Method and system for detecting action compliance of equipotential entry and exit in hot-line work

Abstract

The invention relates to an action compliance detection method and system for equipotential entry and exit in hot-line work, and relates to the field of hot-line work safety detection systems, and the method comprises the steps: obtaining a work position when a work signal is received; searching a corresponding monitoring equipment number from a preset detection database based on the operation position; monitoring equipment corresponding to the monitoring equipment number is controlled to carry out monitoring so as to obtain the position and posture of the worker and the on-site condition image; determining an operation method based on the field condition image; searching a corresponding safe distance from a preset safe distance database based on the operation method; determining an actual distance based on the pose of the worker and the three-dimensional model of the power grid; determining a safety result based on the actual distance and the safety distance; the method has the advantages that whether the user is in the safe state or not is judged by determining the posture of the worker, if the user is not safe, an alarm is given, and the alarm accuracy and real-time performance are improved.

Description

Technical Field

[0001] The present application relates to the field of live working safety detection systems, and more particularly to a method and system for detecting compliance of live working entering and exiting equipotential actions. Background Art

[0002] With the development of economy and technology and the improvement of people's living standards, electric energy has become an indispensable secondary energy source in people's production and life, playing a huge role in production and life. Therefore, the safe and reliable transmission of electric energy has always been one of the core tasks of the power grid system. Power outage time is one of the important indicators to measure the performance of the power grid. In order to minimize the power outage time and ensure the normal supply of electric energy, live operation of the power grid came into being.

[0003] At present, when working with power grids in my country, workers wearing shielding clothing will perform live work. In order to ensure the personal safety of workers working with power grids, the following three conditions must be strictly met: first, the current flowing through the human body does not exceed 1mA; second, the local field strength on the human body surface does not exceed 240kV / m; third, the workers are separated from other live objects or grounded objects by a sufficiently safe distance. At present, the compliance detection of actions entering and exiting the equipotential of live work mainly relies on manual monitoring and traditional safety equipment, that is, video monitoring combined with basic safety warning systems are used to carry out safety supervision of live work.

[0004] The existing technology has the following problems: traditional monitoring equipment is still manually monitored in front of the display device, relying solely on manual monitoring, it is difficult to ensure that the supervisor is fully focused for a long time. Once the maintenance personnel on the tower are in a dangerous position, the illegal posture or action is not discovered in time, the consequences will be disastrous, and there is still room for improvement. Summary of the invention

[0005] In order to improve the problem that maintenance personnel on pole towers are in dangerous positions and make illegal postures or movements without being discovered in time, the present application provides a method and system for detecting the compliance of actions when entering and exiting equipotential during live working.

[0006] In a first aspect, the present application provides a method for detecting compliance of live working entering and exiting an equipotential, using the following technical solution: A method for detecting compliance of live working entering and exiting equipotential action, comprising: Acquire the working position when receiving the preset working signal; Based on the operation position, the corresponding monitoring device number is found from the preset detection database, and the monitoring device number includes a distance receiver number and a camera number. The distance receiver number is the number of the distance receiver, and the distance receiver is arranged on two adjacent preset electric poles. The number of the distance receivers on the same electric pole is two and is located on the upper and lower sides of the electric pole. The camera number is the number of the camera, and the camera is arranged on the upper side of the electric pole; Control the monitoring device corresponding to the monitoring device number to monitor and obtain the posture of the staff and the on-site situation image; Determine the operation method based on the image of the on-site situation; Find the corresponding safety distance from the preset safety distance database based on the operation method; Determine the actual distance based on the worker's position and the preset three-dimensional model of the power grid; Determine safety results based on actual distance and safety distance; When the safety result is a preset dangerous result, an alarm signal is output.

[0007] By adopting the above technical solution, the posture of the staff is determined and then input into the power grid model to determine the user's working method, retrieve the safety distance corresponding to the method from the database, and then judge whether the user is in a safe state. If not, an alarm is issued, thereby improving the accuracy and real-time performance of the alarm.

[0008] Optionally, the method of controlling the monitoring device corresponding to the monitoring device number to monitor and obtain the position and posture of the worker includes: Randomly select three distance receiver numbers corresponding to the distance receiver numbers to receive the joint point distance and joint point strength emitted by any joint point installed on the shielding device worn on the human body, and define the three distance receiver numbers that determine the three-dimensional coordinates of the joint point as positioning receiver numbers; Find the corresponding three-dimensional coordinates of the positioning receiver from a preset installation database based on the positioning receiver number; Based on the joint point strength, the corresponding joint point number is found from the preset point database; Determine the three-dimensional coordinates of the joint point based on the joint point distance corresponding to the same joint point strength and the three-dimensional coordinates of the positioning receiver; The personnel posture is simulated based on the joint point numbers and the three-dimensional coordinates of the joint points.

[0009] By adopting the above technical solution, the same joint point is determined by the same strength, and then the three-dimensional position of the joint point is obtained through three distances. Then, the user's posture is obtained through the three-dimensional positions and joint numbers of all joint points, thereby improving the accuracy and efficiency of posture determination.

[0010] Optionally, the method for simulating the posture of a person based on the joint point numbers and the three-dimensional coordinates of the joint points includes: Based on the joint point number, find the corresponding adjacent point number, interval distance range and allowed direction range from the preset equipment database; Determine the corresponding three-dimensional coordinates of the joint point based on the adjacent point number, and define the three-dimensional coordinates of the joint point as the three-dimensional coordinates of the adjacent joint point; Determine the current adjacent distance and actual direction based on the three-dimensional coordinates of the adjacent joint points and the three-dimensional coordinates of the joint points; When the allowed direction range exists, the current adjacent distance falls within the interval distance range and the actual direction falls within the allowed direction range, the joint point number and the adjacent point number are sequentially connected to form the personnel posture; When the allowed direction range exists and the current adjacent distance does not fall within the interval distance range or the actual direction does not fall within the allowed direction range, a preset shielding device not penetrated signal is output; If the allowed direction range does not exist and the current adjacent distance falls within the interval distance range, the joint point number and the adjacent point number are sequentially connected to form the personnel posture; When the allowed direction does not exist and the current adjacent distance does not fall within the interval distance range, a shielding device not penetrated signal is output; When a joint point number or an adjacent point number exists but the corresponding joint point distance is not received, a preset shielding device damage signal is output.

[0011] By adopting the above technical solution, since the joints of a person have a certain distance between them and the basic orientation has a certain range of directions, for example, the number of the sole of the foot rarely exceeds the number of the joint between the calf and the thigh during work, and the node distance will not change due to changes in posture. If it exceeds, it may be that the wearing device has fallen off. Therefore, it is possible to determine whether the wearing is complete and whether there is any unwearing through the distance and orientation of the two joints, thereby preventing the occurrence of unwearing and improving the safety of wearing.

[0012] Optionally, a method for checking the three-dimensional coordinates of the joint points is also included, the method comprising: The joint point strength corresponding to the positioning receiver number is defined as the verification joint point strength, and the other remaining distance receiver number is defined as the verification receiver number; The joint point distance received by the verification receiver number is screened based on the verification joint point strength, and the joint point distance is defined as the verification joint point distance; Find the corresponding three-dimensional coordinates of the verification receiver from the installation database based on the verification receiver number; Determine the actual joint point distance based on checking the receiver's three-dimensional coordinates and the joint point's three-dimensional coordinates; When the verified joint point distance is different from the actual joint point distance, the operating position and the preset receiver error signal are output; When the verified joint point distance is the same as the actual joint point distance, the three-dimensional coordinates of the joint point are output.

[0013] By adopting the above technical solution, two distance receivers are set on each utility pole, so that there are four distance receivers detecting one position. At this time, the fourth distance is used to determine whether the detection is correct, thereby improving the stability of the distance receiver receiving the signal.

[0014] Optionally, a method for verifying the three-dimensional model of the power grid is also included, the method comprising: Acquire standard images when building a three-dimensional model of the power grid; When receiving the working signal, the on-site situation image and the standard image are analyzed to determine the comparison result corresponding to the preset power grid characteristics; When the comparison result is the preset coincidence result, the three-dimensional model of the power grid is directly output; When the comparison result is a preset deviation result, the distance transmitter arranged on the power grid is started and the distance receiver corresponding to the positioning receiver number receives the distance and strength of the power grid point; Find the corresponding power grid point number from the point database based on the power grid point strength; Determine the three-dimensional coordinates of the power grid point based on the power grid point distance corresponding to the same power grid point strength and the three-dimensional coordinates of the positioning receiver; The three-dimensional model of the power grid is corrected based on the power grid point number and the three-dimensional coordinates of the power grid point.

[0015] By adopting the above technical solution, it is possible to predict whether the power grid has changed through images. If changes have occurred, the three-dimensional position of the same power grid node is obtained through three distances of the same intensity, and then the actual power grid situation is determined through the coordinates of the node, thereby improving the accuracy of the power grid model.

[0016] Optionally, the method for correcting the three-dimensional model of the power grid based on the power grid point number and the three-dimensional coordinates of the power grid point includes: Based on the grid point number and the preset cable point category, spline curve simulation is performed on the three-dimensional coordinates of the grid point in turn to form a simulated cable curve; Remove any three-dimensional coordinates of power grid points in sequence to form a first local simulated cable curve, and define the removed three-dimensional coordinates of the power grid points as the deleted three-dimensional coordinates of the points; Obtaining a deviation spacing at the three-dimensional coordinates of the deletion point based on the simulated cable curve and the first local simulated cable curve; When the deviation intervals are all smaller than the preset critical error interval, a simulated cable curve is output to correct the three-dimensional model of the power grid; When the deviation spacing is greater than the critical error spacing, the three-dimensional coordinates of the deleted point are defined as the three-dimensional coordinates of the error grid point, and the grid point number corresponding to the three-dimensional coordinates of the error grid point is defined as the error grid point number; Determine the adjacent power grid point number and the adjacent power grid point three-dimensional coordinates based on the wrong power grid point number; Sequentially removing the three-dimensional coordinates of the erroneous power grid point and the three-dimensional coordinates of the adjacent power grid point corresponding to any adjacent power grid point number to form a second local simulated cable curve; Based on the first local simulated cable curve and the second local simulated cable curve, a deviation distance at adjacent power grid point numbers is obtained, and the deviation distance is defined as an adjacent deviation distance; When the adjacent deviation spacing is greater than the critical error spacing, the second local simulated cable curve is updated to the first local simulated cable curve, and the adjacent power grid point number is updated to the error power grid point number and the adjacent power grid point number is continuously determined to update the second local simulated cable curve until the adjacent deviation spacing is less than the critical error spacing; When the adjacent deviation spacing is less than the critical error spacing, outputting a second local simulated cable curve to correct the three-dimensional power grid model; The wrong grid point number and the preset cable detachment signal are output.

[0017] By adopting the above technical solution, the abnormal point is determined by the spline curve. If the lack of a point does not affect the shape of the spline curve, it means that it is normal. If the lack of a point greatly affects the shape of the spline curve, it means that the point here is abnormal, and a cable detachment signal is output, which improves the guidance and efficiency of solving the final problem of the cable.

[0018] Optionally, the method for verifying the worker's posture and the on-site situation image further includes: Filtering the power grid point number located on the power pole based on the preset power pole point category, defining the power grid point number as the pole point number, and the number of the pole point numbers is two; Determine the same pole distance receiver number on the same pole and the different pole distance receiver number on another pole based on the pole point number and the working position; Obtain the same-pole power grid point distances received by the distance receiver corresponding to the same-pole distance receiver number and the different-pole power grid point distances received by the distance receiver corresponding to the different-pole distance receiver number. The number of the same-pole power grid point distances and different-pole power grid point distances corresponding to the same pole point number are both two; Determine the relative status of the two poles based on the distances between two groups of points on the same pole and points on different poles; When the relative state of the two rods is a preset parallel state, output the worker's posture and on-site situation image; When the relative state of the two rods is a preset tilt state, the adjacent distance receiver numbers other than the distance receiver numbers of the different rods are determined based on the distance receiver numbers of the same rod, and updated to the distance receiver numbers of the different rods, and the relative state of the two rods is determined, and the relative state of the two rods is defined as the adjacent rod relative state; When adjacent poles are in a parallel state relative to each other, the poles corresponding to the same pole distance receiver numbers are defined as vertical poles, and the poles corresponding to the different pole distance receiver numbers are defined as inclined poles; When the adjacent poles are in a tilted state relative to each other, the poles corresponding to the same pole distance receiver numbers are defined as tilted poles, and the poles corresponding to the different pole distance receiver numbers are defined as vertical poles. The inclination angle of the inclined utility pole is determined based on the relative state of the two poles, and the posture of the staff and the on-site situation image are corrected based on the inclination angle.

[0019] By adopting the above technical solution, the angle between two electric poles is determined by the three-dimensional coordinates of the power grid on the electric poles and the properties of the three-point straight line on the electric poles. If the angle is incorrect, it is necessary to adjust the posture and on-site image measured by the distance sensor to improve the accuracy of the posture and on-site situation image output.

[0020] In the second aspect, the present application provides a system for detecting compliance of live working entering and exiting equipotential, which adopts the following technical solution: A live working entry and exit equipotential action compliance detection system, comprising: An acquisition module is used to acquire working signals, working positions, on-site situation images, standard images, joint point distances and joint point strengths; A memory for storing a program of a control method for any of the above-mentioned methods for detecting compliance of actions of entering and exiting equipotential during live working; The program in the processor memory can be loaded and executed by the processor to implement any of the above-mentioned control methods for detecting the action compliance of entering and exiting the equipotential during live working.

[0021] By adopting the above technical solution, the posture of the staff is determined and then input into the power grid model to determine the user's working method, retrieve the safety distance corresponding to the method from the database, and then judge whether the user is in a safe state. If not, an alarm is issued, thereby improving the accuracy and real-time performance of the alarm.

[0022] In summary, the present application includes at least the following beneficial technical effects: By determining the posture of the staff and then judging whether the user is in a safe state, an alarm is issued if it is not safe, thus improving the accuracy and real-time nature of the alarm; The user's posture is obtained through the three-dimensional positions and joint numbers of all joint points, which improves the accuracy and efficiency of posture determination; The three-dimensional position of the same power grid node is obtained through three distances of the same intensity, and then the actual power grid situation is determined by the coordinates of the node, which improves the accuracy of the power grid model. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of a method for detecting compliance of live working entering and exiting equipotential in an embodiment of the present application.

[0024] Figure 2 It is a simulation diagram of maintenance by live working personnel in an embodiment of the present application.

[0025] Figure 3 It is a schematic diagram of the working method of dividing the potential at the working position of the operator in the embodiment of the present application.

[0026] Figure 4 It is a flowchart of a method for controlling the monitoring device corresponding to the monitoring device number in an embodiment of the present application to monitor and obtain the posture of the staff.

[0027] Figure 5 It is a flowchart of a method for simulating human posture based on joint point numbers and three-dimensional coordinates of joint points in an embodiment of the present application.

[0028] Figure 6 It is a flow chart of a method for verifying three-dimensional coordinates of joint points in an embodiment of the present application.

[0029] Figure 7 It is a flow chart of a method for verifying a three-dimensional model of a power grid in an embodiment of the present application.

[0030] Figure 8 It is a flow chart of a method for correcting a three-dimensional model of a power grid based on power grid point numbers and three-dimensional coordinates of power grid points in an embodiment of the present application.

[0031] Fig. 9 It is a simulation diagram of the power grid curve in the embodiment of the present application.

[0032] Fig.10 It is a flow chart of a method for further verifying the posture of the staff and the on-site situation image in an embodiment of the present application.

[0033] Fig.11 It is a system module diagram of a method for detecting compliance of live working entering and exiting equipotential in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 11 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The present application embodiment discloses a method for detecting compliance of live working entering and exiting an equipotential action. Figure 1 , a method for detecting compliance of actions of entering and exiting equipotential during live working includes: Step 100: Acquire the working position when receiving a preset working signal.

[0036] The work signal is a signal that the staff needs to perform live work. Here, a confirmation button on the mobile terminal can be set at the corresponding staff, and then when the staff presses the confirmation button, the corresponding work signal is sent to the system. The work position is the position where the staff needs to work. Here, it can be input by the staff, or the staff can have a GPS system and obtain it through GPS positioning.

[0037] Step 101: Find the corresponding monitoring equipment number from a preset detection database based on the operation location.

[0038] The monitoring equipment number includes the distance receiver number and the camera number. The distance receiver number is the number of the distance receiver, which is installed on two adjacent poles. There are two distance receivers on the same pole, located on the upper and lower sides of the pole. The distance receiver here is the receiver in the sonar instrument, and at the corresponding position there is a sonar transmitter that transmits signals to the surroundings, thereby obtaining the distance between the two. The camera number is the number of the camera, which is installed on the upper side of the pole.

[0039] The detection database stores the mapping relationship between the operation location and the monitoring equipment number. The staff in this field can obtain the mapping relationship based on the actual location range and the monitoring equipment nearby. When the system receives the corresponding operation location, it automatically matches the location range, and then finds the corresponding monitoring equipment number from the database and outputs it.

[0040] Step 102: Control the monitoring device corresponding to the monitoring device number to perform monitoring to obtain the posture of the staff and the on-site situation image.

[0041] The worker pose is the pose of the worker. The specific acquisition method is described in the subsequent steps, and can also be obtained by reading the features of the current worker and matching the photos of the current worker in different poses.

[0042] The on-site situation image is an image of the current on-site situation, such as Figure 2As shown, the gray personnel characteristics are the personnel characteristics generated by simulation.

[0043] Step 103: Determine the operation method based on the on-site situation image.

[0044] The operation method is the method of live operation by the staff. According to the potential of the maintenance personnel's work station during live operation, the operation is divided into three categories, including ground potential, intermediate potential and equipotential operation method, such as Figure 3 As shown. Ground potential operation refers to the operation of the operator in the same potential state as the earth, using insulating operating tools to perform the operation. When there is a sufficient safety distance between the human body and the charged body, the current flowing through the human body is at the microampere level, ensuring the safety of the operator. Intermediate potential operation method refers to the maintenance personnel in a potential state between the earth and the charged equipment, using insulating operating tools to perform the operation, and a large safety distance must be relied on to ensure the safety of the operator. Equipotential operation method refers to the operator in the same potential state as the charged body, wearing shielding equipment to perform live work. However, in the process of the human body entering the equipotential, a short transient process will occur, and a large transient current will appear in this process. Therefore, during the equipotential operation, the operator should move quickly to enter and leave the equipotential, and the human body should always maintain the same potential as the charged body during the operation. Here, it can be identified by identifying the human body and the charged body and whether there are insulators above and below.

[0045] Step 104: Find the corresponding safety distance from a preset safety distance database based on the operation method.

[0046] The safety distance is the safety distance between the power grid and / or the ground set in each operation method to prevent the current from passing through the human body and endangering the human body. The mapping relationship between the operation method and the safety distance is stored in the database. It is obtained by the staff in this field based on actual life experience and theoretical knowledge. When the system receives the corresponding operation method, it automatically finds the corresponding safety distance from the database and outputs it.

[0047] Step 105: Determine the actual distance based on the worker's posture and the preset three-dimensional model of the power grid.

[0048] The three-dimensional model of the power grid is a three-dimensional model of the power grid. Here, the model is artificially established in advance through the power grid digital twin technology. Here, it can be three-dimensional modeling of the physical power transmission and transformation equipment to form a simulated device in the digital space, and the data of the physical equipment and the virtual space equipment are mapped to realize various digital twin power grid application scenarios including visualization. The three-dimensional modeling technology takes the real scene and the real object as the object, and establishes the corresponding model through the synchronous positioning and mapping (SLAM) method such as oblique photography, close-range photography or three-dimensional laser scanning. The three-dimensional model of surveying and modeling based on the SLAM method can reflect the appearance and position of the power transmission and transformation equipment and truly depict the appearance of the equipment, but it cannot reflect the logical relationship between the assembly interface and electrical connection between the internal components of the equipment. In order to increase the visualization effect, the model should reflect the real situation of the physical entity as much as possible, so it is necessary to combine surveying and modeling with parameter modeling to meet the intelligent operation and maintenance requirements of digital twin equipment. Usually, on the basis of surveying and modeling, the model is structured and decomposed with BIM / GIM files to make the three-dimensional model structured and hierarchical with high realistic effects. Laser radar can be used to scan equipment on site, and computer vision marking technology can be used to build a global laser point cloud of the line network and station, achieving centimeter-level 3D reconstruction accuracy. Finally, physically based rendering (PBR) modeling technology is used to complete high-accuracy 3D modeling of the equipment level.

[0049] Step 106: Determine a safety result based on the actual distance and the safety distance.

[0050] The safety result is the result of whether the staff is safe. The determination method can be a comparison method, and then the comparison result and the corresponding content can be searched in the database. For example, if the comparison result is that the actual distance is less than the safety distance, the comparison result is unsafe, and the output safety result is unsafe, that is, a dangerous result.

[0051] Step 107: Output an alarm signal when the safety result is a preset danger result.

[0052] The dangerous result is that the live worker falls into the safe distance as a whole or in part and may be harmed by the current. The alarm signal is a signal that the live worker should pay attention to his own safety. The output method can be a speaker that emits an alarm sound.

[0053] Reference Figure 4 , the method of controlling the monitoring device corresponding to the monitoring device number to monitor and obtain the posture of the worker includes: Step 200: arbitrarily select three distance receivers corresponding to the distance receiver numbers to receive the joint point distance and joint point strength emitted by any joint point installed on the shielding device worn on the human body, and define the three distance receiver numbers that determine the three-dimensional coordinates of the joint point as positioning receiver numbers.

[0054] Here, the distance on each distance receiver is obtained by the distance between the sonar transmitter and the distance receiver at a certain joint point, and the position of the distance receiver is fixed. The fixed distance of the three fixed position points can determine the uniqueness of the joint point. The number of this point is two, on both sides of the plane where the parallel lines of the two poles are located. At this time, the angle of the corresponding distance receiver can also be read to identify which side it is on. The corresponding angle here is the clearest angle to identify the signal. It should be noted that since there is only one distance receiver, the distance receiver needs to rotate continuously to receive the signal from the sonar transmitter at the joint points at different positions. Therefore, an angle sensor can also be set to the corresponding distance receiver to detect the angle of the distance receiver, so as to obtain the corresponding joint point more quickly. The joint point strength is the strength of the signal emitted by the sonar transmitter at the joint point at the corresponding position. The purpose of setting the strength to different here is to determine which node it is.

[0055] It should be noted that the joint points are the joint points on the shielding equipment, for example: shielding clothing, the points on it correspond to the joints of the user.

[0056] Step 201: Find the corresponding three-dimensional coordinates of the positioning receiver from a preset installation database based on the positioning receiver number.

[0057] The three-dimensional coordinates of the positioning receiver are the three-dimensional coordinates of the positioning receiver. The mapping relationship between the positioning receiver number and the three-dimensional coordinates of the positioning receiver is stored in the database. The three-dimensional coordinates of the positioning receiver are obtained by measuring the three-dimensional coordinates of the positioning receiver when installing the distance receiver corresponding to the positioning receiver number. Here, the three-dimensional coordinates of the positioning receiver can be taken as the origin from a certain point of one of the two adjacent poles, or from a certain position of the entire power grid, as long as all the reference coordinate systems are the same. When the system receives the corresponding positioning receiver number, it automatically finds the corresponding three-dimensional coordinates of the positioning receiver from the database and outputs it.

[0058] Step 202: Find the corresponding joint point number from a preset point database based on the joint point strength.

[0059] The joint point number is the number of the corresponding joint point. This is also the number of the sonar transmitter on the corresponding joint point. The database stores the mapping relationship between the node strength and the joint point number. When installing the sonar transmitter, the staff in this field can set different sound wave intensities for each node, and then record the corresponding joint point number and joint point strength. When the system receives the corresponding joint point strength, it automatically finds the corresponding joint point number from the database and outputs it.

[0060] Step 203: Determine the three-dimensional coordinates of the joint point based on the joint point distance corresponding to the same joint point strength and the three-dimensional coordinates of the positioning receiver.

[0061] The three-dimensional coordinates of the joint points are the three-dimensional coordinates of the joint points. Since the three-dimensional coordinates of the positioning receiver have been determined, a sphere is made with the corresponding joint point distance as the radius, and the intersection of the three spheres is the corresponding three-dimensional coordinates of the joint points. Generally, the number of intersections of the spheres is 2, and then it is determined in combination with the receiving angle of the corresponding distance receiver.

[0062] Step 204: Simulate the posture of the person based on the joint point numbers and the three-dimensional coordinates of the joint points.

[0063] The simulation method here is to first determine how to connect according to the joint point numbers, for example, the points at the fingers are connected to the points at the palm, and the points at the palm and the forearm are connected. Finally, after the connection is completed, it is the personnel posture.

[0064] Reference Figure 5 ,The method of simulating the posture of a person based on the joint point number and the three-dimensional coordinates of the joint point includes: Step 300: Based on the joint point number, find the corresponding adjacent point number, interval distance range and allowed direction range from a preset equipment database.

[0065] The adjacent point number is the number of the joint point adjacent to the joint point corresponding to the joint point number. For example, if the joint point number is the number of the joint point corresponding to the forearm and the upper arm, then the adjacent point number is the number of the joint point corresponding to the palm and the forearm or the number of the joint point corresponding to the upper arm and the trunk. The interval distance range is the range of the distance between the joint point corresponding to the joint point number and the joint point corresponding to the adjacent point number, for example, the distance between the joint point number corresponding to the forearm and the upper arm and the joint point number corresponding to the upper arm and the trunk, which is the range of the length of the forearm or the length of the upper arm. It can be a fixed value, such as the length of the forearm, or a range, such as the distance between the fingertips of the fingers and the palm. The allowed direction range is the range of directions between the numbers of two joint points, for example, there is a range between the joint point on the top of the head and the joint point at the neck, and there is a range between the joint point at the pelvic position on the trunk and the joint point at the neck, generally with a maximum of 0 to 180°. Since the upper arm can rotate 360°, there is no range between the joint point numbers corresponding to the forearm and the upper arm and the joint point numbers corresponding to the upper arm and the trunk. The database stores the mapping relationship between the node number, the adjacent point number, the interval distance range and the allowed direction range. It is set by the staff in this field according to the actual situation and their own experience. When the system receives the corresponding joint point number, it automatically finds the corresponding adjacent point number and the interval distance range and the allowed direction range between the adjacent point numbers from the database.

[0066] Step 301: Determine the corresponding three-dimensional coordinates of the joint point based on the adjacent point number, and define the three-dimensional coordinates of the joint point as the adjacent joint point three-dimensional coordinates.

[0067] The adjacent joint point three-dimensional coordinates are the adjacent point numbers corresponding to the joint point three-dimensional coordinates. The determination method is similar to step 201, and will not be repeated here.

[0068] Step 302: Determine the current adjacent distance and actual orientation based on the adjacent joint point three-dimensional coordinates and the joint point three-dimensional coordinates.

[0069] The current adjacent distance is the distance between the adjacent joint point three-dimensional coordinates and the joint point three-dimensional coordinates. The actual orientation is the orientation between the adjacent joint point three-dimensional coordinates and the joint point three-dimensional coordinates. Here, the actual orientation is determined in the same way as the allowed direction range, that is, if the allowed direction range is determined from the adjacent joint point three-dimensional coordinates to the joint point three-dimensional coordinates, then the actual orientation is also determined from the adjacent joint point three-dimensional coordinates to the joint point three-dimensional coordinates. The determination method is that both are determined in the form of vectors, that is, the starting point of the vector is the adjacent joint point three-dimensional coordinates or the joint point three-dimensional coordinates, and the end point of the vector is another three-dimensional coordinate. Then the length of the vector is the current adjacent distance, and the actual orientation is the direction of the vector.

[0070] Step 303: When the allowed direction range exists, the current adjacent distance falls within the interval distance range and the actual direction falls within the allowed direction range, the joint point number and the adjacent point number are sequentially connected to form the personnel posture.

[0071] The existence of the allowed direction range indicates that there is a limit on the allowed direction range. When the current adjacent distance falls within the interval distance range and the actual direction falls within the allowed direction range, it means that the shielding equipment worn by the user meets the requirements, and the corresponding joint points are also points on the human body, and can be directly connected to form the personnel posture.

[0072] Step 304: When the allowed direction range exists and the current adjacent distance does not fall within the interval distance range or the actual direction does not fall within the allowed direction range, a preset shielding device not penetrated signal is output.

[0073] The shielding equipment not worn signal is a signal that the user may not have worn the shielding equipment after detection. The output here can be a loudspeaker broadcast, that is, a loudspeaker can be set on a nearby electric pole to make a notification.

[0074] When the current adjacent distance does not fall within the interval distance range or the actual direction does not fall within the allowed direction range, it means that the user's wearing of shielding equipment does not meet the requirements. For example, if the safety helmet is not worn, the distance between the joint points of the safety helmet and the joint points at the neck is incorrect, or the actual direction does not fall within the allowed direction range, it is easy to cause electric shock, so the shielding equipment is not worn signal is output.

[0075] Step 305: When the allowed direction range does not exist and the current adjacent distance falls within the interval distance range, the joint point number and the adjacent point number are sequentially connected to form the personnel posture.

[0076] If the allowed direction does not exist, it means that there is no orientation requirement here, and you only need to determine whether it meets the interval distance range. When the current adjacent distance falls within the interval distance range, it means that the user's wearing of shielding equipment meets the requirements, and the corresponding joint points are also points on the human body, so they can be directly connected to form the person's posture.

[0077] Step 306: When the allowed direction does not exist and the current adjacent distance does not fall within the spacing distance range, output a shielding device not penetrated signal.

[0078] When the current adjacent distance does not fall within the interval distance range, it means that the shielding equipment worn by the user does not meet the requirements.

[0079] Step 307: Outputting a preset shielding device damage signal when a joint point number or an adjacent point number exists but the corresponding joint point distance is not received.

[0080] The existence of joint point numbers or adjacent point numbers is theoretically possible, but when the corresponding joint point distance is not received, it means that the sonar transmitter of the corresponding joint point number or adjacent point number has not sent a signal, which means that the corresponding transmitter is damaged at this time.

[0081] Reference Figure 6 , and also includes a method for checking the three-dimensional coordinates of the joint points, the method comprising: Step 400: define the joint point strength corresponding to the positioning receiver number as the verification joint point strength, and define another remaining distance receiver number as the verification receiver number.

[0082] Step 401: Filter the joint point distance received by the verification receiver number based on the verification joint point strength, and define the joint point distance as the verification joint point distance.

[0083] The screening method is to obtain the same strength as that of the joint points.

[0084] Step 402: Find the corresponding three-dimensional coordinates of the verification receiver from the installation database based on the verification receiver number.

[0085] The three-dimensional coordinates of the check receiver are the three-dimensional coordinates of the distance receiver corresponding to the check receiver number. The establishment of the database is described in step 201 and will not be repeated here. When the system receives the corresponding check receiver number, it automatically finds the corresponding three-dimensional coordinates of the check receiver from the database and outputs it.

[0086] Step 403: Determine the actual joint point distance based on the verification of the receiver three-dimensional coordinates and the joint point three-dimensional coordinates.

[0087] The actual joint point distance is the distance between the three-dimensional coordinates of the verification receiver and the three-dimensional coordinates of the joint point. The calculation formula here is ,in, is the actual joint point distance, To check the receiver's 3D coordinates, is the three-dimensional coordinate of the joint point.

[0088] Step 404: Outputting the working position and a preset receiver error signal when the verified joint point distance is different from the actual joint point distance.

[0089] The receiver error signal is a signal indicating that at least one of the four receivers has a problem. The output may be in the form of text output, that is, the text "receiver error" is sent at the mobile terminal or control terminal of the corresponding staff member.

[0090] If they are not the same, it means that at least one of the four distances is wrong, and the corresponding receiver error signal is output. The purpose of outputting the working position is to allow maintenance personnel to go to the corresponding position for determination.

[0091] Step 405: Output the three-dimensional coordinates of the joint points when the verified joint point distance and the actual joint point distance are the same.

[0092] When the verified joint point distance is the same as the actual joint point distance, it means that the requirements are met from the perspective of distance measurement. Therefore, the three-dimensional coordinates of the joint points can be output to indicate that the distance receiver is working normally.

[0093] Reference Figure 7 , and also includes a method for checking the three-dimensional model of the power grid, the method comprising: Step 500: Acquire a standard image when establishing a three-dimensional power grid model.

[0094] The standard image is the image captured by the camera when the three-dimensional model of the power grid is established.

[0095] Step 501: When a working signal is received, an analysis is performed based on the on-site situation image and the standard image to determine a comparison result corresponding to a preset power grid feature.

[0096] The grid features are features corresponding to the grid, such as electric wires, electric poles and electric towers, which can be distinguished by corresponding colors. The comparison result is the result of whether the grid features overlap, that is, whether the grid features overlap when the two images are put together.

[0097] In order to reduce unnecessary image acquisition, this step is performed only when a working signal is received.

[0098] Step 502: directly outputting the three-dimensional power grid model when the comparison result is a preset coincidence result.

[0099] The coincidence result is the result of the coincidence of the power grid features. When the comparison result is a coincidence result, it means that the power grid has not shifted at this time, and the three-dimensional model of the power grid does not need to be changed, and the three-dimensional model of the power grid established before can be directly output.

[0100] Step 503: When the comparison result is a preset deviation result, the distance transmitter installed on the power grid is activated and the distance receiver corresponding to the positioning receiver number receives the power grid point distance and the power grid point strength.

[0101] The deviation result is the result of a deviation in the characteristics of the power grid. When a deviation occurs, it means that the cause needs to be confirmed. At this time, the distance transmitter installed on the power grid is started and the distance receiver corresponding to the positioning receiver number receives the distance and strength of the power grid point, thereby determining the position of each point on the power grid. It should be noted that sonar transmitters are also installed on the power grid in turn to detect whether the position of the power grid has shifted.

[0102] Step 504: Find the corresponding grid point number from the point database based on the grid point strength.

[0103] The grid point number is the number of the grid point. The database is introduced in step 202 and will not be described here. When the system receives the corresponding grid point strength, it automatically finds the corresponding grid point number from the database and outputs it.

[0104] Step 505: Determine the three-dimensional coordinates of the power grid point based on the power grid point distance corresponding to the same power grid point strength and the three-dimensional coordinates of the positioning receiver.

[0105] The determination method here is similar to step 203 and will not be described in detail here.

[0106] Step 507: Correcting the three-dimensional model of the power grid based on the power grid point number and the three-dimensional coordinates of the power grid point.

[0107] The determination method here is similar to step 204 and will not be described in detail here.

[0108] Reference Figure 8 The method for correcting the three-dimensional model of the power grid based on the power grid point number and the three-dimensional coordinates of the power grid point includes: Step 600: Based on the grid point number and the preset cable point category, spline curve simulation is performed on the three-dimensional coordinates of the grid point in sequence to form a simulated cable curve.

[0109] The cable point category is the location corresponding to the grid point number, which is the category of the cable point. The simulated cable curve is the curve after the cable is simulated, such as Fig. 9Curve a shown. The simulation method here can be a spline curve method. It should be noted that since the electric poles are basically unchanged, and if they change, they will be checked according to the subsequent steps, so the points determined here in step 600 are all points of wires, that is, cable point categories, rather than points of electric poles.

[0110] Step 601: sequentially remove any three-dimensional coordinates of power grid points to form a first local simulated cable curve, and define the removed three-dimensional coordinates of the power grid points as deleted three-dimensional coordinates of the points.

[0111] The first local simulated cable curve is the cable curve after removing one of the points, such as Fig. 9 Curve b is shown.

[0112] Step 602: Obtain the deviation distance at the three-dimensional coordinates of the deletion point based on the simulated cable curve and the first local simulated cable curve.

[0113] The deviation spacing is the deviation spacing at the same deleted point 3D coordinates, which can be the distance between points with the same horizontal coordinates on curve a and curve b, that is, the vertical distance. The calculation method is to make a vertical straight line at the corresponding deleted point 3D coordinates, and then measure the distance between the intersection of the two curves and the straight line.

[0114] Step 603: When the deviation intervals are all smaller than the preset critical error intervals, output the simulated cable curve to correct the three-dimensional power grid model.

[0115] The critical error spacing is a spacing that is set manually without a large deviation. If it exceeds this deviation, it means that the wire is abnormal. This value is set manually. If it is less than, for example, curve d and curve e, it means that the two are basically consistent. It is not a big deal to remove one of them, so it can be corrected directly.

[0116] Step 604: When the deviation interval is greater than the critical error interval, define the deletion point three-dimensional coordinates as the error grid point three-dimensional coordinates, and define the grid point number corresponding to the error grid point three-dimensional coordinates as the error grid point number.

[0117] When the deviation spacing is greater than the critical error spacing, such as curve a and curve b, it means that the three-dimensional coordinates of the deleted point are abnormal, for example, they are truncated, peeled off, or pulled here, and the output is abnormal.

[0118] Step 605: Determine the adjacent grid point number and the adjacent grid point three-dimensional coordinates based on the erroneous grid point number.

[0119] The adjacent grid point number is the number of the point adjacent to the grid point corresponding to the wrong grid point number. The determination method can be to increase or decrease according to the number sequence. The adjacent grid point three-dimensional coordinates are directly obtained by measuring the distance corresponding to the adjacent grid point number.

[0120] Step 606: sequentially remove the erroneous three-dimensional coordinates of the power grid point and the three-dimensional coordinates of the adjacent power grid point corresponding to any adjacent power grid point number to form a second local simulated cable curve.

[0121] The second local simulation cable curve is a fitting curve after removing the three-dimensional coordinates of the wrong grid point and the three-dimensional coordinates of the adjacent grid point corresponding to any adjacent grid point number, such as Fig. 9 As shown in curve c.

[0122] Step 607: Obtain the deviation distance at adjacent power grid point numbers based on the first local simulated cable curve and the second local simulated cable curve, and define the deviation distance as an adjacent deviation distance.

[0123] The adjacent deviation distance is the deviation distance at adjacent power grid point numbers.

[0124] Step 608: When the adjacent deviation spacing is greater than the critical error spacing, update the second local simulated cable curve to the first local simulated cable curve, and update the adjacent grid point number to the error grid point number and continue to determine the adjacent grid point number to update the second local simulated cable curve until the adjacent deviation spacing is less than the critical error spacing.

[0125] If it is still greater, it means that the actual curve has not been found, then continue to delete, then update the second local simulated cable curve to the first local simulated cable curve, and update the adjacent grid point number to the wrong grid point number and continue to determine the adjacent grid point number to update the second local simulated cable curve until the adjacent deviation spacing is less than the critical error spacing.

[0126] Step 609: Output a second local simulated cable curve to correct the three-dimensional power grid model when the adjacent deviation interval is less than the critical error interval.

[0127] When it is less than, it means that the actual curve has been confirmed and the three-dimensional model of the power grid can be corrected according to the actual curve.

[0128] Step 610: Output the wrong grid point number and the preset cable detachment signal.

[0129] The cable detachment signal is a signal outputted when the cable is partially detached. The output here can be a speaker audio output. The wrong grid point number and the cable detachment signal are outputted to facilitate the staff to repair the position corresponding to the wrong grid point number.

[0130] Reference Fig.10 , the verification method of the worker's posture and the on-site situation image further includes: Step 700: Filter the power grid point number located on the power pole based on the preset power pole point category, and define the power grid point number as the pole point number.

[0131] The number of pole point numbers is two. The pole point category is the category of the point on the pole corresponding to the power grid point number.

[0132] Step 701: Determine the same-pole distance receiver number on the same utility pole and the different-pole distance receiver number on another utility pole based on the point number on the pole and the working position.

[0133] The same pole distance receiver number is the number of the distance receiver on the same pole at the grid point corresponding to the pole point number. The different pole distance receiver number is the number of the distance receiver on the pole at a different grid point corresponding to the pole point number. It should be noted that the working position here is between the same pole and another pole.

[0134] Step 702: obtaining the same-pole power grid point distances received by the distance receiver corresponding to the same-pole distance receiver number and the different-pole power grid point distances received by the distance receiver corresponding to the different-pole distance receiver number.

[0135] Since the number of point numbers on the pole is two, the number of same-pole grid point distances and different-pole grid point distances corresponding to the same pole point number are both two.

[0136] Step 703: Determine the relative status of the two poles based on the two groups of same-pole grid point distances and different-pole grid point distances.

[0137] The relative state of the two poles is the relative state between the two poles. Here, the angle of the pole is determined by determining the distance between the two grid points on the same pole, and then the angle of the other pole is obtained. However, since these two angles are based on the positions of the two sets of grid points on the same pole and the grid points on the opposite pole, they are all on the pole. Therefore, this is a relative state. The determination method is to use the distance of the opposite grid point on the opposite pole received by any distance receiver as the two sides, and the distance between the grid point numbers on the opposite pole as the third side, so as to form a triangle to obtain the direction of the pole on the opposite pole, and then obtain the position of the distance receiver through the position between the distance receiver and the transmitter on the opposite pole, and then obtain the direction of the pole on the same pole in reverse, so as to determine the relative state between the two poles.

[0138] Step 704: When the relative state of the two rods is a preset parallel state, output the worker's posture and on-site situation image.

[0139] The parallel state is the state where two poles are parallel to each other. It is assumed that the poles are parallel to each other after installation. If they are tilted due to different conditions later, it is impossible for any two poles to be the same. When the two poles are parallel to each other, it means there is no tilt, and the staff posture and on-site situation images are directly output.

[0140] Step 705: When the relative state of the two rods is a preset tilt state, the adjacent distance receiver numbers other than the different rod distance receiver numbers are determined based on the same rod distance receiver numbers, and updated to the different rod distance receiver numbers, and the relative state of the two rods is determined, and the relative state of the two rods is defined as the adjacent rod relative state.

[0141] The tilt state is the state of relative tilt between the two rods. When the relative state between the two rods is a tilt state, it means that one of the rods is tilted or both rods are tilted, and the other rods are needed to make a judgment.

[0142] Step 706: When the adjacent poles are in a parallel state relative to each other, the poles corresponding to the same pole distance receiver numbers are defined as vertical poles, and the poles corresponding to the different pole distance receiver numbers are defined as inclined poles.

[0143] When the adjacent poles are in a parallel state relative to each other, it means that the pole corresponding to the same pole distance receiver number is parallel to an adjacent pole, and the pole corresponding to the different pole distance receiver number is tilted.

[0144] Step 707: When the relative state of adjacent poles is an inclined state, the poles corresponding to the same pole distance receiver numbers are defined as inclined poles, and the poles corresponding to the different pole distance receiver numbers are defined as vertical poles.

[0145] When the adjacent poles are in a tilted state relative to each other, it means that the pole corresponding to the same pole distance receiver number and an adjacent pole are tilted. Step 708: Determine the inclination angle of the inclined utility pole based on the relative state of the two pole bodies, and correct the worker's posture and the on-site situation image based on the inclination angle.

[0146] The tilt angle is a specific value corresponding to the relative state of the two poles. The correction method can be corrected in proportion, or through a database. The database stores the mapping relationship between the tilt angle and the correction ratio. The staff in this field places a camera on the corresponding pole, and then places a square image at different positions, and then measures the length of different positions in the image and the length when placed vertically, and then converts the ratio. When the system receives the corresponding tilt angle, it automatically finds the corresponding correction ratio from the database and outputs it. Here, the correction ratio is the correction ratio at each pixel, and the ratio at different pixels is different.

[0147] Based on the same inventive concept, an embodiment of the present invention provides an action compliance detection system for live working entering and exiting equipotential.

[0148] Reference Fig.11 , a live working entry and exit equipotential action compliance detection system, comprising: An acquisition module is used to acquire working signals, working positions, on-site situation images, standard images, joint point distances and joint point strengths; A memory for storing a program of a control method for a method for detecting compliance of an action of entering and exiting an equipotential state during live working; The program in the processor memory can be loaded and executed by the processor to implement a control method for detecting the compliance of live working entering and exiting the equipotential action.

[0149] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0150] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for detecting compliance of live working entering and exiting equipotential, characterized in that: include: Acquire the working position when receiving the preset working signal; Based on the operation position, the corresponding monitoring device number is found from the preset detection database, and the monitoring device number includes a distance receiver number and a camera number. The distance receiver number is the number of the distance receiver, and the distance receiver is arranged on two adjacent preset electric poles. The number of the distance receivers on the same electric pole is two and is located on the upper and lower sides of the electric pole. The camera number is the number of the camera, and the camera is arranged on the upper side of the electric pole; Control the monitoring device corresponding to the monitoring device number to monitor and obtain the posture of the staff and the on-site situation image; Determine the operation method based on the image of the on-site situation; Find the corresponding safety distance from the preset safety distance database based on the operation method; Determine the actual distance based on the worker's position and the preset three-dimensional model of the power grid; Determine safety results based on actual distance and safety distance; When the safety result is a preset dangerous result, an alarm signal is output.

2. A method for detecting compliance of live working entering and exiting equipotential according to claim 1, characterized in that: The method of controlling the monitoring device corresponding to the monitoring device number to monitor and obtain the position and posture of the worker includes: Randomly select three distance receiver numbers corresponding to the distance receiver numbers to receive the joint point distance and joint point strength emitted by any joint point installed on the shielding device worn on the human body, and define the three distance receiver numbers that determine the three-dimensional coordinates of the joint point as positioning receiver numbers; Find the corresponding three-dimensional coordinates of the positioning receiver from a preset installation database based on the positioning receiver number; Based on the joint point strength, the corresponding joint point number is found from the preset point database; Determine the three-dimensional coordinates of the joint point based on the joint point distance corresponding to the same joint point strength and the three-dimensional coordinates of the positioning receiver; The personnel posture is simulated based on the joint point numbers and the three-dimensional coordinates of the joint points.

3. A method for detecting compliance of live working entering and exiting equipotential according to claim 2, characterized in that: Methods for simulating personnel posture based on joint point numbers and three-dimensional coordinates of joint points include: Based on the joint point number, find the corresponding adjacent point number, interval distance range and allowed direction range from the preset equipment database; Determine the corresponding three-dimensional coordinates of the joint point based on the adjacent point number, and define the three-dimensional coordinates of the joint point as the three-dimensional coordinates of the adjacent joint point; Determine the current adjacent distance and actual direction based on the three-dimensional coordinates of the adjacent joint points and the three-dimensional coordinates of the joint points; When the allowed direction range exists, the current adjacent distance falls within the interval distance range and the actual direction falls within the allowed direction range, the joint point number and the adjacent point number are sequentially connected to form the personnel posture; When the allowed direction range exists and the current adjacent distance does not fall within the interval distance range or the actual direction does not fall within the allowed direction range, a preset shielding device not penetrated signal is output; If the allowed direction range does not exist and the current adjacent distance falls within the interval distance range, the joint point number and the adjacent point number are sequentially connected to form the personnel posture; When the allowed direction does not exist and the current adjacent distance does not fall within the interval distance range, a shielding device not penetrated signal is output; When a joint point number or an adjacent point number exists but the corresponding joint point distance is not received, a preset shielding device damage signal is output.

4. A method for detecting compliance of live working entering and exiting equipotential according to claim 2, characterized in that: Also included is a method for checking the three-dimensional coordinates of the joint points, the method comprising: The joint point strength corresponding to the positioning receiver number is defined as the verification joint point strength, and the other remaining distance receiver number is defined as the verification receiver number; The joint point distance received by the verification receiver number is screened based on the verification joint point strength, and the joint point distance is defined as the verification joint point distance; Find the corresponding three-dimensional coordinates of the verification receiver from the installation database based on the verification receiver number; Determine the actual joint point distance based on checking the receiver's three-dimensional coordinates and the joint point's three-dimensional coordinates; When the verified joint point distance is different from the actual joint point distance, the operating position and the preset receiver error signal are output; When the verified joint point distance is the same as the actual joint point distance, the three-dimensional coordinates of the joint point are output.

5. A method for detecting compliance of live working entering and exiting equipotential according to claim 2, characterized in that: Also included is a method for checking a three-dimensional model of a power grid, the method comprising: Acquire standard images when building a three-dimensional model of the power grid; When receiving the working signal, the on-site situation image and the standard image are analyzed to determine the comparison result corresponding to the preset power grid characteristics; When the comparison result is the preset coincidence result, the three-dimensional model of the power grid is directly output; When the comparison result is a preset deviation result, the distance transmitter arranged on the power grid is started and the distance receiver corresponding to the positioning receiver number receives the distance and strength of the power grid point; Find the corresponding power grid point number from the point database based on the power grid point strength; Determine the three-dimensional coordinates of the power grid point based on the power grid point distance corresponding to the same power grid point strength and the three-dimensional coordinates of the positioning receiver; The three-dimensional model of the power grid is corrected based on the power grid point number and the three-dimensional coordinates of the power grid point.

6. A method for detecting compliance of live working entering and exiting equipotential according to claim 5, characterized in that: The method for correcting the three-dimensional model of the power grid based on the power grid point number and the three-dimensional coordinates of the power grid point includes: Based on the grid point number and the preset cable point category, spline curve simulation is performed on the three-dimensional coordinates of the grid point in turn to form a simulated cable curve; Remove any three-dimensional coordinates of power grid points in sequence to form a first local simulated cable curve, and define the removed three-dimensional coordinates of the power grid points as the deleted three-dimensional coordinates of the points; Obtaining a deviation spacing at the three-dimensional coordinates of the deletion point based on the simulated cable curve and the first local simulated cable curve; When the deviation intervals are all smaller than the preset critical error interval, a simulated cable curve is output to correct the three-dimensional model of the power grid; When the deviation spacing is greater than the critical error spacing, the three-dimensional coordinates of the deleted point are defined as the three-dimensional coordinates of the error grid point, and the grid point number corresponding to the three-dimensional coordinates of the error grid point is defined as the error grid point number; Determine the adjacent power grid point number and the adjacent power grid point three-dimensional coordinates based on the wrong power grid point number; Sequentially removing the three-dimensional coordinates of the wrong power grid point and the three-dimensional coordinates of the adjacent power grid point corresponding to any adjacent power grid point number to form a second local simulated cable curve; Based on the first local simulated cable curve and the second local simulated cable curve, a deviation distance at adjacent power grid point numbers is obtained, and the deviation distance is defined as an adjacent deviation distance; When the adjacent deviation spacing is greater than the critical error spacing, the second local simulated cable curve is updated to the first local simulated cable curve, and the adjacent power grid point number is updated to the error power grid point number and the adjacent power grid point number is continuously determined to update the second local simulated cable curve until the adjacent deviation spacing is less than the critical error spacing; When the adjacent deviation spacing is less than the critical error spacing, outputting a second local simulated cable curve to correct the three-dimensional power grid model; The wrong grid point number and the preset cable detachment signal are output.

7. A method for detecting compliance of live working entering and exiting equipotential according to claim 5, characterized in that: The method for checking the worker's posture and the on-site situation image further includes: Filtering the power grid point number located on the power pole based on the preset power pole point category, defining the power grid point number as the pole point number, and the number of the pole point numbers is two; Determine the same pole distance receiver number on the same pole and the different pole distance receiver number on another pole based on the pole point number and the working position; Obtain the same-pole power grid point distances received by the distance receiver corresponding to the same-pole distance receiver number and the different-pole power grid point distances received by the distance receiver corresponding to the different-pole distance receiver number. The number of the same-pole power grid point distances and different-pole power grid point distances corresponding to the same pole point number are both two; Determine the relative status of the two poles based on the distances between two groups of points on the same pole and points on different poles; When the relative state of the two rods is a preset parallel state, output the worker's posture and on-site situation image; When the relative state of the two rods is a preset tilt state, the adjacent distance receiver numbers other than the distance receiver numbers of the different rods are determined based on the distance receiver numbers of the same rod, and updated to the distance receiver numbers of the different rods, and the relative state of the two rods is determined, and the relative state of the two rods is defined as the adjacent rod relative state; When adjacent poles are in a parallel state relative to each other, the poles corresponding to the same pole distance receiver numbers are defined as vertical poles, and the poles corresponding to the different pole distance receiver numbers are defined as inclined poles; When the adjacent poles are in a tilted state relative to each other, the poles corresponding to the same pole distance receiver numbers are defined as tilted poles, and the poles corresponding to the different pole distance receiver numbers are defined as vertical poles. The inclination angle of the inclined utility pole is determined based on the relative state of the two poles, and the posture of the staff and the on-site situation image are corrected based on the inclination angle.

8. A system for detecting compliance of live working entering and exiting equipotential, characterized in that: include: An acquisition module is used to acquire working signals, working positions, on-site situation images, standard images, joint point distances and joint point strengths; A memory for storing a program of a control method for a method for detecting compliance of an action of entering and exiting an equipotential for live working according to any one of claims 1 to 7; The program in the processor memory can be loaded and executed by the processor to implement a control method for detecting the action compliance of live working entering and exiting equipotential as described in any one of claims 1 to 7.

Images