Substation crane safety early warning method, system, electronic equipment and storage medium

Abstract

The present invention relates to the field of safety protection technology, and in particular to a method, system, electronic device and storage medium for safety warning of a substation crane, the method comprising: determining the three-dimensional electronic perimeter corresponding to the target substation, and using a safety tag set at the top of the boom of the target crane to obtain the current position of the top of the boom of the target crane; wherein the safety tag comprises an RTK positioning module and a wireless communication module; based on the positional relationship between the current position and the three-dimensional electronic perimeter, determining whether to output safety warning information. The present invention uses RTK technology to locate the crane boom, which can reduce environmental interference and human interference in the positioning process, and improve positioning accuracy, making the substation crane safety warning more accurate and effectively reducing safety risks.

Description

Background Art

[0002] The construction, expansion, technical transformation, overhaul and other in-station construction lifting and transportation of substations cannot be separated from the cooperation of lifting cranes. They are close to live objects and there are certain safety hazards. Especially when the crane is performing high-altitude arm rotation, arm extension, cross operations and other links, there is no more accurate data to support, and it can only rely on naked eye observation. Due to weather, environment, distance, light and other conditions, inaccurate observation will occur. The crane can easily get too close to the live objects and cause safety accidents.

[0003] At present, most of the research on crane protection technology abroad is based on laser radar technology, which collects surrounding environment data through laser and radar, and then performs data modeling to achieve perimeter protection function. In China, a system has been realized that uses UWB real-time ranging technology to realize the position measurement of the crane boom, and uses inclination sensors to measure the lifting angle of the crane boom in real time; at the same time, a central control system is developed to set a safe distance at the beginning of the operation, and receive the boom extension length and lifting angle data in real time, and confirm the distance between the boom and the charged body through calculation. When the initially set safe distance is greater than the calculated data, an audible and visual safety alarm can be triggered to issue an alarm prompt.

[0004] Laser radar technology is not only too expensive, but also has a large number of false alarms; UWB real-time ranging technology requires a complete positioning network and the support of three positioning base stations. The time cost of placing base stations is high, and there must be no obstacles that block radio transmission. Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a substation crane safety early warning method, system, electronic equipment and storage medium.

[0006] In a first aspect, the present invention provides a substation crane safety early warning method, the technical solution of the method is as follows:

[0007] Determine the three-dimensional electronic perimeter corresponding to the target substation, and obtain the current position of the top of the boom of the target crane by using a safety tag set at the top of the boom of the target crane; wherein the safety tag includes an RTK positioning module and a wireless communication module;

[0008] Based on the positional relationship between the current position and the three-dimensional electronic perimeter, it is determined whether to output safety warning information.

[0009] The beneficial effects of a substation crane safety early warning method of the present invention are as follows:

[0010] The method of the present invention uses RTK technology to locate the crane boom, which can reduce environmental interference and human interference in the positioning process and improve positioning accuracy, making the substation crane safety warning more accurate and effectively reducing safety risks.

[0011] On the basis of the above scheme, the substation crane safety early warning method of the present invention can also be improved as follows.

[0012] In an optional manner, the wireless communication module is used to receive differential data sent by a base station corresponding to the target substation, and the RTK positioning module is used to generate the current position according to the differential data and the collected initial position.

[0013] In an optional manner, the three-dimensional electronic perimeter includes a plurality of plane positioning points and a plurality of height positioning points; and based on the positional relationship between the current position and the three-dimensional electronic perimeter, the step of determining whether to output the safety warning information comprises:

[0014] Determining a two-dimensional planar polygonal area according to a plurality of planar positioning points of the three-dimensional electronic perimeter;

[0015] Determine whether the orthographic projection point of the current position is in the two-dimensional plane polygonal area to obtain a first determination result;

[0016] When the first judgment result is no, a safety warning message is outputted indicating that the top of the boom of the target crane is outside the three-dimensional electronic perimeter.

[0017] In an optional manner, the step of determining whether to output safety warning information based on the positional relationship between the current position and the three-dimensional electronic perimeter further includes:

[0018] When the first judgment result is yes, determine whether the vertical distances from the orthographic projection point of the current position to the line segments where each two adjacent plane positioning points are located are less than a first threshold, and obtain a second judgment result;

[0019] When the second judgment result corresponding to any two adjacent plane positioning points is yes, the safety warning information that the top of the boom of the target crane is located at the edge of the three-dimensional electronic perimeter is output.

[0020] In an optional manner, the line segments formed between each two adjacent height positioning points constitute a high-voltage line; and the step of determining whether to output the safety warning information based on the positional relationship between the current position and the three-dimensional electronic perimeter further includes:

[0021] Determine whether the vertical distance from the current position to each high-voltage line is less than a second threshold, and obtain a third determination result;

[0022] When the third judgment result corresponding to any one of the high-voltage lines is yes, a safety warning message is outputted indicating that the top of the boom of the target crane is too close to the high-voltage line of the three-dimensional electronic perimeter.

[0023] In an optional manner, the method further includes:

[0024] The safety warning information is sent to the mobile terminal corresponding to the target crane to output the warning.

[0025] In a second aspect, the present invention provides a substation crane safety warning system, the technical solution of the system is as follows:

[0026] Includes: acquisition unit and early warning unit;

[0027] The acquisition unit is used to: determine the three-dimensional electronic perimeter corresponding to the target substation, and use the safety tag set at the top of the boom of the target crane to obtain the current position of the top of the boom of the target crane; wherein the safety tag includes an RTK positioning module and a wireless communication module;

[0028] The warning unit is used to determine whether to output safety warning information based on the positional relationship between the current position and the three-dimensional electronic perimeter.

[0029] The beneficial effects of the substation crane safety early warning system of the present invention are as follows:

[0030] The system of the present invention uses RTK technology to locate the crane boom, which can reduce environmental interference and human interference in the positioning process and improve positioning accuracy, making the substation crane safety warning more accurate and effectively reducing safety risks.

[0031] Based on the above solution, the substation crane safety warning system of the present invention can also be improved as follows.

[0032] In an optional manner, the wireless communication module is used to receive differential data sent by a base station corresponding to the target substation, and the RTK positioning module is used to generate the current position according to the differential data and the collected initial position.

[0033] In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0034] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the substation crane safety early warning method of the present invention are implemented.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0036] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the substation crane safety warning method of the present invention.

[0037] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0039] Figure 1 A schematic diagram of a process flow of an embodiment of a substation crane safety early warning method of the present invention;

[0040] Figure 2 It is a schematic diagram of the structure of the three-dimensional electronic perimeter;

[0041] Figure 3 The figure is a schematic diagram of the calculation principle of the vertical distance between the orthographic projection point of the current position and any two adjacent plane positioning points;

[0042] Figure 4 This is a schematic diagram of the calculation principle of the vertical distance from the current position to any high-voltage line;

[0043] Figure 5 It is a structural schematic diagram of an embodiment of a substation crane safety warning system of the present invention;

[0044] Figure 6 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0045] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0046] Figure 1A flow chart of an embodiment of a substation crane safety warning method provided by the present invention is shown, and the substation crane safety warning method can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the substation crane safety warning method by calling computer-readable instructions stored in a memory through a processor. Figure 1 As shown, the following steps are included:

[0047] S1. Determine the three-dimensional electronic perimeter corresponding to the target substation, and use the safety tag set at the top of the boom of the target crane to obtain the current position of the top of the boom of the target crane.

[0048] The safety tag includes an RTK positioning module and a wireless communication module. The target substation is the substation for which the crane safety warning is to be performed in this embodiment. Figure 2 As shown, the three-dimensional electronic perimeter is composed of multiple positioning points, including plane positioning points and height positioning points. The target crane is the crane that is used to construct the target substation. The number of cranes can be one or more. The construction content includes but is not limited to: substation infrastructure, expansion, technical transformation, overhaul and other in-station construction hoisting and transportation. The current position is expressed in three-dimensional coordinates as (x 0 ,y 0 ,z 0 ).

[0049] S2. Determine whether to output safety warning information based on the positional relationship between the current position and the three-dimensional electronic perimeter.

[0050] The positional relationship between the current position and the three-dimensional electronic perimeter includes but is not limited to: the current position is within the three-dimensional electronic perimeter, the current position is outside the three-dimensional electronic perimeter, and the current position is close to the edge of the three-dimensional electronic perimeter. Security warning information can be divided into multiple levels, and different levels of warning methods (prompt method, warning frequency, etc.) are different, which can be determined according to the security urgency and are not limited here.

[0051] In an optional manner, the wireless communication module is used to receive differential data sent by a base station corresponding to the target substation, and the RTK positioning module is used to generate the current position according to the differential data and the collected initial position.

[0052] Among them, the base station is set at the preset position of the target substation, and the location coordinates of the base station are known. The receiver of the base station (GPS receiver or Beidou receiver) is installed at a known precise position. According to the error between the initial estimated position and the actual position corresponding to the received satellite signal, the real-time differential data is calculated and transmitted to the security tag. The security tag receives the differential data sent by the base station corresponding to the target substation through the wireless communication module, and uses the RTK positioning module to simultaneously receive the carrier signal from the satellite and the error data from the base station, and corrects the initial estimated position corresponding to the carrier signal to obtain the current position.

[0053] It should be noted that the carrier signal is used as a carrier for transmitting position information, and the initial estimated position is indirectly determined by measuring its propagation characteristics (such as time and phase).

[0054] In an optional manner, the three-dimensional electronic perimeter includes a plurality of plane positioning points and a plurality of height positioning points; S2 includes:

[0055] A two-dimensional planar polygonal area is determined according to a plurality of planar positioning points of the three-dimensional electronic perimeter.

[0056] In this case, each two adjacent plane positioning points are connected to form a closed two-dimensional plane polygon area. Each plane positioning point corresponds to a three-dimensional coordinate (x, y, 0).

[0057] It is determined whether the orthographic projection point of the current position is within the two-dimensional plane polygonal area to obtain a first determination result.

[0058] Among them, the orthographic projection point of the current position is the coordinate point of the current position (x 0 ,y 0 ,z 0 ) is projected vertically onto the two-dimensional polygonal area to obtain the coordinate point. The three-dimensional coordinates of the coordinate point are (x 0 ,y 0 ,0).

[0059] When the first judgment result is no, a safety warning message is outputted indicating that the top of the boom of the target crane is outside the three-dimensional electronic perimeter.

[0060] Among them, the safety warning information that the top of the boom of the target crane is outside the three-dimensional electronic perimeter is the first level of safety warning information.

[0061] It should be noted that the level of the security warning information in this embodiment is set to level three by default. The higher the level of the security warning information, the higher the corresponding security urgency.

[0062] In an optional manner, S2 further includes:

[0063] When the first judgment result is yes, it is determined whether the vertical distance from the orthographic projection point of the current position to the line segment where each two adjacent plane positioning points are located is less than a first threshold, and a second judgment result is obtained.

[0064] Among them, Figure 3 As shown, assuming that the orthographic projection point of the current position is P(x 0 ,y 0 ,0), any two adjacent plane positioning points: positioning point a(x 1 ,y 1 ,0) and the anchor point b(x 2 ,y 2 ,0). According to the coordinates of the two positioning points, determine the expression of the line segment where the two positioning points are located, and calculate the shortest distance (vertical distance) from P to the straight line ab. The first threshold can be set according to the actual situation (such as 2m), and there is no limit here.

[0065] When the second judgment result corresponding to any two adjacent plane positioning points is yes, the safety warning information that the top of the boom of the target crane is located at the edge of the three-dimensional electronic perimeter is output.

[0066] Among them, the safety warning information that the top of the boom of the target crane is located at the edge of the three-dimensional electronic perimeter is the second level safety warning information.

[0067] It should be noted that when the second judgment results corresponding to every two adjacent plane positioning points are both negative, no safety warning information is output.

[0068] In an optional manner, each line segment formed between two adjacent height positioning points constitutes a high voltage line; S2 further includes:

[0069] It is determined whether the vertical distance from the current position to each high-voltage line is less than a second threshold value to obtain a third determination result.

[0070] Among them, Figure 4 As shown, assuming that the coordinate point of the current position is X(x 0 ,y 0 ,z 0 ), the two points on any high-voltage line are A and B, and the vertical distance from point X to line segment AB is XP. The projection point of point X on the two-dimensional plane polygon area is X1, the projection point of point P on the two-dimensional plane polygon area is P1, and the projection point of point P on the plane where point X is located is Y. Since line segment XY is parallel to line segment X1P1, the length of line segment XY can be calculated based on the coordinate value. The length of line segment PY is the height of the high-voltage line minus the height of the current position. The length of line segment XP can be calculated based on the length of line segment PY and the length of line segment XY. The specific calculation formula is: The second threshold can be set according to actual conditions (such as 1m), and there is no limit here.

[0071] When the third judgment result corresponding to any one of the high-voltage lines is yes, a safety warning message is outputted indicating that the top of the boom of the target crane is too close to the high-voltage line of the three-dimensional electronic perimeter.

[0072] Among them, the safety warning information that the top of the boom of the target crane is located at the edge of the three-dimensional electronic perimeter is the second level safety warning information.

[0073] It should be noted that when the third judgment results corresponding to each high-voltage line are all negative, no safety warning information is output.

[0074] In an optional manner, the method further includes:

[0075] The safety warning information is sent to the mobile terminal corresponding to the target crane to output the warning.

[0076] The mobile terminal corresponding to the target crane is the mobile terminal used by the driver of the target crane. The warning methods include but are not limited to: voice warning, text warning, sound and light warning, etc.

[0077] It should be noted that, in this embodiment, the position data of the boom top of the target crane and the lifting detection data are stored in the cloud server, so as to visualize the data and realize the data playback function through the cloud server.

[0078] In another technical solution of this embodiment, the method includes:

[0079] S10. Determine the three-dimensional electronic perimeter corresponding to the target substation, and use BIM technology to construct an initial BIM model corresponding to the target substation including the three-dimensional electronic perimeter and the target crane, and embed the equipment information of the target crane and the real-time environmental data of the three-dimensional electronic perimeter into the initial BIM model to obtain the target BIM model.

[0080] S20, using the safety tag including the RTK positioning module and the wireless communication module set at the top of the boom of the target crane, obtain the current position of the top of the boom of the target crane, and embed the current position of the top of the boom of the target crane and the target BIM model into the virtual reality interface, so as to monitor the current position and operation process of the target crane in real time through the virtual reality interface. Among them; a plurality of intelligent sensors are arranged in the three-dimensional electronic perimeter, which are used to collect the operation status (including lifting data, working speed, lifting operation data, etc.) and environmental data of the target crane in real time.

[0081] S30. In the virtual reality interface, based on the positional relationship between the current position at each moment in the preset time period and the three-dimensional electronic perimeter, determine whether to output a safety warning message, and determine whether the operation of the target crane is compliant (whether the lifting data meets the requirements, whether the working speed is too fast or low, whether the temperature, voltage, and working time meet the requirements) based on the change in the operating status of the top of the boom of the target crane within the preset time period.

[0082] S40. Utilize the LSTM model and combine the time series data of the coordinate position of the top of the boom of the target crane collected at multiple moments within a preset time period (including the current position at each moment within the preset time period) to obtain the predicted time series data of the coordinate position of the top of the boom of the target crane within the next time period of the preset time period.

[0083] S50. Based on the time series data of the predicted coordinate position of the boom top of the target crane in the next time period of the preset time period, determine the positional relationship between the predicted position of the boom top of the target crane in the next time period of the preset time period and the three-dimensional electronic perimeter, and determine whether to output a safety warning message in the next time period of the preset time period.

[0084] S60. When it is determined that the safety warning information is to be output in the next time period of the preset time period, a prompt message to pay attention to the operating position of the crane boom is output to the mobile terminal corresponding to the target crane, so as to prompt the driver of the target crane to change the operation in advance to avoid safety risks.

[0085] The technical solution of this embodiment uses RTK technology to locate the crane boom, which can reduce environmental interference and human interference in the positioning process and improve positioning accuracy, making the substation crane safety warning more accurate and effectively reducing safety risks.

[0086] Figure 5 FIG. 2 is a schematic diagram showing a structure of an embodiment of a substation crane safety warning system 200 provided by the present invention. Figure 5 As shown, the system 200 includes: an acquisition unit 210 and an early warning unit 220;

[0087] The acquisition unit 210 is used to: determine the three-dimensional electronic perimeter corresponding to the target substation, and use the safety tag set at the top of the boom of the target crane to obtain the current position of the top of the boom of the target crane; wherein the safety tag includes an RTK positioning module and a wireless communication module;

[0088] The warning unit 220 is used to determine whether to output safety warning information based on the position relationship between the current position and the three-dimensional electronic perimeter.

[0089] In an optional manner, the wireless communication module is used to receive differential data sent by a base station corresponding to the target substation, and the RTK positioning module is used to generate the current position according to the differential data and the collected initial position.

[0090] In an optional manner, the three-dimensional electronic perimeter includes a plurality of plane positioning points and a plurality of height positioning points; the early warning unit 220 is specifically used for:

[0091] Determining a two-dimensional planar polygonal area according to a plurality of planar positioning points of the three-dimensional electronic perimeter;

[0092] Determine whether the orthographic projection point of the current position is in the two-dimensional plane polygonal area to obtain a first determination result;

[0093] When the first judgment result is no, a safety warning message is outputted indicating that the top of the boom of the target crane is outside the three-dimensional electronic perimeter.

[0094] In an optional manner, the early warning unit 220 is further configured to:

[0095] When the first judgment result is yes, determine whether the vertical distances from the orthographic projection point of the current position to the line segments where each two adjacent plane positioning points are located are less than a first threshold, and obtain a second judgment result;

[0096] When the second judgment result corresponding to any two adjacent plane positioning points is yes, the safety warning information that the top of the boom of the target crane is located at the edge of the three-dimensional electronic perimeter is output.

[0097] In an optional manner, the line segments formed between each two adjacent height positioning points constitute a high-voltage line; the early warning unit 220 is further specifically used for:

[0098] Determine whether the vertical distance from the current position to each high-voltage line is less than a second threshold, and obtain a third determination result;

[0099] When the third judgment result corresponding to any one of the high-voltage lines is yes, a safety warning message is outputted indicating that the top of the boom of the target crane is too close to the high-voltage line of the three-dimensional electronic perimeter.

[0100] In an optional manner, the device further includes: an output unit; the output unit is used to:

[0101] The safety warning information is sent to the mobile terminal corresponding to the target crane to output the warning.

[0102] It should be noted that the beneficial effects of the substation crane safety warning system provided by the above embodiment are the same as the beneficial effects of the substation crane safety warning method, which will not be described in detail here. In addition, when the system provided by the above embodiment realizes its functions, it only takes the division of the above functional units as an example. In actual applications, the above functions can be assigned to different functional units as needed, that is, the system can be divided into different functional units according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided by the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0103] Among them, the substation crane safety warning system of the present invention can be a computer program (including program code) running in a computer device. For example, the substation crane safety warning system of the present invention is an application software that can be used to execute the corresponding steps in the substation crane safety warning method of the present invention.

[0104] In some embodiments, the substation crane safety warning system of the present invention can be implemented by a combination of software and hardware. As an example, the substation crane safety warning system of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the substation crane safety warning method of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0105] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The name of a module does not limit the module itself in some cases.

[0106] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any one of the above-mentioned substation crane safety warning methods is implemented. That is to say, an electronic device according to an embodiment of the present invention may include but is not limited to: a processor and a memory; a memory for storing a computer program; a processor for executing the substation crane safety warning method shown in any embodiment of the present invention by calling a computer program.

[0107] In an alternative embodiment, an electronic device is provided, such as Figure 6 As shown, Figure 6 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0108] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0109] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 In the figure, only one thick line is used to represent the bus 4002, but this does not mean that there is only one bus or one type of bus.

[0110] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0111] The memory 4003 is used to store the application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0112] Among them, the electronic device can also be a terminal device, and the terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart car device.

[0113] It should be noted that Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0114] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned substation crane safety warning methods is implemented.

[0115] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0116] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the above-mentioned substation crane safety warning method.

[0117] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0118] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0119] The computer-readable storage medium provided by the embodiment of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or component.

[0120] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0121] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

[0122] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0123] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0124] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A substation crane safety early warning method, characterized in that: include: Determine the three-dimensional electronic perimeter corresponding to the target substation, and obtain the current position of the top of the boom of the target crane by using a safety tag set at the top of the boom of the target crane; wherein the safety tag includes an RTK positioning module and a wireless communication module; Based on the positional relationship between the current position and the three-dimensional electronic perimeter, it is determined whether to output safety warning information.

2. The substation crane safety early warning method according to claim 1 is characterized in that: The wireless communication module is used to receive differential data sent by a base station corresponding to the target substation, and the RTK positioning module is used to generate the current position according to the differential data and the collected initial position.

3. The substation crane safety early warning method according to claim 1 is characterized in that: The three-dimensional electronic perimeter includes a plurality of plane positioning points and a plurality of height positioning points; The step of determining whether to output safety warning information based on the positional relationship between the current position and the three-dimensional electronic perimeter comprises: Determine a two-dimensional planar polygonal area according to a plurality of planar positioning points of the three-dimensional electronic perimeter; Determine whether the orthographic projection point of the current position is in the two-dimensional plane polygonal area to obtain a first determination result; When the first judgment result is no, a safety warning message is outputted indicating that the top of the boom of the target crane is outside the three-dimensional electronic perimeter.

4. The substation crane safety early warning method according to claim 3 is characterized in that: The step of determining whether to output safety warning information based on the positional relationship between the current position and the three-dimensional electronic perimeter further includes: When the first judgment result is yes, determine whether the vertical distances from the orthographic projection point of the current position to the line segments where each two adjacent plane positioning points are located are less than a first threshold, and obtain a second judgment result; When the second judgment result corresponding to any two adjacent plane positioning points is yes, the safety warning information that the top of the boom of the target crane is located at the edge of the three-dimensional electronic perimeter is output.

5. The substation crane safety early warning method according to claim 3 is characterized in that: The line segment formed between each two adjacent height positioning points constitutes a high-voltage line; The step of determining whether to output safety warning information based on the positional relationship between the current position and the three-dimensional electronic perimeter further includes: Determine whether the vertical distance from the current position to each high-voltage line is less than a second threshold, and obtain a third determination result; When the third judgment result corresponding to any one of the high-voltage lines is yes, a safety warning message is outputted indicating that the top of the boom of the target crane is too close to the high-voltage line of the three-dimensional electronic perimeter.

6. The substation crane safety early warning method according to any one of claims 1 to 5, characterized in that: Also includes: The safety warning information is sent to the mobile terminal corresponding to the target crane to output the warning.

7. A substation crane safety warning system, characterized in that: include: acquisition unit and early warning unit; The acquisition unit is used to: determine the three-dimensional electronic perimeter corresponding to the target substation, and use the safety tag set at the top of the boom of the target crane to obtain the current position of the top of the boom of the target crane; wherein the safety tag includes an RTK positioning module and a wireless communication module; The warning unit is used to determine whether to output safety warning information based on the positional relationship between the current position and the three-dimensional electronic perimeter.

8. The substation crane safety warning system according to claim 7 is characterized in that: The wireless communication module is used to receive differential data sent by a base station corresponding to the target substation, and the RTK positioning module is used to generate the current position according to the differential data and the collected initial position.

9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the substation crane safety warning method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the substation crane safety warning method as described in any one of claims 1 to 6.

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