present application provides a method for arranging space object anti-over-limit sensors based on ray scanning to solve the above-mentioned problems.
[0005] The present application provides a method for arranging space object anti-over-limit sensors based on ray scanning, the method comprising: measuring on-site object data according to the construction site area of the substation; setting up a number of ray data measurement sensors in the substation; selecting a measurement distance of the ray sensor greater than the length of the construction safety area according to the conventional operation area of the substation; and arranging sensors respectively when the object detection height is less than and greater than the maximum scanning height of the ray ranging sensor.
[0006] In one implementation of the present application, the data of the object on site are specifically measured including: the measurement distance r of the ray ranging sensor; the safety area of the substation expansion project near the power supply operation is measured on site, the length is l, the width is d, where l ≥ d, and a rectangular coordinate system is established, the length direction is the x-axis, and the width direction is the y-axis; the object moving speed v along the x-axis x , the object moves along the y-axis with a speed v y ; Object detectable height h n , with a width of d0.
[0007] In one implementation of the present application, the rotation angle of the ray ranging sensor θ(n)=(θ1, θ2, ..., θ N ), the motor rotation angular velocity w(n)=(w1,w2,…,wN ), where 0°<θ(n)≤90°.
[0008] In one implementation of the present application, the maximum scanning height of the ray ranging sensor is calculated as follows: h n = r·sinθ n .
[0009] In one implementation of the present application, when the object detection height is less than the maximum scanning height of the ray ranging sensor, the sensor arrangement is specifically as follows:
[0010] S1: The ray ranging sensor is arranged horizontally on the ground with a starting scanning angle of 0°, and rotates toward the sky to form a fan shape with a fan radius of r;
[0011] S2: Calculate the rotation angle range θ n , by h0≤h n It can be seen that h0≤r·sinθ n ,have to
[0012] S3: The laser ranging sensor measures the angular velocity w n Rotation angle θ n , calculate the time taken for a single scan as
[0013] S4: The object moves in the safe area of the substation expansion and reconstruction near the power supply. The object moves in the y-axis direction at a speed of v y Moving, the time it takes for an object to just touch the ray and completely leave the ray is
[0014] S5: The single scanning time of the sensor must be less than the time from when the object touches the ray to when it completely leaves the ray to avoid missed detection, that is, t n ≤t0, we can get but From step S1, we can see that
[0015] In one implementation of the present application, when the object detection height is greater than the highest scanning height of the ray ranging sensor, the sensor arrangement is specifically: n A ray laser detection device is added, and the ray ranging sensor is arranged horizontally on the ground with a starting scanning angle of 0°, rotates toward the sky, and rotates to form a fan shape. The object moves along the y-axis. The rotation angle and angular velocity setting method of the sensor repeats steps S1 to S5.
[0016] The present application provides a method for arranging space object anti-over-limit sensors based on ray scanning, which can be applied to the near-electrical operation site areas of different power transmission and transformation projects, quickly arrange sensors, and issue early warnings for objects, people, and equipment dynamically entering the near-electrical operation area. This method solves the problem that the existing near-electrical operation safety control site control device for power transmission and transformation projects has a large number of sensors and complex 3D modeling, and cannot cover the working area 100%, resulting in the existence of monitoring blind spots. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:
[0018] Figure 1 A plan view of the on-site layout of a space object anti-over-limit sensor based on ray scanning provided in an embodiment of the present application;
[0019] Figure 2 A schematic diagram of ray scanning height provided in an embodiment of the present application;
[0020] Figure 3 A schematic diagram of an object moving along the y-axis provided in an embodiment of the present application. DETAILED DESCRIPTION
[0021] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.
[0022] The embodiment of the present application provides a method for arranging space object anti-overrun sensors based on ray scanning. The technical solution proposed in the embodiment of the present application is described in detail below with reference to the accompanying drawings.
[0023] Figure 1 A plan view of the arrangement of a space object anti-over-limit sensor based on ray scanning is provided for the embodiment of the present application. First, according to the construction site area of the substation, the data of the on-site objects is measured; a number of ray data measurement sensors are set up in the substation; according to the conventional operation area of the substation, the measurement distance of the ray sensor is selected to be greater than the length of the construction safety area; and the sensors are arranged respectively when the object detection height is less than and greater than the highest scanning height of the ray distance measurement sensor.
[0024] In the embodiment of the present application, the data of the object measured on site specifically includes: the measured distance r of the ray ranging sensor; the safety area of the near-electric operation construction of the substation expansion project is measured on site, the length is l, the width is d, where l ≥ d, and a rectangular coordinate system is established, the length direction is the x-axis, and the width direction is the y-axis; the object moving speed v along the x-axis x , the object moves along the y-axis with a speed v y ; The object can be detected at height h0 and width d0.
[0025] In the embodiment of the present application, the rotation angle of the ray ranging sensor θ(n)=(θ1, θ2, ..., θ N ), the motor rotation angular velocity w(n)=(w1,w2,…,w N ), where 0°<θ(n)≤90°.
[0026] In one implementation of the present application, the maximum scanning height of the ray ranging sensor is calculated as follows: h n = r·sinθ n .like Figure 2 shown.
[0027] In the embodiment of the present application, when the object detection height is less than the highest scanning height of the ray ranging sensor, the sensor arrangement and the method for setting the rotation angle and angular velocity of the object moving along the y-axis are as follows. Specifically:
[0028] S1: The ray ranging sensor is arranged horizontally on the ground with a starting scanning angle of 0°, and rotates toward the sky to form a fan shape with a fan radius of r;
[0029] S2: Calculate the rotation angle range θ n , by h0≤h n It can be seen that h0≤r·sinθ n ,have to
[0030] S3: The laser ranging sensor measures the angular velocity w n Rotation angle θ n , calculate the time taken for a single scan as
[0031] S4: The object moves in the safe area of the substation expansion and reconstruction near the power supply. The object moves in the y-axis direction at a speed of v y Moving, the time it takes for an object to just touch the ray and completely leave the ray is
[0032] S5: The single scanning time of the sensor must be less than the time from when the object touches the ray to when it completely leaves the ray to avoid missed detection, that is, t n ≤t0, we can get but From step S1, we can see that
[0033] In the embodiment of the present application, the object moves along the y-axis as shown in the figure Figure 3 shown.
[0034] In the embodiment of the present application, when the object detection height is greater than the maximum scanning height of the ray ranging sensor, the sensor arrangement is specifically: at a height of h above the ground n A ray laser detection device is added, and the ray ranging sensor is arranged horizontally on the ground with a starting scanning angle of 0°, rotates toward the sky, and rotates to form a fan shape. The object moves along the y-axis. The rotation angle and angular velocity setting method of the sensor repeats steps S1 to S5.
[0035] The method for setting the movement along the x-axis is the same as the method for setting the movement parameters along the y-axis. According to the on-site construction area, detection devices can be set in different directions, and the number N of ray detection sensors is determined by the on-site operation area.
[0036] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.
[0037] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.
[0038] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims
1. A method for arranging space object anti-crossing limit sensors based on ray scanning, characterized in that: The method comprises: measuring the data of objects on site according to the construction site area of the substation; setting a plurality of ray data measuring sensors in the substation; selecting the measurement distance of the ray sensor to be greater than the length of the construction safety area according to the conventional operation area of the substation; and arranging sensors respectively when the object detection height is less than and greater than the highest scanning height of the ray ranging sensor.
2. The method for arranging space object anti-crossing sensors based on ray scanning according to claim 1 is characterized in that: The data of the objects measured on site include: the measured distance r of the ray ranging sensor; the safety area of the substation expansion project near the power supply, length l, width d, where l ≥ d, to establish a rectangular coordinate system, with the length direction as the x-axis and the width direction as the y-axis; the moving speed v of the object along the x-axis x , the object moves along the y-axis with a speed v y ; The object can be detected at height h0 and width d0.
3. The method for arranging space object anti-crossing sensors based on ray scanning according to claim 1 is characterized in that: The rotation angle of the ray ranging sensor θ(n) = (θ1, θ2, ..., θ N ), motor rotation angular velocity w(n)=(w1,w2,…,w N ), where 0°<θ(n)≤90°.
4. The method for arranging space object anti-crossing sensors based on ray scanning according to claim 1, characterized in that: The formula for calculating the maximum scanning height of the ray ranging sensor is as follows: h n = r·sinθ n .
5. The method for arranging space object anti-crossing sensors based on ray scanning according to claim 1, characterized in that: When the object detection height is less than the highest scanning height of the ray ranging sensor, the sensor arrangement is as follows: S1: The ray ranging sensor is arranged horizontally on the ground with a starting scanning angle of 0°, and rotates toward the sky to form a fan shape with a fan radius of r; S2: Calculate the rotation angle range θ n , by h0≤h n It can be seen that h0≤r·sinθ n ,have to S3: The laser ranging sensor measures the angular velocity w n Rotation angle θ n , calculate the time taken for a single scan as S4: The object moves in the safe area of the substation expansion and reconstruction near the power supply. The object moves in the y-axis direction at a speed of v y Moving, the time it takes for an object to just touch the ray and completely leave the ray is S5: The single scanning time of the sensor must be less than the time from when the object touches the ray to when it completely leaves the ray to avoid missed detection, that is, t n ≤t0, we can get but From step S1, we can see that 6. The method for arranging space object anti-crossing sensors based on ray scanning according to claim 5 is characterized in that: When the object detection height is greater than the highest scanning height of the ray ranging sensor, the sensor arrangement is as follows: n A ray laser detection device is added, and the ray ranging sensor is arranged horizontally on the ground with a starting scanning angle of 0°, rotates toward the sky, and rotates to form a fan shape. The object moves along the y-axis. The rotation angle and angular velocity setting method of the sensor repeats steps S1 to S5.