Near-electricity construction operation safety early warning method and system

Abstract

The invention relates to a near-electricity construction operation safety early warning method and system, and belongs to the field of near-electricity construction operation equipment early warning, and the method comprises the steps: scanning a power transmission and transformation project construction site through three-dimensional laser, and forming a high-precision laser point cloud three-dimensional data model; quickly dividing an electrified body and a non-electrified body in the three-dimensional laser point cloud model, and carrying out attribute hooking on the safe distance range and the electrified body; rTK positioning sensors are installed on an operator and a construction machine, and high-precision real-time positioning and spatial distance measurement of the operator and the machine are achieved through Beidou RTK; real-time space distances between operators, machines and electrified bodies are monitored on the basis of a safety distance detection algorithm, reminding in different modes such as safety warning and prohibition warning is set according to requirements of safety operation regulations, and it is ensured that the operators, machines and the like keep enough safety distances from the electrified bodies.

Description

Technical Field

[0001] The invention relates to a safety early warning method and system for near-electrical construction work, belonging to the field of early warning for near-electrical construction work equipment. Background Art

[0002] Construction work near electricity is the focus and difficulty of infrastructure safety management and control. In recent years, there have been many accidents in the power system during power transmission, substation renovation and expansion construction, such as electric shock to personnel and accidental contact of machinery with operating equipment and operating lines. The direct reason is the insufficient control of the safe distance between live objects and the lack of real-time monitoring methods for the distance between personnel, machinery and live objects. The safe control distance cannot be effectively guaranteed, and the safety technical measures for construction work near electricity cannot be effectively implemented, resulting in accidents during the operation.

[0003] At present, there are four major pain points in the safety management and control of on-site workers and machinery near-electrical construction operations.

[0004] First of all, the safety control range on the ground can be divided and managed by safety fences, but the longitudinal and lateral spaces above the safety fences lack effective safety zoning and safety distance monitoring methods.

[0005] Secondly, during mechanical operation, operators mainly judge distance by visual inspection, which results in large errors compared with the actual distance.

[0006] Then, the early warning device that uses the principle of induction electricity has low accuracy, frequent false alarms, and cannot provide accurate early warning according to voltage levels.

[0007] Finally, the spatial positions of personnel and robotic arms change dynamically during the operation process, and the mechanical physical limiting and anti-collision measures are simple and crude, making them difficult to apply in field operations. Summary of the invention

[0008] According to the problem described in the background, the problem to be solved by the present invention is: to provide a safety warning method and system for near-electric construction operations, using three-dimensional laser scanning of the power transmission and transformation project construction site to form a high-precision laser point cloud three-dimensional data model; quickly divide charged bodies and non-charged bodies in the three-dimensional laser point cloud model, and attach the safe distance range to the charged bodies for attributes; install RTK positioning sensors on workers and construction machinery, and use Beidou RTK to achieve high-precision real-time positioning and spatial distance measurement of workers and machinery; monitor the real-time spatial distance between workers, machinery and charged bodies based on a safe distance detection algorithm, and set different modes of reminders such as safety warnings and prohibited alarms according to the requirements of safe operating procedures to ensure that personnel, machinery, etc. maintain a sufficient safe distance from charged bodies.

[0009] To achieve the above object, the present invention provides the following technical solution: a safety early warning method for near-electricity construction work is provided, comprising the following steps:

[0010] (1) Use 3D laser scanning to scan the construction site of the power transmission and transformation project to form a high-precision laser point cloud 3D data model;

[0011] (2) Quickly divide charged objects and non-charged objects in the 3D laser point cloud model, and associate the safe distance range with the charged objects;

[0012] (3) Install RTK positioning sensors on workers and construction machinery, and use Beidou RTK to achieve high-precision real-time positioning and spatial distance measurement of workers and machinery;

[0013] (4) Design an on-site data forwarding terminal for on-site multi-positioning module data access and forwarding, and receive on-site prompts of platform alarm information, so that on-site monitoring personnel can obtain information intuitively.

[0014] (5) Based on the safety distance detection algorithm, the real-time spatial distance between operators, machinery and live objects is monitored, and different modes of reminders such as safety warnings and prohibition alarms are set according to the requirements of safe operating procedures to ensure that personnel, machinery, etc. maintain a sufficient safety distance from live objects.

[0015] Preferably, the step (1) is further specifically divided into the following steps:

[0016] (1.1) Use digital modeling technology and laser point cloud scanning equipment to collect point clouds at the power transmission and transformation site, and restore the work site environment 1:1 to the computer virtual scene for rendering and display;

[0017] (1.2) Establish different near-electric construction project files, realize the import of point cloud data in different formats and noise removal functions, and configure the project coordinate system, project name, classification, and the projection coordinate system defined for accessing RTK.

[0018] Preferably, the step (2) is further specifically divided into the following steps:

[0019] (2.1) Realize different point cloud classification functions such as ground, buildings, poles, insulators, conductors and drainage lines;

[0020] (2.2) Set the conductors (busbars and down leads) as live bodies, and associate the safety distance range with the live bodies.

[0021] Preferably, the RTK positioning sensor in step (3) adopts RTK positioning technology, and realizes real-time calculation and display of the spatial position of the operator wearing the RTK sensor, the machinery, and the minimum clearance distance between the machinery and the charged body through RTK centimeter-level spatial position output and "single-point monitoring" to linear components of "mechanical arms, slings, etc.", so as to realize three-dimensional scene restoration at the work site and real-time detection of spatial distances at various voltage levels required by safety regulations.

[0022] Preferably, in step (4), the on-site data forwarding terminal sends the real-time spatial coordinate position to the cloud center at a frequency of 2 Hz and displays it in three-dimensional space.

[0023] Preferably, the step (5) is further specifically divided into the following steps:

[0024] (5.1) Manually set the "warning distance" and "prohibited distance" for safe operations in the system;

[0025] (5.2) Monitor the real-time spatial distance between operators, machinery and charged objects based on the safety distance detection algorithm;

[0026] (5.3) When the safe working distance is less than the pre-set safety threshold, the system will issue a warning and alarm; send reminder information to the personnel terminal and the safety warning system terminal through different sounds, lights, etc.; and remind the operating personnel to adjust the working method and path in time.

[0027] The present invention also provides a safety warning system for near-electrical construction work, including a three-dimensional laser data processing and rendering display module, a near-electrical construction work safety distance management module and a near-electrical construction safety warning module;

[0028] The three-dimensional laser data processing and rendering display module uses a handheld three-dimensional laser scanning device to scan the operating equipment to form a high-precision three-dimensional space map;

[0029] The safety distance management module for near-electric construction work establishes a management relationship between the safety distance and the voltage level of the live body through the voltage level, prohibited distance, warning distance and whether it is live, providing a judgment basis for the three-dimensional space map;

[0030] The near-electric construction safety warning module uses Beidou RTK to achieve high-precision real-time positioning of workers and machinery, and integrates it into the three-dimensional map. It then calculates the real-time clearance distance between workers, machinery and live objects based on the safety distance detection algorithm, and sets two modes of safety warning and danger prohibition according to safety regulations. It calculates the safety threshold in real time, realizes real-time monitoring of the clearance distance between people, machinery and live equipment, and provides warning feedback when the safety threshold is exceeded.

[0031] Preferably, the three-dimensional laser data processing and rendering display module loads, renders and displays the three-dimensional laser point cloud collected at the construction site through three-dimensional laser scanning, constructs a three-dimensional work site environment, and classifies the three-dimensional laser point cloud through manual interaction to classify and identify charged bodies from the overall laser point cloud.

[0032] Preferably, the safety distance management module for near-electricity construction operations establishes a database of controlled distances and prohibited distances and a database of controlled distances and prohibited distances for personnel and machinery from 10kV to 1000kV and from ±20 to ±1100kV according to the non-power outage safety distances of different voltage levels in the substation and transmission safety operation regulations, so as to establish a management relationship between the safety distance and the voltage level of the live body.

[0033] Preferably, the near-electric construction safety warning module uses RTK positioning to restore the three-dimensional spatial model of personnel, vehicles, and machinery according to the spatial position information of RTK sensors with different number combinations, and calculates the minimum clearance distance between the three-dimensional spatial model of personnel, vehicles, and machinery and the charged body in real time. When the minimum clearance distance is monitored to be less than the control distance or the prohibited distance, the system sends a corresponding alarm signal.

[0034] Through the combination of reality and virtual technology in the existing achievements, digital means are used to conduct three-dimensional real-scene all-round and accurate safety control of dynamic and static targets at near-electric construction sites, and to conduct dynamic quantitative monitoring of various hidden dangers of live safety distances in the construction process without blind spots, so as to provide early warning to prevent and stop accidents before danger occurs.

[0035] The beneficial effects of the present invention are:

[0036] 1. Realize the real-time dynamic position monitoring of engineering personnel, vehicles, machinery, etc. in three-dimensional real scenes.

[0037] 2. It realizes real-time clearance distance monitoring between personnel, vehicles, machinery, etc. and charged objects, and issues an alarm when the threshold is exceeded.

[0038] 3. Independent system tools that can be quickly installed, deployed, run and monitored on site.

[0039] 4. The system frequency and stability have been greatly improved, and the conditions for pilot application have been preliminarily met. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of the steps of the safety early warning method for construction work near electricity;

[0041] Figure 2 This is a flow chart of the safety warning system for construction work near electricity;

[0042] Figure 3 This is the server architecture diagram; DETAILED DESCRIPTION

[0043] The embodiments of the present invention are further described below in conjunction with the accompanying drawings:

[0044] Example 1

[0045] like Figure 1 As shown, the present invention provides a safety warning method for near-electricity construction work, comprising the following steps:

[0046] (1) Use 3D laser scanning to scan the construction site of the power transmission and transformation project to form a high-precision laser point cloud 3D data model;

[0047] (1.1) Use digital modeling technology and laser point cloud scanning equipment to collect point clouds at the power transmission and transformation site, and restore the work site environment 1:1 to the computer virtual scene for rendering and display;

[0048] (1.2) Establish different near-electric construction project files, realize the import of point cloud data in different formats and noise removal functions, and configure the project coordinate system, project name, classification, and the projection coordinate system defined for accessing RTK.

[0049] (2) Quickly divide charged objects and non-charged objects in the 3D laser point cloud model, and associate the safe distance range with the charged objects;

[0050] (2.1) Realize different point cloud classification functions such as ground, buildings, poles, insulators, conductors and drainage lines;

[0051] (2.2) Set the conductors (busbars and down leads) as live bodies, and associate the safety distance range with the live bodies.

[0052] (3) Install RTK positioning sensors on workers and construction machinery, and use Beidou RTK to achieve high-precision real-time positioning and spatial distance measurement of workers and machinery;

[0053] The RTK positioning sensor adopts RTK positioning technology, which converts the RTK centimeter-level spatial position output and "single-point monitoring" to linear components such as "robotic arms, slings, etc." to realize real-time calculation and display of the spatial position of workers wearing RTK sensors, machinery, and the minimum clearance distance between them and live objects, thereby restoring the three-dimensional scene of the work site and detecting the spatial distances under various voltage levels required by safety regulations in real time.

[0054] (4) Design an on-site data forwarding terminal server for on-site multi-positioning module data access and forwarding, and receive on-site platform alarm information prompts to facilitate on-site monitoring personnel to obtain information intuitively;

[0055] Among them, the field data forwarding terminal server receives the real-time spatial coordinate positions at a frequency of 2Hz from multiple RTK terminals and displays them in three-dimensional space.

[0056] (5) Monitor the real-time spatial distance between operators, machinery and live objects based on the safety distance detection algorithm, and set reminders in different modes such as safety warnings and prohibition alarms according to the requirements of safety operating procedures to ensure that operators, machinery, etc. maintain a sufficient safety distance from live objects;

[0057] (5.1) Manually set the "warning distance" and "prohibited distance" for safe operations in the system;

[0058] At the same time, a database of "warning control distance" and "prohibited distance" for "personnel" and "machinery, vehicles" in working environments with different voltage levels is established.

[0059] (5.2) Monitor the real-time spatial distance between operators, machinery and charged objects based on the safety distance detection algorithm;

[0060] (5.3) When the safe working distance is less than the pre-set safety threshold, the system will issue a warning and alarm; send reminder information to the personnel terminal and the safety warning system terminal through different sounds, lights, etc.; and remind the operating personnel to adjust the working method and path in time.

[0061] For the charged and non-charged objects in step (2), the 3D laser point cloud model is a 3D virtual model composed of dense laser points. Each laser point has 3D coordinates and its attribute information. The system can assign a group of points with charged attributes by selecting the point cloud. Once it has the "charged" attribute, its point cloud coordinates will participate in the calculation of the safe distance from moving targets such as personnel and machinery; the point coordinates that do not have the "charged" attribute will not participate in the calculation.

[0062] In step (3), in order to conveniently reflect the spatial distance, a warning light is used as a marker, which is green in normal state, yellow in early warning state, and red in warning state. The positioning interval is 500 milliseconds and the frequency is 2 Hz, that is, detection and feedback are performed twice per second. The refresh frequency of the three-dimensional interface is 2 Hz, that is, the interface is refreshed once every half a second.

[0063] For the conversion of linear components from "single-point monitoring" to "mechanical arms, slings, etc.", the RTK positioning device installed on the mechanical device monitors the real-time position information of the single-point target. However, in the actual operation process, the mechanical device moves and operates in space as a three-dimensional rectangular entity in the near-electric construction operation scenario. Therefore, the system currently realizes the function of converting linear components from "single-point monitoring" to "mechanical arms, slings". Through spatial geometric calculations, the two endpoints of the linear target are determined, and the radius of the linear cylinder is set after connecting the two points into a straight line. Cube or rectangular style components are restored to a rectangular block with length, width and height through the two diagonal endpoints. For "hoisted objects", the RTK positioning sensor is installed on the largest diagonal of the object, and the sensor is installed on the diagonal of the hoisted object to restore the three-dimensional contour size of the hoisted object, and perform electrical clearance calculation and analysis.

[0064] At the same time, in order to realize the three-dimensional restoration of the work site, the work site is divided into two parts. First, static equipment and operating environment. This part of the data is obtained through three-dimensional laser scanning with a data accuracy of centimeters. Second, dynamic personnel, machinery, vehicles, etc. This part of the data is dynamically monitored by wearing and installing the Beidou RTK positioning terminal with a data accuracy of centimeters. The above two data can be integrated and restored in real time in a three-dimensional computer environment.

[0065] In addition, in order to achieve the minimum clearance distance and live safety distance detection and the formation of a safety distance detection algorithm, the system integrates the 3D laser scanning data of the work site with the Beidou RTK positioning data to restore the real-time dynamic site of the near-electric construction work to the computer 3D scene with high precision, and conducts safety distance detection for near-electric construction work;

[0066] After the personnel, machinery, vehicles, etc. on site are restored in the computer environment, the system sets two spherical envelope surfaces of the charged body (control radius R and prohibition radius r) and the point or cubic space envelope surface formed by the personnel, machinery and vehicles for collision detection. Once a collision is detected (value 1 means collision; value 0 means no collision), a control alarm or prohibition alarm is generated based on the collision with the R value radius sphere or the r value radius sphere, thus forming a safe distance detection algorithm.

[0067] The purpose of the safe distance detection algorithm for near-electrical construction work is to quickly find pairs of objects that may collide. By constructing a KD-Tree for the laser point cloud of the charged body, the coordinate point of each laser point cloud is used as the center of the sphere and R and r are used as the radius to construct a spherical bounding sphere. The spherical bounding body is used to quickly detect collisions with personnel (points) or machinery and vehicles (cube bounding box).

[0068] (1) Collision detection between a charged object (Bounding Sphere) and a person (Point)

[0069] If the spatial distance d between the two is greater than R, no collision occurs and the person is in a safe working space;

[0070] If the spatial distance R > d > r between the two, a collision occurs with the R sphere, and the person is in a safe working control space, but the prohibition alarm is not triggered;

[0071] If the spatial distance d < r between the two, a collision occurs with the r sphere, the person is in a dangerous working space of electric shock, and the prohibition alarm is triggered.

[0072] (2) Collision detection between a charged object (Bounding Sphere) and a vehicle mechanism (Bounding Box)

[0073] If the spatial distance d between the two is greater than R, no collision occurs and the mechanical vehicle is in a safe working space;

[0074] If the spatial distance R > d > r between the two, a collision occurs with the R sphere but not with the r sphere, then the mechanical vehicle is in a safe working control space, but the prohibition alarm is not triggered;

[0075] If the spatial distance d < r between the two, a collision occurs with the r sphere, the mechanical vehicle is in a dangerous working space of electric shock, and the prohibition alarm is triggered.

[0076] As Figure 3 shown, in step (4), each RTK positioning sensor sends the located spatial coordinate data to the server through the network at a frequency of 2 per second. The temporary electricity safety warning system reads the real-time position information of each RTK positioning sensor from the server and resolves and restores the position to the three-dimensional space. At the same time, the clearance distance from the charged object is calculated according to the position information of the RTK. When it is found that the control distance or the prohibition distance threshold is exceeded, a warning feedback signal is sent to the server, and the server matches the signal with the corresponding RTK sensor number and sends it to the corresponding sensor.

[0077] As Figure 2As shown, the present invention also provides a safety warning system for near-electrical construction operations, including a three-dimensional laser data processing and rendering display module, a safety distance management module for near-electrical construction operations, and a safety warning module for near-electrical construction; the three-dimensional laser data processing and rendering display module uses a handheld three-dimensional laser scanning device to scan the operating equipment to form a high-precision three-dimensional space map; the safety distance management module for near-electrical construction operations establishes a management relationship between the safety distance and the voltage level of the charged body through the voltage level, prohibited distance, warning distance, and whether it is energized, and provides a judgment basis for the three-dimensional space map; the safety warning module for near-electrical construction uses Beidou RTK to achieve high-precision real-time positioning of operators and machinery, and integrates it into the three-dimensional map, and then calculates the real-time clearance distance between operators, machinery and charged bodies based on the safety distance detection algorithm, and sets two modes of safety warning and danger prohibition according to safety regulations, calculates the safety threshold in real time, realizes real-time monitoring of the clearance distance between personnel, machinery and live equipment, and provides warning feedback reminders when the safety threshold is exceeded.

[0078] The 3D laser data processing and rendering display module loads and renders the 3D laser point cloud collected at the construction site through 3D laser scanning, constructs a 3D work site environment, and classifies the 3D laser point cloud through manual interaction to classify and identify charged bodies from the overall laser point cloud.

[0079] The safety distance management module for near-electricity construction operations establishes a database of controlled distances and prohibited distances based on the non-power-off safety distances of different voltage levels in the substation and transmission safety operation regulations, and a database of controlled distances and prohibited distances for personnel and machinery from 10kV to 1000kV and ±20 to ±1100kV, so as to establish a management relationship between the safety distance and the voltage level of the live body.

[0080] The near-electric construction safety warning module uses RTK positioning to restore the three-dimensional spatial model of personnel, vehicles, and machinery based on the spatial position information of RTK sensors with different number combinations, and calculates the minimum clearance distance between the three-dimensional spatial model of personnel, vehicles, and machinery and the charged body in real time. When the minimum clearance distance is monitored to be less than the control distance or the prohibited distance, the system sends a corresponding alarm signal.

[0081] Through the combination of reality and virtual technology in the existing achievements, digital means are used to conduct three-dimensional real-scene all-round and accurate safety control of dynamic and static targets at near-electric construction sites, and to conduct dynamic quantitative monitoring of various hidden dangers of live safety distances in the construction process without blind spots, so as to provide early warning to prevent and stop accidents before danger occurs.

Claims

1. A safety warning method for construction work near electricity, characterized in that: The following steps are involved: (1) Use 3D laser scanning to scan the construction site of the power transmission and transformation project to form a high-precision laser point cloud 3D data model; (2) Quickly divide charged objects and non-charged objects in the 3D laser point cloud model, and associate the safe distance range with the charged objects; (3) Install RTK positioning sensors on workers and construction machinery, and use Beidou RTK to achieve high-precision real-time positioning and spatial distance measurement of workers and machinery; (4) Design an on-site data forwarding terminal server for on-site multi-positioning module data access and forwarding, and receive on-site platform alarm information prompts to facilitate on-site monitoring personnel to obtain information intuitively; (5) Based on the safety distance detection algorithm, the real-time spatial distance between operators, machinery and live objects is monitored, and different modes of reminders such as safety warnings and prohibition alarms are set according to the requirements of safe operating procedures to ensure that personnel, machinery, etc. maintain a sufficient safety distance from live objects.

2. According to claim 1, a safety early warning method for construction work near electricity is characterized in that: The step (1) is further specifically divided into the following steps: (1.1) Use digital modeling technology and laser point cloud scanning equipment to collect point cloud data at the power transmission and transformation site; (1.2) Establish different engineering documents for near-electrical construction work.

3. According to claim 1, a safety early warning method for construction work near electricity is characterized in that: The step (2) is further specifically divided into the following steps: (2.1) Realize different point cloud classification functions such as ground, buildings, poles, insulators, conductors and drainage lines; (2.2) Set the conductors (busbars and down leads) as live bodies, and associate the safety distance range with the live bodies.

4. According to claim 1, a safety warning method for construction work near electricity is characterized in that: In the step (3), the RTK positioning sensor adopts RTK positioning technology, and converts the RTK centimeter-level spatial position output and "single-point monitoring" to the linear components of "mechanical arms, slings, etc." to achieve real-time calculation and display of the spatial position of the operator wearing the RTK sensor, the machine, and the minimum clearance distance between it and the charged body, thereby achieving three-dimensional scene restoration at the work site and real-time detection of spatial distances under various voltage levels required by safety regulations.

5. According to claim 1, a safety warning method for construction work near electricity is characterized in that: In the step (4), the field data forwarding terminal server receives the real-time spatial coordinate positions at a frequency of 2 Hz from multiple RTK terminals and displays them in three-dimensional space.

6. A safety warning method for near-electricity construction work according to claim 1, characterized in that: The step (5) is further specifically divided into the following steps: (5.1) Manually set the "warning distance" and "prohibited distance" for safe operations in the system; (5.2) Monitor the real-time spatial distance between operators, machinery and charged objects based on the safety distance detection algorithm; (5.3) When the safe working distance is less than the pre-set safety threshold, the system will issue a warning and alarm; send reminder information to the personnel terminal and the safety warning system terminal through different sounds, lights, etc.; and remind the operating personnel to adjust the working method and path in time.

7. A safety warning system for construction work near electricity, characterized in that: It includes 3D laser data processing and rendering display module, near-electrical construction operation safety distance management module and near-electrical construction safety warning module; The three-dimensional laser data processing and rendering display module uses a handheld three-dimensional laser scanning device to scan the operating equipment to form a high-precision three-dimensional space map; The safety distance management module for near-electric construction work establishes a management relationship between the safety distance and the voltage level of the live body through the voltage level, prohibited distance, warning distance and whether it is live, providing a judgment basis for the three-dimensional space map; The near-electric construction safety warning module uses Beidou RTK to achieve high-precision real-time positioning of workers and machinery, and integrates it into the three-dimensional map. It then calculates the real-time clearance distance between workers, machinery and live objects based on the safety distance detection algorithm, and sets two modes of safety warning and danger prohibition according to safety regulations. It calculates the safety threshold in real time, realizes real-time monitoring of the clearance distance between people, machinery and live equipment, and provides warning feedback when the safety threshold is exceeded.

8. A safety warning system for construction work near electricity according to claim 7, characterized in that: The three-dimensional laser data processing and rendering display module loads, renders and displays the three-dimensional laser point cloud collected at the construction site through three-dimensional laser scanning, constructs a three-dimensional work site environment, and classifies the three-dimensional laser point cloud through a manual interaction method to classify and identify the charged bodies from the overall laser point cloud.

9. A safety warning system for construction work near electricity according to claim 7, characterized in that: The safety distance management module for near-electricity construction operations establishes a database of controlled distances and prohibited distances and a database of controlled distances and prohibited distances for personnel and machinery from 10kV to 1000kV and from ±20 to ±1100kV based on the non-power-off safety distances for different voltage levels in the safety operation procedures for substations and transmissions, so as to establish a management relationship between the safety distance and the voltage level of the live body.

10. A safety warning system for construction work near electricity according to claim 7, characterized in that: The near-electric construction safety warning module uses RTK positioning to restore the three-dimensional spatial model of personnel, vehicles, and machinery according to the spatial position information of RTK sensors with different number combinations, and calculates the minimum clearance distance between the three-dimensional spatial model of personnel, vehicles, and machinery and the charged body in real time. When the minimum clearance distance is monitored to be less than the control distance or the prohibited distance, the system sends a corresponding alarm signal.

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