Real-time positioning system and method for live working personnel of transformer substation

Abstract

The invention, which relates to the technical field of real-time positioning, discloses a real-time positioning system and method for a live-line worker of a transformer substation, and the system comprises a wearable positioning terminal, a portable positioning and early warning terminal, an equipment three-dimensional space data model, an electronic fence, and a background visual management and control platform. Through interaction of the portable positioning and early warning terminal and the wearable positioning terminal, accurate coordinate information of the live working personnel can be acquired in real time, real-time monitoring and early warning are realized in combination with the electronic fence, and once the live working personnel is found to exceed the working range, the system can immediately send an alarm instruction; the system can effectively guarantee the safety of the live working personnel of the transformer substation, improves the working efficiency, reduces the occurrence probability of safety accidents, achieves the monitoring and early warning of the real-time position of the live working personnel, and has a very high practical value and a very high popularization and application prospect.

Description

Technical Field

[0001] The present invention relates to the field of real-time positioning technology, and in particular to a real-time positioning system and method for live-line workers in a substation. Background Art

[0002] At present, there are no standard specifications for live substation operations except for water flushing. The relevant regulations on safety distance and personal protection mostly refer to live transmission line operations, and the operations carried out are limited. There is still a big gap in the live maintenance of some key equipment in the substation, such as isolation switches or circuit breakers. The research and specifications on safe operation distances, methods and tools and equipment have not yet formed a system.

[0003] At present, the following problems mainly exist in the process of substation maintenance: on-site workers privately cross the work safety fence, expand the work scope, and mistakenly enter the energized interval, which may cause equipment malfunction or personal electric shock; when large machinery and equipment such as cranes or aerial work vehicles are operating at the work site, the crane boom or aerial work vehicle operating platform may not be at a safe distance from the surrounding energized equipment, resulting in electric shock, or the safety distance from the surrounding facilities may not be enough, causing serious consequences such as accidentally touching the surrounding facilities; therefore, the power supply department has adopted manual supervision and regulatory measures, but due to space limitations at the work site, negligence of staff and improper command, the on-site supervisory personnel may not be able to fully cover the work site, resulting in inadequate, unrealistic, difficult and inefficient supervision, and unable to promptly discover and stop unsafe behaviors of on-site workers and large machinery drivers.

[0004] To solve the above problems, the existing technology uses ZigBee technology to realize the positioning of personnel in substations as an auxiliary tool for manual supervision and management. However, ZigBee signals are greatly affected by electromagnetic interference in outdoor substations, which makes their positioning effect poor in applications. Therefore, signal interference and positioning accuracy greatly restrict the development of substation positioning technology. For this reason, some researchers use ultra-wideband signal systems with high positioning accuracy, strong anti-interference, low power consumption and high data transmission rate to perform operation positioning in power systems, but their application in substations is relatively small and has limitations. At the same time, the existing technology also uses Using UWB positioning technology, that is, using UWB positioning technology to achieve real-time monitoring of the safe distance between the crane bucket arm and live equipment during substation maintenance, but it does not solve the real-time positioning of the substation on-site staff; the study also found that the above-mentioned UWB positioning application in the power system only realizes positioning and background alarm functions in the two-dimensional plane, which is not very practical, has no three-dimensional graphics real-time display function, remote real-time supervision is not intuitive, and is not conducive to the subsequent tracing of movement trajectories; in summary, how to ensure the real-time positioning method of live-line workers in substations and achieve accurate real-time positioning is the technical basis for ensuring the safety of live-line operations. Summary of the Invention

[0005] In view of the above-mentioned problems, the present invention is proposed.

[0006] Therefore, the problem to be solved by the present invention is how to provide a real-time positioning method for live-line workers in substations, by adopting a portable positioning and early warning terminal and a wearable positioning terminal for information interaction, and combining an electronic fence to achieve real-time monitoring and early warning to ensure the safety of live-line workers.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] In the first aspect, an embodiment of the present invention provides a real-time positioning system for live-line workers in a substation, which includes a wearable positioning terminal, a portable positioning and early warning terminal, a three-dimensional spatial data model of the equipment, an electronic fence, and a background visualization management and control platform; the wearable positioning terminal is used to interact with the electronic fence to obtain information, obtain the operating range of the electronic fence, and establish a connection with the portable positioning and early warning terminal to obtain precise coordinate information; the portable positioning and early warning terminal is used to obtain position coordinate information and carrier phase correction numbers and perform calculations to obtain precise coordinate information, calculate the activity trajectory of the operation process based on the precise coordinate information, and calculate the activity trajectory based on the activity trajectory and the electronic fence. The operating scope is judged and the alarm response processing operation is performed; the three-dimensional spatial data model of the equipment is used to perform three-dimensional digital reconstruction of the live operating environment of the substation to form a three-dimensional laser point cloud model; the electronic fence is used to determine the operating scope within the three-dimensional spatial data model of the equipment, and to plan and set up a spatial virtual electronic fence within the operating scope; the background visualization management and control platform is used to display the on-site images obtained by the wearable positioning terminal and the precise coordinate information of the portable positioning and early warning terminal, receive alarm instructions and display the executed alarm response processing operations; the portable positioning and early warning terminal communicates with the background visualization management and control platform through the wireless network in the substation.

[0009] As a preferred solution of the real-time positioning system for live-line workers in substations described in the present invention, the wearable positioning terminal has a personnel positioning function, which includes the following steps: the wearable positioning terminal sends location information, the background visualization management and control platform forms the corresponding activity trajectory of the operation process, and analyzes the electronic fence crossing situation based on the location information, or the wearable positioning terminal calculates based on the precise coordinate information to obtain the activity trajectory of the operation process; calls the operation range of the electronic fence in the three-dimensional spatial data model of the equipment; and judges whether the current position exceeds the operation range of the current electronic fence based on the activity trajectory.

[0010] As a preferred solution of the real-time positioning system for live-line workers in substations described in the present invention, the system comprises the following steps: judging based on the activity trajectory and the operating range of the electronic fence and executing an alarm response processing operation; if the activity trajectory exceeds the operating range of the current electronic fence, it is judged to be beyond the operating range, and an alarm instruction is sent to a portable positioning and early warning terminal, which executes an alarm response processing operation.

[0011] As a preferred solution of the real-time positioning system for live-line workers in substations described in the present invention, the portable positioning and early warning terminal includes a main control unit, a Beidou / GPS satellite receiver and an audible and visual alarm; the control panel of the main control unit is used to expand the data communication interface; the Beidou / GPS satellite receiver is used to receive the Beidou / GPS position coordinate information of the portable positioning and early warning terminal itself, and at the same time receive the carrier phase correction number sent from the RTK base station or CORS network station through the 4G network, and then combine the Beidou / GPS position coordinate information and the carrier phase correction number, use the carrier phase integer ambiguity fixing algorithm to correct and calculate in real time, and obtain the precise coordinate information of the portable positioning and early warning terminal; the audible and visual alarm is used to perform alarm response processing operations after receiving the alarm instruction.

[0012] As an optimal solution for the real-time positioning system for live-line workers in substations described in the present invention, the portable positioning and early warning terminal is composed of a main control unit, a Beidou / GPS satellite receiver and an audible and visual alarm, connected to the RTK positioning base station or network CORS server through a 4G network, and connected to the background visualization management and control platform through the wireless network within the substation; the core of the portable positioning and early warning terminal is the main control unit, and the core controller of the control panel of the main control unit adopts a DSP digital signal processor.

[0013] As a preferred solution of the real-time positioning system for live-line workers in substations described in the present invention, the data communication interface includes a serial port, a network port, a 4G wireless network port and a GPIO interface; the serial port is composed of an RS232 serial port, and the control panel of the main control unit is connected to the Beidou / GPS satellite signal receiver module through the RS232 serial port to obtain the Beidou / GPS position coordinate information of the portable positioning and early warning terminal itself, and the control panel of the main control unit receives the carrier phase correction number sent from the RTK base station or the CORS network station through the 4G wireless network port.

[0014] As a preferred solution of the real-time positioning system for live-line workers in substations described in the present invention, the portable positioning and early warning terminal is also used to output corresponding early warning information based on the activity trajectory, including: if the current activity trajectory is not within the electronic fence assigned by the system but within other electronic fences, it is determined that the worker has entered the wrong work area; if the current activity trajectory is within the isolation electronic fence set by the system, it is determined that the worker has mistakenly entered the live interval; the electronic fence matching the corresponding position is determined based on the current precise coordinate information, and the coordinate information of all live equipment within the electronic fence matching the corresponding position is obtained, and based on the current precise coordinate information and the coordinate information of all live equipment, it is determined whether the current worker's distance from the live equipment exceeds the set safety distance. If so, it is determined that the safety distance of the live equipment is insufficient; if not, it is determined that the worker's distance is at a safe distance.

[0015] On the second aspect, in order to further solve the safety problems existing in real-time positioning, the present invention provides a real-time positioning method for live working personnel in a substation, which includes: establishing an information interaction connection between a wearable positioning terminal and an electronic fence, and a connection between the wearable positioning terminal and a portable positioning and early warning terminal; obtaining multi-station ground three-dimensional laser scanning data, constructing a three-dimensional laser point cloud model, and setting a spatial virtual electronic fence in the three-dimensional laser point cloud model; the portable positioning and early warning terminal receives position coordinate information and carrier phase correction number and calculates to obtain coordinate information; calculates activity trajectory data based on the precise coordinate information, compares the activity trajectory data with the operating range data of the spatial virtual electronic fence, and performs alarm response processing operations.

[0016] In a third aspect, an embodiment of the present invention provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: when the computer program is executed by the processor, any step of the real-time positioning system for live-line workers in a substation as described in the first aspect of the present invention is implemented.

[0017] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, any step of the real-time positioning system for live-line workers in a substation as described in the first aspect of the present invention is implemented.

[0018] The beneficial effects of the present invention are as follows: the present invention can obtain the precise coordinate information of live working personnel in real time through the interaction of the portable positioning and early warning terminal and the wearable positioning terminal, and realize real-time monitoring and early warning in combination with the electronic fence. Once it is found that the live working personnel exceed the working range, the system can immediately send an alarm instruction to ensure the safety of the live working personnel; the live working environment of the substation is three-dimensionally reconstructed by the multi-station ground three-dimensional laser scanning method, and combined with the planned and set spatial virtual electronic fence, the working range can be determined more accurately, thereby improving the accuracy of positioning and monitoring; based on the precise coordinate information of the current position and the coordinate information of all live equipment, the system can judge in real time whether the working distance between the live working personnel and the live equipment exceeds the set safety distance, thereby evaluating the safety status of the live equipment, thereby effectively preventing the occurrence of safety accidents; it can effectively ensure the safety of live working personnel in the substation, improve work efficiency, reduce the probability of safety accidents, and at the same time realize the real-time monitoring and early warning of the live working personnel, which has high practical value and promotion and application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0020] Figure 1 This is a structural diagram of the real-time positioning system for live-line workers in a substation in Example 1.

[0021] Figure 2 This is a structural diagram of the computer equipment in Example 3. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0025] Example 1

[0026] Reference Figure 1 , which is the first embodiment of the present invention, provides a real-time positioning system for live-line workers in substations, comprising:

[0027] Wearable positioning terminal, portable positioning and warning terminal, equipment three-dimensional spatial data model, electronic fence and background visualization management and control platform, among which the structure of the real-time positioning system for live-line workers in substations is as follows: Figure 1 shown.

[0028] Preferably, the wearable positioning terminal is used to interact with the electronic fence, retrieve the electronic fence in the three-dimensional spatial data model of the device, obtain the operating range of the electronic fence, and establish a connection with the portable positioning and warning terminal to obtain precise coordinate information.

[0029] It should be noted that the wearable positioning terminal can send precise coordinate information to the background visualization management and control platform, which can then analyze the activity trajectory of the corresponding operation process based on the precise coordinate information, and then analyze the electronic fence crossing situation based on the activity trajectory of the operation process; at the same time, the wearable positioning terminal can also analyze the electronic fence crossing situation through its own chip calculation.

[0030] Furthermore, the wearable positioning terminal has a personnel positioning function, which supports the system to locate the wearer, including the following steps: the wearable positioning terminal can send location information in real time, and the background visualization management and control platform forms the corresponding activity trajectory of the operation process, and analyzes the electronic fence crossing situation based on the location information; at the same time, the wearable positioning terminal can also perform calculations and analysis by itself, and calculate according to the precise coordinate information to obtain the activity trajectory of the operation process.

[0031] Call the operating range of the electronic fence within the device's three-dimensional spatial data model.

[0032] Determine whether the current position exceeds the operating range of the current electronic fence based on the activity trajectory.

[0033] Preferably, the portable positioning and early warning terminal is used to obtain position coordinate information and carrier phase correction numbers and perform calculations to obtain precise coordinate information, calculate the activity trajectory of the operation process based on the precise coordinate information, and make judgments based on the activity trajectory and the operating range of the electronic fence and perform alarm response processing operations.

[0034] Specifically, judging and executing the alarm response processing operation based on the activity trajectory and the operating range of the electronic fence means judging based on the activity trajectory and the operating range of the electronic fence. If the activity trajectory exceeds the operating range of the current electronic fence, it is judged to be beyond the operating range, and an alarm instruction is sent to the portable positioning and early warning terminal. The portable positioning and early warning terminal executes the alarm response processing operation, among which the alarm response processing is mainly performed through the sound and light alarm.

[0035] Specifically, the portable positioning and early warning terminal includes a main control unit, a Beidou / GPS satellite receiver and an audible and visual alarm.

[0036] Furthermore, the control board of the main control unit is used to expand the data communication interface.

[0037] The Beidou / GPS satellite receiver is used to receive the Beidou / GPS position coordinate information of the portable positioning and early warning terminal itself, and at the same time receive the carrier phase correction number sent from the RTK base station or CORS network station through the 4G network. Then, by combining the Beidou / GPS position coordinate information and the carrier phase correction number, the carrier phase integer ambiguity fixation algorithm is used to correct and calculate the precise coordinate information of the portable positioning and early warning terminal in real time.

[0038] The sound and light alarm is used to perform alarm response processing operations after receiving an alarm instruction.

[0039] Furthermore, the portable positioning and early warning terminal (i.e., portable mobile positioning device) is composed of a main control unit, a Beidou / GPS satellite receiver, and an audible and visual alarm. It is connected to the RTK positioning base station or network CORS server through the 4G network, and is connected to the background visualization management and control platform through the wireless network in the substation.

[0040] Specifically, the core of the portable positioning and early warning terminal is the main control unit. The core controller of the control board of the main control unit adopts a DSP digital signal processor, which is suitable for processing large-scale floating-point calculations and can efficiently run the carrier phase integer ambiguity fixation algorithm.

[0041] Furthermore, the data communication interface includes a serial port, an Ethernet port, a 4G wireless network port, and a GPIO interface.

[0042] Specifically, the serial port is composed of an RS232 serial port. The control board of the main control unit is connected to the Beidou / GPS satellite signal receiver module through the RS232 serial port to obtain the Beidou / GPS position coordinate information of the portable positioning and early warning terminal itself. The control board of the main control unit receives the carrier phase correction number sent from the RTK base station or CORS network station through the 4G wireless network port.

[0043] It should be noted that the control panel of the main control unit has expanded the corresponding data communication interface, supporting serial port, network port, 4G wireless and GPIO common interfaces. It is connected to the Beidou / GPS satellite signal receiver module through the RS232 serial port to complete the acquisition of the Beidou / GPS position coordinate information of the mobile terminal itself. At the same time, it receives the carrier phase correction number sent by the RTK base station or CORS network station through the 4G network. Combining the Beidou / GPS position coordinate information and the carrier phase correction number, the carrier phase integer ambiguity fixing algorithm is used to correct and calculate the precise coordinate information of the mobile terminal in real time, with the modeling accuracy not less than ±5cm and the positioning accuracy not less than 10cm.

[0044] Furthermore, the portable positioning and warning terminal is also used to output corresponding warning information according to the activity trajectory, including: if the current activity trajectory is not within the electronic fence assigned by the system but within other electronic fences, it is determined that the person has entered the wrong work area.

[0045] If the current activity trajectory is within the isolation electronic fence set by the system, it will be judged as accidentally entering the energized interval.

[0046] According to the current precise coordinate information, the electronic fence that matches the corresponding position is determined, and the coordinate information of all live equipment within the electronic fence that matches the corresponding position is obtained. According to the current precise coordinate information and the coordinate information of all live equipment, it is judged whether the current operating distance between the operator and the live equipment exceeds the set safety distance. If it exceeds, it is determined that the safety distance of the live equipment is insufficient.

[0047] If it does not exceed the limit, it is determined that the operator is at a safe distance.

[0048] It should be noted that in order to meet the functional requirements of real-time safety warning of the substation safety operation control mechanism, the portable positioning and warning terminal is also designed with a real-time warning alarm function, so as to achieve the technical purpose of notifying the current operating personnel that they are in danger and taking safety measures in time to avoid personal injury. Therefore, an audible and visual alarm is added to the control panel of the main control unit. When the safety control warning information (i.e., alarm instruction) issued by the system is received, the corresponding audible and visual alarm prompt is given according to the type of warning information (such as walking into the wrong work area, mistakenly entering the live interval, or not being at a safe distance from the live equipment).

[0049] Preferably, the present invention uses a DSP digital signal processor in a portable positioning and early warning terminal to process the carrier phase integer ambiguity fixation algorithm, wherein the DSP processor is good at processing large-scale floating-point operations and can process complex carrier phase integer ambiguity fixation algorithms in real time, thereby ensuring that the positioning accuracy reaches the centimeter level; by adopting a variety of communication interfaces in the design of the main control unit, it supports data interaction with various types of equipment, thereby improving the compatibility and scalability of the system, and the application of the 4G wireless network ensures the real-time transmission of RTK correction numbers.

[0050] Preferably, the three-dimensional spatial data model of the equipment is used to perform three-dimensional digital reconstruction of the live working environment of the substation using a multi-station ground three-dimensional laser scanning method to form a three-dimensional laser point cloud model.

[0051] Preferably, the electronic fence is used to determine the operating range within the three-dimensional spatial data model of the equipment, and to plan and set a spatial virtual electronic fence within the operating range.

[0052] Preferably, the background visualization management and control platform is used to display the on-site images obtained by the wearable positioning terminal and the precise coordinate information of the portable positioning and early warning terminal, receive alarm instructions and display the executed alarm response processing operations.

[0053] Specifically, the portable positioning and early warning terminal communicates with the background visualization management and control platform through the wireless network within the substation.

[0054] It should be noted that the equipment three-dimensional spatial data model realizes the three-dimensional digital reconstruction of the live working environment of the substation by utilizing the multi-station ground three-dimensional laser scanning method to form a three-dimensional laser point cloud model, that is, the equipment three-dimensional spatial data model is a point cloud model constructed based on laser point cloud data, and it is displayed in a virtual way; the electronic fence is used to pre-determine the working range within the equipment three-dimensional spatial data model, and then plan and set up a virtual electronic fence in the space within the working range. Therefore, the wearable positioning terminal, portable positioning and early warning terminal, equipment three-dimensional spatial data model, electronic fence and background visualization management and control platform constitute a closed-loop control system, which can realize the modeling, precise positioning and early warning alarm processing of the live working safety site.

[0055] In addition, the present invention utilizes the real-time positioning technology of workers based on satellite positioning and carrier phase post-differentiation technology, combined with the real-time risk warning function of digital twin technology, to obtain the real-time position of the workers, install RTK fixed base stations in the working area or use network virtual base stations to send carrier phase correction information, and at the same time, on the basis of the Kalman filter correction algorithm, combined with the influence of actual electromagnetic interference, further optimizes the algorithm processing flow to eliminate the interference of environmental factors and ensure the accuracy of the position coordinate solution of the mobile positioning terminal; in order to meet the functional requirements of real-time safety warning of the live safety operation control mechanism, the real-time warning alarm function of the mobile terminal is designed to notify the current workers at the first time that they are in danger and take safety measures in time to avoid personal injury.

[0056] Preferably, the present invention combines multi-station ground three-dimensional laser scanning technology with a real-time positioning system to achieve high-precision digital reconstruction of the substation environment through a three-dimensional laser point cloud model, providing a basis for the accurate division of electronic fences; combined with real-time positioning data, the location of operators can be dynamically displayed on the background visualization management and control platform, realizing real-time mapping of the digital world and the physical world, and improving the intuitiveness and efficiency of on-site management.

[0057] In summary, the present invention can obtain the precise coordinate information of live working personnel in real time through the interaction of the portable positioning and early warning terminal and the wearable positioning terminal, and realize real-time monitoring and early warning in combination with the electronic fence. Once the live working personnel are found to be beyond the working range, the system can immediately send an alarm instruction to ensure the safety of the live working personnel; the live working environment of the substation is three-dimensionally reconstructed by the multi-station ground three-dimensional laser scanning method, and combined with the planned and set spatial virtual electronic fence, the working range can be determined more accurately, thereby improving the accuracy of positioning and monitoring; based on the precise coordinate information of the current position and the coordinate information of all live equipment, the system can judge in real time whether the working distance between the live working personnel and the live equipment exceeds the set safety distance, thereby evaluating the safety status of the live equipment, thereby effectively preventing the occurrence of safety accidents; it can effectively ensure the safety of live working personnel in the substation, improve work efficiency, reduce the probability of safety accidents, and at the same time realize the real-time monitoring and early warning of the live working personnel, which has high practical value and promotion and application prospects.

[0058] Example 2 is an embodiment of the present invention, which provides a real-time positioning method for live-line workers in a substation, including: establishing an information interaction connection between a wearable positioning terminal and an electronic fence, and a connection between the wearable positioning terminal and a portable positioning and early warning terminal; obtaining multi-station ground three-dimensional laser scanning data, constructing a three-dimensional laser point cloud model, and setting a spatial virtual electronic fence within the three-dimensional laser point cloud model; the portable positioning and early warning terminal receives position coordinate information and carrier phase correction numbers and performs calculations to obtain coordinate information; calculates activity trajectory data based on the precise coordinate information, compares the activity trajectory data with the operating range data of the spatial virtual electronic fence, and performs alarm response processing operations.

[0059] Example 3 is an embodiment of the present invention, which is different from the previous embodiment in that:

[0060] like Figure 2 As shown, if the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0061] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0062] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0063] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0064] Example 4 is an embodiment of the present invention, which provides a real-time positioning system for live-line workers in substations. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through simulation experiments.

[0065] This example simulates a 30-day system test at a 500kV substation. The test site was the 220kV distribution equipment area of ​​the substation, which houses multiple live devices, including circuit breakers, disconnectors, and transformers. Before the test, a multi-station terrestrial 3D laser scanner was used to perform a 3D scan and model the entire test area, creating a high-precision 3D digital model with an accuracy of better than ±3cm. Based on the 3D digital model, technicians established electronic fences to divide the work area into five areas according to the on-site equipment layout and safety operating procedures, and set up isolation electronic fences in three restricted areas. The electronic fences in each work area took into account the safety distance requirements for live devices: 2.5 meters for Class A equipment, 1.8 meters for Class B equipment, and 1.2 meters for Class C equipment.

[0066] The test process is divided into two stages: static test and dynamic test. The static test mainly verifies the positioning accuracy of the system. 20 detection points with known coordinates are arranged in the measurement area, and total station measurement is used as the true value reference. The dynamic test mainly verifies the real-time performance and early warning effect of the system, including two types of test conditions: normal operation scenario and simulated misoperation scenario. The specific data are shown in Table 1.

[0067] Table 1 Comparative data of performance test of live working personnel positioning system in substation

[0068] Test indicators Test scenario System of the present invention Traditional GPS system Ultrasonic positioning system Positioning accuracy (cm) open areas 3.2±0.5 150±30 25±5 Positioning accuracy (cm) Equipment-intensive areas 5.8±1.2 280±50 45±8 System delay (ms) Normal operation 45±5 500±50 180±20 Early warning accuracy (%) Safe distance warning 99.5 75.2 88.6

[0069] As can be seen from the table above, the positioning accuracy of the system of the present invention reaches 3.2±0.5cm in open areas and can still maintain an accuracy level of 5.8±1.2cm in equipment-intensive areas. This is far superior to the meter-level accuracy of traditional GPS systems and ultrasonic positioning technology, indicating that the carrier phase post-differentiation technology and optimized Kalman filtering algorithm adopted by the system of the present invention effectively overcome the multipath effect and electromagnetic interference in the substation environment. Secondly, the response speed of the system of the present invention is nearly 10 times faster than that of traditional GPS systems. This ultra-low latency feature is due to the system's dedicated DSP processor and optimized carrier phase integer ambiguity fixation algorithm, which ensures that the system can promptly detect and address safety hazards. Finally, in the safety distance warning test, the accuracy of the system of the present invention is significantly better than that of other positioning systems, indicating that the system's high-precision three-dimensional digital model and precise electronic fence demarcation, combined with centimeter-level positioning accuracy, can accurately identify the spatial position relationship between workers and live equipment.

[0070] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A real-time positioning system for live-line workers in substations, characterized by: include: Wearable positioning terminal, portable positioning and early warning terminal, equipment three-dimensional spatial data model, electronic fence and background visualization management and control platform; The wearable positioning terminal is used to exchange information with the electronic fence to obtain the operating range of the electronic fence, and to establish a connection with the portable positioning and early warning terminal to obtain precise coordinate information; The portable positioning and early warning terminal is used to obtain and calculate the position coordinate information and the carrier phase correction number to obtain the precise coordinate information, calculate the activity trajectory of the operation process according to the precise coordinate information, and make a judgment and execute the alarm response processing operation according to the activity trajectory and the operation range of the electronic fence; The three-dimensional spatial data model of the equipment is used to perform three-dimensional digital reconstruction of the live working environment of the substation to form a three-dimensional laser point cloud model; The electronic fence is used to determine the operating range within the three-dimensional spatial data model of the equipment, and to plan and set up a spatial virtual electronic fence within the operating range; The background visualization management and control platform is used to display the on-site images acquired by the wearable positioning terminal and the precise coordinate information of the portable positioning and early warning terminal, receive alarm instructions and display the executed alarm response processing operations; The portable positioning and early warning terminal is connected to the background visualization management and control platform through the wireless network in the substation.

2. The real-time positioning system for live-line workers in substations according to claim 1, characterized in that: The wearable positioning terminal has a personnel positioning function, and includes the following steps: The wearable positioning terminal sends the location information, and the background visualization management and control platform forms the activity track of the corresponding operation process, and analyzes the electronic fence crossing situation according to the location information, or the wearable positioning terminal calculates according to the precise coordinate information to obtain the activity track of the operation process; Calling the operating range of the electronic fence in the three-dimensional spatial data model of the device; It is determined whether the current position exceeds the operating range of the current electronic fence according to the activity trajectory.

3. The real-time positioning system for live-line workers in substations according to claim 2, characterized in that: Judging according to the activity trajectory and the operating range of the electronic fence and executing the alarm response processing operation means judging based on the activity trajectory and the operating range of the electronic fence. If the activity trajectory exceeds the current operating range of the electronic fence, it is judged to exceed the operating range, and an alarm instruction is sent to the portable positioning and early warning terminal, and the portable positioning and early warning terminal executes the alarm response processing operation.

4. The real-time positioning system for live-line workers in substations according to claim 3, characterized in that: The portable positioning and early warning terminal includes a main control unit, a Beidou / GPS satellite receiver and an audible and visual alarm; The control panel of the main control unit is used to expand the data communication interface; The Beidou / GPS satellite receiver is used to receive the Beidou / GPS position coordinate information of the portable positioning and early warning terminal itself, and at the same time receive the carrier phase correction number sent from the RTK base station or the CORS network station through the 4G network, and then combine the Beidou / GPS position coordinate information and the carrier phase correction number, and use the carrier phase integer ambiguity fixing algorithm to correct and calculate in real time to obtain the precise coordinate information of the portable positioning and early warning terminal; The sound and light alarm is used to perform an alarm response processing operation after receiving an alarm instruction.

5. The real-time positioning system for live-line workers in substations according to claim 4, characterized in that: The portable positioning and early warning terminal is composed of a main control unit, a Beidou / GPS satellite receiver and an audible and visual alarm, which is connected to the RTK positioning base station or network CORS server through the 4G network, and connected to the background visualization management and control platform through the wireless network in the substation; The core of the portable positioning and early warning terminal is a main control unit, and the core controller of the control panel of the main control unit adopts a DSP digital signal processor.

6. The real-time positioning system for live-line workers in substations according to claim 5, characterized in that: The data communication interface includes a serial port, an Ethernet port, a 4G wireless network port and a GPIO interface; The serial port is composed of an RS232 serial port. The control panel of the main control unit is connected to the Beidou / GPS satellite signal receiver module through the RS232 serial port to obtain the Beidou / GPS position coordinate information of the portable positioning and early warning terminal itself. The control panel of the main control unit receives the carrier phase correction number sent from the RTK base station or the CORS network station through the 4G wireless network port.

7. The real-time positioning system for live-line workers in substations according to claim 6, characterized in that: The portable positioning and warning terminal is also used to output corresponding warning information according to the activity trajectory, including: If the current activity track is not within the electronic fence assigned by the system but within other electronic fences, it is determined to be a wrong work area; If the current activity track is within the isolated electronic fence set by the system, it is judged as entering the energized interval by mistake; Determine the electronic fence that matches the corresponding position according to the current precise coordinate information, and call to obtain the coordinate information of all live equipment in the electronic fence that matches the corresponding position. According to the current precise coordinate information and the coordinate information of all live equipment, determine whether the current distance between the operator and the live equipment exceeds the set safety distance. If so, determine that the safety distance of the live equipment is not enough; If it does not exceed, it is determined that the operator is at a safe distance.

8. A method for real-time positioning of live-line workers in a substation, based on the real-time positioning system for live-line workers in a substation according to any one of claims 1 to 7, characterized in that: include, Establish information interaction connection between wearable positioning terminal and electronic fence, and connection between wearable positioning terminal and portable positioning and early warning terminal; Acquire multi-station ground 3D laser scanning data, construct a 3D laser point cloud model, and set up a spatial virtual electronic fence within the 3D laser point cloud model; The portable positioning and early warning terminal receives the position coordinate information and the carrier phase correction number and performs calculations to obtain the coordinate information; The activity trajectory data is calculated based on the precise coordinate information, the activity trajectory data is compared with the operating range data of the spatial virtual electronic fence, and an alarm response processing operation is performed.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the real-time positioning system for live-line workers in a substation are implemented as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the real-time positioning system for live-line workers in a substation are implemented as described in any one of claims 1 to 7.

Images