3D virtual closed space construction method and system based on laser rays

Abstract

The invention discloses a 3D virtual closed space construction method and system based on laser rays. The method comprises the steps that basic data of a to-be-monitored area is measured; respectively erecting a plurality of laser sensors at specific positions; wherein the specific position comprises a vertical laser scanning closed space structure arranged on the ground, a horizontal laser scanning closed space structure arranged on the ground and a laser scanning horizontal closed space structure arranged at a high altitude. Through arrangement of laser scanning sensors which are arranged on the ground in the horizontal and vertical directions and are arranged in the high altitude in the horizontal direction, an operation closed space is formed, rays can be rapidly deployed to form a virtual fence, a monitoring area with 100% coverage is constructed, meanwhile, the number of used sensors is minimum, and cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of safety in near-electrical operations, and in particular to a method and system for constructing a 3D virtual closed space based on laser rays. Background Art

[0002] In the field of power construction, virtual fences are generally formed through infrared radiation, positioning, video surveillance, laser scanning and other means to perform perimeter protection and work safety control. When positioning, video or laser means are used alone in combination with the on-site 3D model for perimeter protection, the 3D model has a long modeling cycle at different sites, complex configuration, and the cumulative errors of calculation delay and communication delay of the protection system lead to poor timeliness of early warning. The protection area lacks a simple and fast spatial construction method, cannot cover 100% of the working area, and has monitoring blind spots.

[0003] The current dynamic virtual fence management method based on multiple positioning has disadvantages such as long 3D model establishment cycle and complex configuration, and lacks a 3D virtual closed space construction method and system based on laser rays. Summary of the invention

[0004] The present application provides a laser-ray-based 3D virtual closed space construction method and system to solve the above-mentioned problems.

[0005] On the one hand, the present application provides a method for constructing a 3D virtual closed space based on laser rays, the method comprising: conducting basic data measurement of the area to be monitored; setting up a number of laser sensors at specific positions respectively; wherein the specific positions include: a vertical laser scanning closed space structure arranged on the ground, a horizontal laser scanning closed space structure arranged on the ground, and a laser scanning horizontal closed space structure arranged in the air.

[0006] In one implementation of the present application, the basic data measurement is specifically:

[0007] A rangefinder is used to measure the length, width and height of the working area, which are l, w and h respectively. The working area is a rectangular parallelepiped, and the spatial volume of the working area is v = l*w*h.

[0008] The laser beam scanning radius is r, the scanning angle is θ, and the upper and lower limits of the scanning alarm threshold are λ1 and λ2 respectively.

[0009] In one implementation of the present application, the vertical laser scanning closed space structure arranged on the ground is specifically:

[0010] When working under high altitude, when the laser beam scanning radius r is less than the sum of the height of the working area and the safety distance h+h1, it will scan at an angle of 90° to form a closed sector space with an area of

[0011] When the laser beam scanning radius r is greater than the sum of the height of the working area and the safety distance h+h1, the maximum laser beam scanning angle is When the scanning angle θ is exceeded, the high-altitude equipment will be scanned. At this time, the monitoring distance data value will be within the alarm threshold range, triggering the device to falsely alarm, and the fan-shaped scanning area formed is When the laser beam scanning radius r is greater than the sum of the height of the working area and the safety distance h+h1, there is a monitoring blank area on the 90°-θ sector area;

[0012] When the laser beam scanning radius r is greater than the sum of the height of the working area and the safety distance h+h1, at 90°-θ, a laser sensor needs to be added at the same position, and the scanning angle is 90°-θ~90°. The upper limit λ1 of the laser scanning alarm threshold at this location is h+h1. The area of ​​the enclosed space constructed in the vertical direction

[0013] In one implementation of the present application, the horizontal laser scanning closed space structure arranged on the ground is specifically:

[0014] When the laser beam scanning radius r is greater than the length of the working area l, one laser scan is configured in the horizontal direction;

[0015] When the laser beam scanning radius r is smaller than the length of the working area l, n laser scans are configured in the horizontal direction, and n is The integer quotient of ;

[0016] When the laser beam scanning radius r is smaller than the length l of the working area, the n laser scans arranged in the horizontal direction and the construction method of the vertical laser scanning closed space are arranged according to the vertical laser scanning closed space structure arranged on the ground;

[0017] The laser scanning is configured on four sides according to the near-electrical working area to form a cube.

[0018] In one implementation of the present application, the laser scanning horizontal closed space structure arranged at high altitude is specifically:

[0019] Arrange laser scanning at high altitude in a parallel ground scanning mode to prevent accidental touching of high altitude equipment during operation; arrange laser scanning at high altitude in the length l direction and width w direction, and configure the closed space structure according to the horizontal direction laser scanning arranged on the ground.

[0020] The present application also provides a 3D virtual closed space construction system based on laser rays, which applies the aforementioned 3D virtual closed space construction method based on laser rays. The system includes: a basic data measurement unit and several laser scanning sensors at specific positions respectively; wherein, the specific positions include: a vertical laser scanning closed space structure arranged on the ground, a horizontal laser scanning closed space structure arranged on the ground, and a laser scanning horizontal closed space structure arranged in the air.

[0021] The present application provides a method and system for constructing a 3D virtual closed space based on laser rays. By arranging laser scanning sensors on the ground (horizontally and vertically) and in the air (horizontally), a closed working space is formed. The construction method can quickly deploy rays to form a virtual fence and construct a 100% covered monitoring area, while using the least sensors to reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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:

[0023] Figure 1 A schematic diagram of a 3D virtual closed space structure provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram showing that the scanning radius provided in the embodiment of the present application is smaller than the height of the working area;

[0025] Figure 3 A schematic diagram showing that the scanning radius provided in the embodiment of the present application is greater than the height of the working area;

[0026] Figure 4 A schematic diagram of an unmonitored area provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of adding sensor layout provided in an embodiment of the present application;

[0028] Figure 6 A top view of laser beam scanning when the scanning radius provided in the embodiment of the present application is smaller than the length of the working area;

[0029] Figure 7 A top view of laser beam scanning when the scanning radius provided in the embodiment of the present application is greater than the length of the working area;

[0030] Figure 8 A top view of the high-altitude laser scanning arrangement provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] 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.

[0032] The embodiment of the present application provides a 3D virtual closed space construction method and system based on laser rays. The technical solution proposed in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0033] Figure 1 A schematic diagram of a 3D virtual closed space construction method provided in an embodiment of the present application. A laser ray-based 3D virtual closed space construction method provided in an embodiment of the present application includes laser scanning, basic data measurement, a ground-based vertical laser scanning closed space construction method and a horizontal laser scanning closed space construction method, and an aerial-based laser scanning horizontal closed space construction method.

[0034] The basic data measurement steps are as follows: First, use a rangefinder to measure the length, width and height of the working area, which are l, w, and h respectively. The working area is a rectangular parallelepiped, and the spatial volume of the working area is v = l*w*h.

[0035] The laser beam scanning radius is r, the scanning angle is θ, and the upper and lower limits of the scanning alarm threshold are λ1 and λ2 respectively.

[0036] In the embodiment of the present application, the vertical laser scanning closed space structure arranged on the ground is specifically:

[0037] When working under high altitude, when the laser beam scanning radius r is less than the sum of the height of the working area and the safety distance h+h1, such as Figure 2 As shown. Scanning is performed at an angle of 90°, forming a closed sector space with an area of like Figure 1 As shown;

[0038] When the laser beam scanning radius r is greater than the sum of the height of the working area and the safety distance h+h1, such as Figure 3 As shown. Then the maximum scanning angle of the laser beam is When the scanning angle θ is exceeded, the high-altitude equipment will be scanned. At this time, the monitoring distance data value will be within the alarm threshold range, triggering the device to falsely alarm, and the fan-shaped scanning area formed is When the laser beam scanning radius r is greater than the sum of the height of the working area and the safety distance h+h1, there is a monitoring blank area on the 90°-θ sector area, such as Figure 4 As shown;

[0039] When the laser beam scanning radius r is greater than the sum of the height of the working area and the safety distance h+h1, at 90°-θ, a laser sensor needs to be added at the same position, and the scanning angle is 90°-θ~90°. The upper limit λ1 of the laser scanning alarm threshold at this location is h+h1. The area of ​​the enclosed space constructed in the vertical direction Add sensor layout diagram as follows Figure 5 shown.

[0040] In the embodiment of the present application, the horizontal laser scanning closed space structure arranged on the ground is specifically:

[0041] When the laser beam scanning radius r is greater than the length of the working area l, a laser scan is configured in the horizontal direction. When the scanning radius is less than the length of the working area, the top view of the laser beam scanning is as follows: Figure 6 As shown;

[0042] When the laser beam scanning radius r is smaller than the length of the working area l, n laser scans are configured in the horizontal direction, and n is The integer quotient of the scanning radius is greater than the length of the working area. The top view of the laser beam scanning is as follows: Figure 7 As shown;

[0043] When the laser beam scanning radius r is smaller than the length l of the working area, the n laser scans arranged in the horizontal direction and the construction method of the vertical laser scanning closed space are arranged according to the vertical laser scanning closed space structure arranged on the ground;

[0044] The laser scanning is configured on four sides according to the near-electrical working area to form a cube.

[0045] In the embodiment of the present application, the laser scanning horizontal closed space structure arranged at high altitude is specifically:

[0046] Arrange laser scanning in the high altitude, and the scanning method is parallel to the ground scanning to prevent the operation from accidentally touching the high altitude equipment; arrange the laser scanning in the high altitude in the length l direction and the width w direction, and configure the closed space structure according to the horizontal direction laser scanning arranged on the ground. Figure 8 shown.

[0047] The system includes: a basic data measurement unit and several laser scanning sensors respectively located at specific positions; wherein, the specific positions include: a vertical laser scanning enclosed space structure arranged on the ground, a horizontal laser scanning enclosed space structure arranged on the ground, and a laser scanning horizontal enclosed space structure arranged in the air.

[0048] The above is a 3D virtual closed space construction method based on laser rays provided in an embodiment of the present application. Based on the same inventive concept, an embodiment of the present application also provides a 3D virtual closed space construction system based on laser rays, the system comprising: a basic data measurement unit and several laser scanning sensors at specific positions respectively; wherein, the specific positions include: a vertical laser scanning closed space structure arranged on the ground, a horizontal laser scanning closed space structure arranged on the ground, and a laser scanning horizontal closed space structure arranged in the air.

[0049] 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.

[0050] 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.

[0051] 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 3D virtual closed space construction method based on laser rays, characterized in that: The method comprises: measuring basic data of the area to be monitored; setting up a plurality of laser sensors at specific positions respectively; wherein the specific positions comprise: a vertical laser scanning enclosed space structure arranged on the ground, a horizontal laser scanning enclosed space structure arranged on the ground, and a laser scanning horizontal enclosed space structure arranged in the sky.

2. The method for constructing a 3D virtual closed space based on laser rays according to claim 1, characterized in that: The basic data measurement is specifically: A rangefinder is used to measure the length, width and height of the working area, which are l, w and h respectively. The working area is a rectangular parallelepiped, and the spatial volume of the working area is v = l*w*h. The laser beam scanning radius is r, the scanning angle is θ, and the upper and lower limits of the scanning alarm threshold are λ1 and λ2 respectively.

3. The method for constructing a 3D virtual closed space based on laser rays according to claim 1, characterized in that: The ground-mounted vertical laser scanning enclosed space structure is as follows: When working under high altitude, when the laser beam scanning radius r is less than the sum of the height of the working area and the safety distance h+h1, it will scan at an angle of 90° to form a closed sector space with an area of When the laser beam scanning radius r is greater than the sum of the height of the working area and the safety distance h+h1, the maximum laser beam scanning angle is When the scanning angle θ is exceeded, the high-altitude equipment will be scanned. At this time, the monitoring distance data value will be within the alarm threshold range, triggering the device to falsely alarm, and the fan-shaped scanning area formed is When the laser beam scanning radius r is greater than the sum of the height of the working area and the safety distance h+h1, there is a monitoring blank area on the 90°-θ sector area; When the laser beam scanning radius r is greater than the sum of the height of the working area and the safety distance h+h1, at 90°-θ, a laser sensor needs to be added at the same position, and the scanning angle is 90°-θ~90°. The upper limit λ1 of the laser scanning alarm threshold at this location is h+h1. The area of ​​the enclosed space constructed in the vertical direction 4. The method for constructing a 3D virtual closed space based on laser rays according to claim 1, characterized in that: The horizontal laser scanning enclosed space structure arranged on the ground is as follows: When the laser beam scanning radius r is greater than the length of the working area, one laser scan is configured in the horizontal direction; When the laser beam scanning radius r is smaller than the length of the working area, n laser scans are configured in the horizontal direction, and n is The integer quotient of ; When the laser beam scanning radius r is smaller than the length of the working area, the n laser scanning devices configured in the horizontal direction and the construction method of the vertical laser scanning closed space are configured according to the vertical laser scanning closed space structure arranged on the ground; The laser scanning is configured on four sides according to the near-electrical working area to form a cube.

5. The method for constructing a 3D virtual closed space based on laser rays according to claim 1, characterized in that: The high-altitude laser scanning horizontal closed space structure is as follows: Arrange laser scanning at high altitude, and the scanning mode is parallel to the ground scanning to prevent accidental touching of high-altitude equipment during operation; arrange laser scanning at high altitude, and arrange it according to the length, direction and width w direction, and configure the closed space structure according to the horizontal direction laser scanning arranged on the ground.

6. A 3D virtual closed space construction system based on laser rays, using the 3D virtual closed space construction method based on laser rays according to any one of claims 1 to 5, characterized in that: The system includes: a basic data measurement unit and several laser scanning sensors respectively located at specific positions; wherein, the specific positions include: a vertical laser scanning enclosed space structure arranged on the ground, a horizontal laser scanning enclosed space structure arranged on the ground, and a laser scanning horizontal enclosed space structure arranged in the air.

Images