Space electronic fence system and security control method

Abstract

The invention relates to the technical field of safety management and control, in particular to a space electronic fence system and a safety management and control method. The space electronic fence system provided by the invention comprises a tracking module, a calibration module and a central processing system, wherein the tracking module is arranged at a mobile operation end of construction equipment and moves along with the operation end, or is arranged on a human body and moves along with the human body; the calibration module comprises a range finder, a first positioning module and an angle measurement module, the tracking module comprises a second positioning module, and the range finder is used for acquiring the relative distance between the calibration module and a fixed dangerous point location; the angle measurement module is used for obtaining attitude angle original data of the calibration module relative to a coordinate system where the first positioning module or the second positioning module is located. And the real-time distance between the tracking module and the fixed dangerous point location is calculated by using the spatial positions of the fixed dangerous point location and the tracking module. An electronic fence system is sought to assist construction equipment in construction in areas with complex environments, such as transformer substations.

Description

Technical Field

[0001] The present invention relates to the technical field of safety control, and particularly to a spatial electronic fence system and a safety control method.

Background Art

[0002] During the construction process, it is necessary to consider avoiding potential physical collision hazards. For example, during the construction of a substation, usually after large construction equipment or moving personnel enter the construction area, the equipment inside the substation or the buildings around it requires that the moving operation end on the construction equipment or the moving personnel maintain a sufficient safety distance from the equipment inside the substation.

[0003] Exemplarily, the prior art is to install radio modules on the fuselage and boom of the construction equipment respectively. When the construction equipment enters the substation for construction, it will avoid the boom touching dangerous points inside the substation. As the boom rises, the relative distance between the two radio modules also increases. The distance between the boom and the fuselage can be calculated through the signal connection of the two radio modules. That is, a spherical area will be formed between the boom and the fuselage. Based on the dangerous points of the construction, the operator sets the length of the boom rising by presetting the radius range of the spherical area. That is, when the boom exceeds the spherical area, an alarm will be implemented. However, the environment inside the substation is very complex. The existing alarm control method requires setting the radius of the spherical area separately for each dangerous point, which is very complicated. In addition, when the boom is constructed in a direction away from the dangerous point, as long as it exceeds the spherical area, an alarm will still be issued. Therefore, it is particularly important to find an electronic fence to assist the construction equipment in constructing inside a substation with a complex environment.

Summary of the Invention

[0004] In order to find an electronic fence system to assist construction equipment in constructing in areas with complex environments, such as substations, the present invention provides a spatial electronic fence system and a safety control method.

[0005] To solve the above technical problems, the present invention provides the following technical solution: A spatial electronic fence system for monitoring the distance between a moving operation end on a construction equipment or a moving person and a fixed dangerous point that needs to maintain a safety distance. The spatial electronic fence system includes a tracking module, a calibration module, and a central processing system. The tracking module is used to be set on the moving operation end of the construction equipment and move with the operation end, or set on a person and move with the person.

[0006] The calibration module includes a rangefinder, a first positioning module, and an angle measurement module. The tracking module includes a second positioning module. The rangefinder is used to obtain the relative distance between the calibration module and the fixed dangerous point.

[0007] The angle measurement module is used to obtain the original attitude angle data of the calibration module relative to the coordinate system where the first positioning module or the second positioning module is located; the central processing system is respectively connected to the calibration module and the tracking module;

[0008] The central processing system obtains the relative distance and the original attitude angle data of the calibration module, calculates the spatial position of the fixed dangerous point, and then calculates the real-time distance between the tracking module and the fixed dangerous point by comparing with the spatial position obtained by the second positioning module in the tracking module obtained in real time.

[0009] Preferably, the spatial electronic fence system further includes an alarm module, and the alarm module is in signal connection with the central processing system; when the distance between the tracking module and the dangerous point is less than the safety distance, the alarm module is used to issue an alarm.

[0010] Preferably, the calibration module further includes a camera, the optical axis of the camera is coaxially arranged or laterally axially parallel to the rangefinder, and the camera is used to take pictures of the fixed dangerous point when the rangefinder measures the distance.

[0011] Preferably, the angle measurement module includes an angle measuring instrument, and the coordinate system includes a world geodetic coordinate system or a geographic coordinate system;

[0012] The angle measuring instrument is used to directly measure the pitch angle of the calibration module relative to the horizontal plane and the horizontal angle relative to the geomagnetic meridian.

[0013] Preferably, the angle measurement module includes a first positioning antenna and a second positioning antenna. The first positioning antenna and the second positioning antenna are both arranged on the calibration module and there is a distance between the first positioning antenna and the second positioning antenna. The first positioning antenna and the second positioning antenna are used to simultaneously obtain coordinate data to obtain the attitude angle of the calibration module in the coordinate system.

[0014] Preferably, the calibration module includes a body and a telescopic rod. The rangefinder and the first positioning module are both arranged in the body. One end of the telescopic rod is connected to the body, and the other end is connected to the first positioning antenna. The second positioning antenna is arranged on the body. The telescopic rod performs telescopic movement relative to the body so that the distance between the first positioning antenna and the second positioning antenna gradually increases or decreases.

[0015] Preferably, both the first positioning module and the second positioning module are satellite positioning modules, and the first positioning module and the second positioning module are used to obtain the world coordinates of satellite positioning.

[0016] Preferably, the electronic fence system further includes a positioning reference station, and the positioning reference station is fixed relative to the dangerous point;

[0017] When the coordinate position of the positioning reference station is known, the positioning reference station is used to calculate the error between its own observation value and the known coordinate position, and provide it to the central processing system to eliminate the coordinate error measured by the positioning module in the calibration module or the tracking module;

[0018] Or, when the coordinate position of the positioning reference station is unknown, at the same time when the calibration module measures the distance, the central processing system records the coordinates obtained by the positioning reference station, and uses these coordinates as the reference coordinates. The central processing system calculates the positioning error at that time according to the own observation value of the positioning reference station at each moment and the reference coordinates, and then uses this positioning error to eliminate the coordinate error measured by the positioning module in the tracking module or the calibration module at that moment.

[0019] To solve the above technical problems, the present invention provides another technical solution as follows: A safety control method is applied to the spatial electronic fence system described in any one of the above.

[0020] Obtain the dangerous points that need to be marked within the construction area;

[0021] Control the calibration module to detect at least one dangerous point to obtain the relative distance between the calibration module and the dangerous point; and at the same time control the angle measurement module to obtain the original attitude angle data of the calibration module;

[0022] Obtain the spatial position of the calibration module based on the first positioning module; obtain the spatial position of the tracking module based on the second positioning module; obtain the spatial position of the dangerous point based on the spatial position, relative distance and original attitude angle data information of the calibration module;

[0023] Obtain the real-time distance from the tracking module to the dangerous point based on the spatial positions of the tracking module and the dangerous point, and control the mobile operation terminal on the construction equipment or the moving personnel to keep a safe distance from the dangerous point based on the real-time distance.

[0024] Preferably, obtaining the real-time distance from the tracking module to the fixed dangerous point specifically includes:

[0025] When the angle measurement module includes an angle measuring instrument;

[0026] When the calibration module measures the distance, the spatial position of the first positioning module is the first spatial position, and the coordinates of the first spatial position are (X1, Y1, Z1);

[0027] Based on the angles α, β, and γ between the calibration module and the three axes of the coordinate system obtained by the angle measuring instrument;

[0028] Calculate and obtain the spatial position of the fixed dangerous point, and obtain the second spatial position, and the coordinates of the second spatial position are (X2, Y2, Z2);

[0029] X2 = X1 + D * cosα;

[0030] Y2 = Y1 + D * cosβ;

[0031] Z2 = Z1 + D * cosγ;

[0032] Wherein, D is the relative distance;

[0033] The spatial position obtained by the positioning module on the tracking module is the third spatial position, and the coordinates of the third spatial position are (X3, Y3, Z3);

[0034] Calculate the real-time distance from the tracking module to the dangerous point;

[0035]

[0036] Where D f is the real-time distance.

[0037] Preferably, obtaining the real-time distance from the tracking module to the fixed dangerous point specifically includes:

[0038] When the angle measurement module includes a first positioning antenna and a second positioning antenna;

[0039] When the calibration module measures the distance, the first positioning antenna obtains the first spatial position, and the coordinates of the first spatial position are (X1, Y1, Z1). At the same time, the second positioning antenna obtains the second spatial position, and the coordinates of the second spatial position are (X2, Y2, Z2);

[0040] Given the distance L between the first positioning antenna and the second positioning antenna, when measuring the distance, the first positioning antenna, the second positioning antenna and the fixed dangerous point are on a straight line, and the first positioning antenna is close to the fixed dangerous point;

[0041] Obtain the positional relationship between the rangefinder and the first positioning antenna, and obtain the distance D1 between the first positioning antenna and the fixed dangerous point based on the positional relationship and the relative distance;

[0042] Calculate the spatial position of the fixed dangerous point, and obtain the third spatial position. The coordinates of the third spatial position are:

[0043]

[0044] The spatial position obtained by the positioning module on the tracking module is the fourth spatial position, and the coordinates of the fourth spatial position are (X4, Y4, Z4);

[0045] Calculate the real-time distance from the tracking module to the dangerous point;

[0046]

[0047] where D f is the real-time distance.

[0048] Preferably, when the calibration module detects at least one dangerous point, it further includes:

[0049] Obtain the marked dangerous points in the construction area;

[0050] When the calibration module detects each dangerous point, simultaneously take a corresponding point photo for each dangerous point;

[0051] Provide a display screen and upload the point photos to the display screen;

[0052] Stitch different point photos to obtain a panoramic photo;

[0053] Display the real-time distance between the point and the tracking module below the dangerous point in the point photo, which is used to check whether there are missing monitoring points and real-time monitoring.

[0054] Compared with the prior art, a spatial electronic fence system and a safety control method provided by the present invention have the following beneficial effects:

[0055] 1. A spatial electronic fence system provided by an embodiment of the present invention is used to monitor the distance between a moving operation end on a construction device or a moving person and a fixed dangerous point that needs to maintain a safe distance. The characteristics are as follows: The spatial electronic fence system includes a tracking module, a calibration module, and a central processing system. The tracking module is used to be set on the moving operation end of the construction device and move with the operation end, or set on the human body and move with the person;

[0056] The calibration module includes a rangefinder, a first positioning module, and an angle measurement module. The tracking module includes a second positioning module. The rangefinder is used to obtain the relative distance between the calibration module and the fixed dangerous point;

[0057] The angle measurement module is used to obtain the original attitude angle data of the calibration module relative to the coordinate system where the first positioning module or the second positioning module is located. The central processing system is respectively connected to the calibration module and the tracking module. The central processing system obtains the relative distance and the original attitude angle data of the calibration module, calculates the spatial position of the fixed dangerous point, and then calculates the real-time distance between the tracking module and the fixed dangerous point with the spatial position obtained by the second positioning module in the tracking module obtained in real time. Seek an electronic fence system to assist the construction equipment in constructing in areas with complex environments and avoid physical collision risks.

[0058] 2. A safety control method provided by an embodiment of the present invention includes the following steps: obtaining dangerous points to be marked within a construction area; controlling a calibration module to detect at least one dangerous point to obtain the relative distance between the calibration module and the dangerous point; and simultaneously controlling an angle measurement module to obtain the original attitude angle data of the calibration module; obtaining the spatial position of the calibration module based on a first positioning module; obtaining the spatial position of a tracking module based on a second positioning module; obtaining the spatial position of the dangerous point based on the spatial position, relative distance, and original attitude angle data information of the calibration module; obtaining the real-time distance from the tracking module to the dangerous point based on the spatial positions of the tracking module and the dangerous point, and controlling a mobile operation end on a construction device or a moving person to maintain a safe distance from the dangerous point based on the real-time distance. Through the digital boundary definition of an electronic fence, it promotes the transformation of construction in a complex environment towards intelligence and standardization

Description of the Drawings

[0059] Figure 1 is a schematic diagram of the working state of a spatial electronic fence system provided by the first embodiment of the present invention.

[0060] Figure 2a is a schematic diagram of a dangerous point in the first embodiment of the present invention Figure 1 。

[0061] Figure 2b is a schematic diagram of a dangerous point in the first embodiment of the present invention Figure 1 。

[0062] Figure 3 is a schematic diagram of the structure of a spatial electronic fence system provided by the first embodiment of the present invention Figure 1 。

[0063] Figure 4 is the second schematic diagram of the structure of a spatial electronic fence system provided by the first embodiment of the present invention.

[0064] Figure 5 is a schematic diagram of the structure of a calibration module provided by the first embodiment of the present invention.

[0065] Figure 6 is a partial schematic diagram of the structure of a calibration module provided by the first embodiment of the present invention Figure 1 。

[0066] Figure 7 is the second partial schematic diagram of the structure of a calibration module provided by the first embodiment of the present invention.

[0067] Figure 8 is a partial schematic diagram of the structure of a calibration module provided by the first embodiment of the present invention Figure 3 。

[0068] Figure 9It is a schematic diagram of eliminating positioning errors of a positioning reference station provided by the first embodiment of the present invention.

[0069] Figure 10 It is a schematic flowchart of a safety control method provided by the second embodiment of the present invention.

[0070] Explanation of the attached drawing reference signs:

[0071] 100, Space electronic fence system;

[0072] 1, Calibration module; 2, Tracking module; 3, Central processing system; 4, Positioning reference station;

[0073] 10, Body; 11, Rangefinder; 12, Angle measurement module; 13, First positioning module; 14, Base; 21, Second positioning module;

[0074] 121, First positioning antenna; 122, Telescopic rod; 123, Second positioning antenna.

Detailed implementation manners

[0075] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following further elaborates on the present invention in conjunction with the attached drawings and implementation examples. It should be understood that the specific implementation examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0076] In the embodiments provided by the present invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0077] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, the "in one embodiment" or "in an embodiment" that appears throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0078] In various embodiments of the present invention, it should be understood that the magnitudes of the serial numbers of the above processes do not necessarily mean the inevitable sequence of execution. The execution sequence of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0079] The flowcharts and block diagrams in the accompanying drawings of the present invention illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should be particularly noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0080] During the construction process, it is necessary to consider avoiding potential physical collision hazards. For example, during the construction of a substation, usually after large construction equipment or moving personnel enter the construction area, the equipment inside the substation or the buildings around it requires the moving operation terminal on the construction equipment or the moving personnel to maintain a sufficient safety distance from the equipment inside the substation.

[0081] Exemplarily, in the prior art, radio modules are respectively installed on the fuselage and boom of construction equipment. When the construction equipment enters the substation for construction, it can avoid the boom touching dangerous points inside the substation. As the boom rises, the relative distance between the two radio modules also increases. The distance between the boom and the fuselage can be calculated through the signal connection of the two radio modules. That is, a spherical area will be formed between the boom and the fuselage. Based on the dangerous points of the construction, the operator sets the rising length of the boom by presetting the radius range of the spherical area. When the boom exceeds the spherical area, an alarm will be triggered.

[0082] However, the environment inside the substation is very complex. In one implementation, the existing alarm control method requires setting the radius of the spherical area separately based on the environment of each dangerous point, and the process is extremely complex.

[0083] In one implementation, when the boom is constructing in a direction away from the dangerous point, an alarm will still be triggered as long as it exceeds the spherical area. For example, when the fuselage is set to be stationary and the rising length of the boom is a1, there is a safety distance between the boom and the dangerous point at this time. When the boom approaches the dangerous point, based on the distance a1, it is indeed possible to prevent the boom from touching the dangerous point. However, when the boom is operating in other directions (such as lifting materials), as long as the rising length of the boom exceeds a1, an alarm will be triggered, resulting in false alarms instead.

[0084] Based on the above problems, it is particularly important to seek an electronic fence to assist construction equipment in constructing within a substation with a complex environment.

[0085] Please combine Figure 1 , Figure 2a and Figure 2b , a first embodiment of the present invention provides a spatial electronic fence system 100 for monitoring the distance between a mobile operation end on a construction device or a moving person and a fixed dangerous point that needs to maintain a safe distance. The spatial electronic fence system 100 includes a tracking module 2, a calibration module 1, and a central processing system 3. The tracking module 2 is used to be arranged on the mobile operation end of the construction device and move with the operation end, or be arranged on a human body and move with the person.

[0086] The calibration module 1 includes a rangefinder 11, an angle measurement module 12, and a first positioning module 13 that are respectively connected to the central processing system 3. The tracking module 2 includes a second positioning module 21. The angle measurement module 12 is used to obtain the original attitude angle data of the calibration module 11 relative to the coordinate system where the first positioning module 13 or the second positioning module 21 is located.

[0087] The central processing system 313 is respectively connected to the calibration module 11 and the tracking module 212. Specifically, the central processing system 313 and the calibration module 11 and the tracking module 212 can be wirelessly connected or wiredly connected.

[0088] The central processing system 313 obtains the relative distance and the original attitude angle data of the calibration module 11, calculates the spatial position of the fixed dangerous point, and then calculates the real-time distance between the tracking module 2 and the fixed dangerous point with the spatial position obtained by the second positioning module 21 in the tracking module 2 obtained in real time.

[0089] Understandably, during the construction process, safety management and precise operation are core requirements. Especially in areas with complex environments, such as construction within a substation. It should be noted that the embodiments of the present invention are exemplified by construction within a substation, and the specific construction site is not limited. Fixed dangerous points refer to the points that the operating end of construction equipment may touch when the construction equipment is operating within the substation. Among them, the fixed dangerous points may be facilities inside the substation or buildings around the substation. For safe construction, the operating personnel will mark these dangerous points in advance. The spatial electronic fence system 100 provided in this embodiment dynamically detects the operating end of the construction equipment in real time by integrating advanced technologies of high-precision positioning and dynamic monitoring, providing a full-range and intelligent safety guarantee for construction in complex environments. Specifically, the first positioning module 13 and the second positioning module 21 in this embodiment are signal-connected to each other, and the first positioning module 13 and the second positioning module 21 can adopt high-precision real-time positioning technology. Exemplarily, when obtaining positioning, the first positioning module 13 and the second positioning module 21 can adopt GPS positioning technology or RTK positioning technology. It should be noted that Real-Time Kinematic (RTK) is a high-precision positioning technology based on satellite navigation systems (such as GPS, Beidou, etc.). Through differential correction methods, the positioning accuracy is improved from the conventional meter level to the centimeter level. Its core principle is to achieve real-time error correction through the collaborative work of a reference station and a rover station. Exemplarily, a reference station is set up around the substation, and the world coordinates of the reference station and the rover station can be accurately obtained through the collaborative action of the reference station, the rover station, and satellite signals. It should be understood that the first positioning module 13 and the second positioning module 21 in this embodiment respectively play roles similar to those of the reference station and the rover station, and they can obtain the world coordinates of the first positioning module 13 and the second positioning module 21 by receiving satellite signals.

[0090] It should be understood that in order to ensure a safe distance between the moving operating end on the construction equipment or the moving personnel and the dangerous points, it is necessary to monitor the distance between the operating end or the moving personnel and the dangerous points in real time. In this embodiment, first, the ranging instrument 11 inside the calibration module 1 is adjusted to measure the relative distance from the calibration module 1 to the dangerous point. Since the world coordinates of the first positioning module 13 have been obtained, and the original attitude angle data of the calibration module 1 has been further obtained through the angle measurement module 12, the world coordinates of the dangerous point can be obtained based on the relative distance and the original attitude angle data. At this time, the world coordinates of the first positioning module 13, the second positioning module, and the dangerous point have all been obtained.

[0091] Furthermore, the distance between the operating end of the construction equipment or the moving personnel and the dangerous point can be controlled through the second positioning module 21 and the world coordinates of the dangerous point. Exemplarily, assume that the calibration module 1 is measuring the dangerous point 1 at this time, and through the calculation of the central processing system 3, the world coordinates of the first positioning module 13, the second positioning module, and the dangerous point 1 are obtained. Further, based on the world coordinates of the second positioning module and the dangerous point 1, when the construction equipment is under construction, a safety distance is always maintained between its operating end and the dangerous point 1. After the construction work near the dangerous point 1 is completed, the calibration module 1 can measure the next dangerous point until all dangerous points are measured, and the construction equipment has also completed the construction work inside the substation. It can be understood that in this embodiment, high-precision positioning technology can be adopted, such as RTK technology, to achieve centimeter-level positioning accuracy. During substation construction, the calibration module 1 can accurately calibrate the position coordinates of key facilities such as live equipment, high-voltage wires, and temporarily erected support structures and form a dynamic electronic fence. Through the signal linkage between the calibration module 1 and the tracking module 2, the distance between the construction equipment and the dangerous point is calculated in real time to avoid accidents such as physical collisions.

[0092] It should be noted that, as Figure 3 shown, the calibration module 1 in this embodiment can be set in one module with the central processing system 3, where the calibration module 1 is electrically connected to the central processing system 3. Or, as Figure 4 shown, the calibration module 1 in this embodiment can be set in two modules with the central processing system 3, where the calibration module 1 is signal-connected to the central processing system 3.

[0093] Furthermore, in some possible implementation manners, in order to make the positioning accuracy obtained by the first positioning module 13 and the second positioning module 21 higher, please also combine Figure 9 , the electronic fence system further includes a positioning reference station 4. The positioning reference station 4 is fixed relative to the dangerous point. It should be noted that the positioning reference station 4 can be a local fixed base station or a network base station sent through a 4G network.

[0094] When the coordinate position of the positioning reference station 4 is known, that is, the positioning reference station 4 is used to calculate the error between its own observed value and the known coordinate position and provide it to the central processing system 3 to eliminate the coordinate error measured by the positioning module 1 in the calibration module 1 or the tracking module 2.

[0095] Or, when the coordinate position of the positioning reference station 4 is unknown, at the same moment when the calibration module 1 measures the distance, the central processing system 3 records the coordinates obtained by the positioning reference station 4, and uses these coordinates as the reference coordinates. The central processing system 3 calculates the positioning error at that time based on the self-observations of the positioning reference station 4 at each moment and the reference coordinates, and then uses this positioning error to eliminate the coordinate error measured by the positioning module in the tracking module 2 or the calibration module 1 at that moment.

[0096] It should be understood that in the above scheme, in one case, network RTK is added to the calibration module 1 and the tracking module 2. At this time, no local base station is required to assist in error elimination. The specific principle is to utilize the network base station. For example, the error information is provided to the central processing system 3 through 4G or other means, and then the coordinate error measured by the positioning module 1 in the calibration module 1 or the tracking module 2 is eliminated. In another case, a local base station is built. As Figure 9 shown, the absolute coordinates of this base station may not be clear, but the position of the local base station is fixed. At the moment when the distance is measured, it records its own coordinates. At this moment, the relative position between the coordinates of the dangerous point and this base station is fixed. The subsequent positioning error can be obtained by subtracting the real-time measured position coordinates from the coordinates at that moment to confirm the specific error. When positioning, the position obtained by the tracking module 2 eliminates the above error to obtain accurate coordinates.

[0097] Specifically, the spatial electronic fence system 100 further includes an alarm module, and the alarm module is signal-connected to the central processing system 3; when the distance between the tracking module 2 and the dangerous point is less than the safety distance, the alarm module is used to issue an alarm. It should be understood that since the world coordinates of the second positioning module and the dangerous point are obtained, the alarm module in this embodiment can implement an alarm according to the distance between the second positioning module and the dangerous point. Assuming the alarm distance is D0, when the distance between the second positioning module and the dangerous point is less than D0, the alarm module can trigger an alarm. In addition, the alarm module can also be externally connected to a display screen, and the world coordinates of the first positioning module 13, the second positioning module, and the dangerous point that has been measured by the first positioning module 13 can be displayed on the display screen in real time, so that the operator can more intuitively and clearly confirm the position of the operating end when operating the construction equipment.

[0098] Further, the alarm module in this embodiment can also set a hierarchical alarm mechanism. For example, the alarm distance is set to multiple levels: D0, D1, and D2, where D0 < D1 < D2. When the distance between the second positioning module and the dangerous point is less than D2, a primary alarm is triggered. For example, at this time, the operator is reminded to pay attention to the distance through flashing lights. When the distance between the second positioning module and the dangerous point is less than D1, an intermediate alarm is triggered. For example, at this time, the operator is required to suspend the operation through voice prompts. When the distance between the second positioning module and the dangerous point is less than D0, an emergency alarm is triggered. For example, at this time, the monitoring center is remotely notified to intervene and handle. Further, the alarm module can also transmit the data record back to the central processing system 3.

[0099] Further, the space electronic fence system 100 further includes a camera, which is electrically connected to the central processing system 3. The camera is used to take pictures of the dangerous point. Specifically, the optical axis of the camera is coaxially arranged or laterally parallel to the rangefinder 11. The camera is used to take pictures of the fixed dangerous point when the rangefinder 11 measures the distance. It can be understood that when the calibration module 1 aligns with the dangerous point to measure the distance, the camera can synchronously take clear images of the target point. Through the image recognition algorithm, the central processing system 3 can associate the distance data obtained by the rangefinder 11, the dangerous point data with the position of the dangerous point captured in the photo. Specifically, in this embodiment, the taken photo can be transmitted to the central processing system 3, and the system then spatially marks the image in combination with the positioning data (such as the world coordinates of the dangerous point), and embeds the coordinate information of the dangerous point into the photo metadata to form a "coordinate-image" binding relationship. It can be understood that by setting the camera, the calibration accuracy and management efficiency can be improved. Exemplarily, the operator can prevent mislabeling through visual verification. In a substation, dangerous points (such as high-voltage wires, lightning arresters) may be blocked by other equipment or located in a complex structure. The on-site photos taken by the camera can help the operator visually confirm whether the rangefinder 11 is aligned with the correct target, avoiding calibration deviation caused by environmental interference. In addition, each taken photo can also be used as a record of the construction process: each calibrated photo is attached with a timestamp and coordinate information, and can be used as a basis for safety audits after being archived. If an accident occurs, the calibration process can be traced through historical images to check for omissions. Further, the taken photos can also form a photo library, providing visual training materials for construction workers to help them understand the spatial distribution of dangerous points and safety operation specifications.

[0100] Specifically, please combine Figure 1 and Figure 5, the calibration module 1 can be fixed within the construction area or held by construction workers entering the construction area. When construction workers hold it within the construction area, they can adjust the angle of the calibration module 1 by hand to align the distance measuring instrument 11 with the dangerous point. In another embodiment, the calibration module 1 further includes a base 14 and a body 10. The body 10 is rotatably connected to the base 14, and a motor (not shown in the drawings) can be used to control the body 10 to freely rotate horizontally or vertically relative to the base 14. The distance measuring instrument 11, the angle measuring module 12, and the first positioning module 13 are all accommodated within the body 10. In the complex environment of a substation, dangerous points may be distributed at different heights or orientations. When the calibration module 1 measures a dangerous point, construction workers can remotely control the body 10 to rotate relative to the base 14, so that the distance measuring instrument 11 within the calibration module 1 accurately aligns with the dangerous point. At this time, the rotation of the body 10 is cancelled, and the body 10 will form an original attitude angle data with the horizontal plane.

[0101] In one embodiment, please also combine Figure 6 and Figure 7 , the angle measuring module 12 is an angle measuring instrument. The angle measuring instrument is used to directly measure the pitch angle of the calibration module 1 relative to the horizontal plane and the horizontal angle relative to the geomagnetic meridian, and obtain the original attitude angle data. It can be understood that the angle measuring instrument can directly measure the original attitude angle data of the calibration module 1. Specifically, the angle measuring instrument (such as an electronic inclinometer sensor) can directly detect the inclination angle of the body 10 relative to the horizontal plane through the built-in microelectromechanical system or optical gyroscope, without relying on external reference points or complex conversions. In addition, the use of the angle measuring instrument is highly efficient, and distance and angle data can be obtained synchronously when the distance measuring instrument 11 is aligned with the dangerous point.

[0102] In another embodiment, please also combine Figure 6 and Figure 8 , the angle measuring module 12 includes a first positioning antenna 121 and a second positioning antenna 123. The first positioning antenna 121 and the second positioning antenna 123 are both arranged on the body 10 and there is a distance between the first positioning antenna 121 and the second positioning antenna 123. The first positioning antenna 121 and the second positioning antenna 123 are signal-connected. The first positioning antenna and the second positioning antenna are used to simultaneously obtain coordinate data and indirectly obtain the attitude angle of the calibration module 1 in the coordinate system. Specifically, this embodiment uses the signal difference (position difference) between the two antennas to calculate and infer the inclination angle of the body 10.

[0103] An opening for the light emission of the rangefinder 11 is provided on the main body 10. The connection direction of the first positioning antenna 121 and the second positioning antenna 123 is parallel to the light emission direction of the rangefinder 11. When the rangefinder 11 is aligned with the dangerous point, the first positioning antenna 121, the second positioning antenna 123, and the dangerous point are in a straight line at this time. Moreover, at this time, the connection line between the first positioning antenna 121 and the second positioning antenna 123 is parallel to the light direction of the light emitted by the rangefinder 11. The first positioning antenna 121 and the second positioning antenna 123 can accurately obtain the world coordinate position. By combining the distance measured by the rangefinder 11 between the dangerous point and the calibration module 1, the world coordinate of the dangerous point can be indirectly calculated. Alternatively, an included angle is formed between the connection direction of the first positioning antenna 121 and the second positioning antenna 123 and the light emission direction of the rangefinder 11. The user can set the positions of the first positioning antenna 121 and the second positioning antenna 123 according to actual needs, and then obtain the original attitude angle data of the calibration module 1 through calculation.

[0104] Please refer to Figure 8 , the calibration module 1 includes a main body 10 and a telescopic rod 122. The rangefinder 11 and the first positioning module 13 are both arranged inside the main body 10. The angle measurement module 12 further includes a telescopic rod 122. One end of the telescopic rod 122 is connected to the main body 10, and the other end is connected to the first positioning antenna 121. The second positioning antenna 123 is arranged on the main body 10. The telescopic rod 122 performs a telescopic movement relative to the main body 10 so that the distance between the first positioning antenna 121 and the second positioning antenna 123 gradually increases or decreases. The first positioning antenna 121 and the second positioning antenna 123 are signal-connected; the first positioning antenna 121, the telescopic rod 122, and the second positioning antenna 123 are used to indirectly measure the original attitude angle data of the calibration module 1. It can be understood that the telescopic rod 122 helps the storage of the first positioning antenna 121. When the rangefinder 11 measures the distance to the dangerous point, the farther the distance between the two antennas, the more accurate the acquisition result of the original attitude angle data. Therefore, during measurement, first control the telescopic rod 122 to perform a telescopic movement relative to the main body 10, forcing the first positioning antenna 121 to move away from the second positioning antenna 123. Further, this embodiment uses the signal difference (position difference) between the two antennas to calculate and deduce the inclination angle of the main body 10. It should be understood that this embodiment does not need to rely on a high-precision inclination sensor, and indirectly calculates the angle through the antenna signal relationship, reducing the dependence on precision hardware. And in a strong electromagnetic environment, the antenna signal (such as UWB or microwave) is more stable than traditional sensors. Further,

[0105] Specifically, an opening for the light emission of the rangefinder 11 can be provided on the main body 10. The laser emitted by the rangefinder 11 passes through the opening and is transmitted to the dangerous point and then returns to the rangefinder 11 for distance measurement.

[0106] In one way, the telescopic direction of the telescopic rod 122 is parallel to the light-emitting direction of the rangefinder 11. It should be understood that in this embodiment, the telescopic direction of the telescopic rod 122 is parallel to the light-emitting direction of the rangefinder 11. When the rangefinder 11 is aligned with the dangerous point, at this time, the first positioning antenna 121, the second positioning antenna 123, and the dangerous point are on a straight line. And the first positioning antenna 121 and the second positioning antenna 123 can accurately obtain the world coordinate positions. Combining the distance measured by the rangefinder 11 between the dangerous point and the calibration module 1, the world coordinates of the dangerous point can be indirectly calculated. Exemplarily, the world coordinates of the first positioning antenna 121 are (7, 5, 2), and the world coordinates of the second positioning antenna 123 are (5, 5, 2). At this time, the relative distance D is 7. At this time, according to the light-emitting direction of the rangefinder 11, the world coordinates of the dangerous point can be known as (14, 5, 2). It should be understood that when the telescopic direction of the telescopic rod 122 is parallel to the light-emitting direction of the rangefinder 11, the world coordinates of the dangerous point can be quickly calculated with high efficiency.

[0107] Alternatively, in another way, the telescopic direction of the telescopic rod 122 forms an angle with the light-emitting direction of the rangefinder 11. It should be understood that in addition to the antennas, other components may be provided on the body 10. Therefore, in this way, the telescopic rod 122 can be set at any position of the body 10 and can be inclined to form an angle with the light-emitting direction of the rangefinder 11, which improves the selectivity of the designer to set the position of the telescopic rod 122.

[0108] Optionally, in this embodiment, the rangefinder 11 is any one of a laser rangefinder, an ultrasonic rangefinder, a microwave radar rangefinder, and a GPS rangefinder. Preferably, a laser rangefinder is selected in this embodiment. It should be understood that laser is a high-frequency electromagnetic wave, which is not affected by the low-frequency electromagnetic field in the substation, and the signal stability is much higher than that of microwave or ultrasonic wave. More preferably, a visible light rangefinder is selected in this embodiment. It should be understood that the operator can directly confirm whether the rangefinder is aligned with the target point through the visible light spot, avoiding mis-calibration caused by occlusion or complex structure.

[0109] Please combine Figure 1 and Figure 10 , to solve the above technical problems, the second embodiment of the present invention also provides a safety control method, which is applied to the above spatial electronic fence system:

[0110] S1, obtain the marked dangerous points in the construction area;

[0111] S2, control the calibration module to detect at least one dangerous point to obtain the relative distance between the calibration module and the dangerous point; and at the same time, control the angle measurement module to obtain the original attitude angle data of the calibration module;

[0112] S3, obtain the spatial position of the calibration module based on the first positioning module;

[0113] S4. Obtain the spatial position of the tracking module based on the second positioning module; obtain the spatial position of the tracking module based on the second positioning module;

[0114] S5. Obtain the spatial position of the dangerous point based on the spatial position, relative distance, and original data information of the attitude angle of the calibration module;

[0115] S6. Obtain the real-time distance from the tracking module to the dangerous point based on the spatial positions of the tracking module and the dangerous point, and control the mobile operation end on the construction equipment or the moving personnel to keep a safe distance from the dangerous point based on the real-time distance.

[0116] It can be understood that a safety control method provided in this embodiment can be used to monitor the distance between the mobile operation end on the construction equipment or the moving personnel and the fixed dangerous point that needs to maintain a safe distance. Specifically, the calibration module and the central processing system ensure the stability of the data acquisition and processing center. In addition, the set position of the calibration module can ensure that it can detect the positions of all dangerous points. It should be noted that when detecting dangerous points, if some dangerous points cannot be detected by the calibration module due to problems such as being blocked by obstacles, the operator can selectively move the positions of the calibration module and the central processing system to ensure that the calibration module successfully detects the positions of the dangerous points. It should be understood that the calibration module can be quickly fixed on the brackets or the ground in the substation, or held by the construction personnel to adapt to the layout requirements of different construction areas and reduce the deployment time.

[0117] Furthermore, assuming that a certain bracket on the substation is a dangerous point, the distance from the calibration module to the bracket can be measured by controlling the rangefinder of the calibration module to aim at the bracket. It should be understood that the rangefinder and the angle measurement module calibrate each dangerous point (such as high-voltage busbars, lightning arresters, temporary brackets) one by one. Specifically, the rangefinder can accurately measure the distance from the calibration module to the dangerous point. Compared with the range of manual distance measurement, automatic distance measurement can keep people away from the high-voltage dangerous area. Preferably, a laser rangefinder can be selected as the rangefinder, which can not only ensure the accuracy of the dangerous point coordinate calculation and avoid the deviation of the electronic fence boundary caused by distance measurement deviation. The laser beam has strong directivity and is not affected by electromagnetic noise or multipath reflection interference in the substation, ensuring the reliability of data in a complex environment.

[0118] Further, the original attitude angle data information of the calibration module is obtained through the angle measurement module. Specifically, the first positioning module and the second positioning module can obtain the world coordinates of the first positioning module and the second positioning module based on GPS positioning technology or RTK positioning technology. Among them, the first positioning module is usually the fixed coordinates where the calibration module is placed at a certain fixed position, while the second positioning module is placed on the operating end of the construction equipment and can move with the operating end. That is, the second positioning module supports real-time position monitoring of the operating end during high-speed movement. Further, the spatial position of the dangerous point is obtained based on the world coordinates, relative distance, and original attitude angle data information of the first positioning module. The relative distance and angle data are converted into absolute coordinates through a mathematical algorithm to construct the boundary of a high-precision electronic fence. Based on the tracking module and the spatial position of the dangerous point, the real-time distance from the tracking module to the dangerous point is obtained. Based on the real-time distance, an early warning can be given in advance before the construction equipment approaches the dangerous point to avoid collision accidents. The safety control method provided in this embodiment has the characteristics of full-process automation, which can reduce manual intervention and the risk of operation errors from regional positioning to dynamic monitoring. It can also promote the transformation of substation construction towards intelligence and standardization through the digital boundary definition of the electronic fence.

[0119] It should be noted that the method for the real-time distance to control the moving operating end or the moving personnel on the construction equipment to maintain a safe distance from the dangerous point in this embodiment can be to give a warning through an alarm. For example, after the distance between the moving operating end and the dangerous point is less than the safe distance, the alarm module connected to the electronic fence system will give a real-time alarm. It can also be to give a warning by actively locking. For another example, when the distance between the moving operating end and the dangerous point is lower than the safe distance, the equipment will be directly locked, forcing the moving operating end to be unable to continue moving in the direction of the dangerous point.

[0120] In one implementation manner, the angle measurement module includes an angle measuring instrument, and the angle measuring instrument is used to directly measure the original attitude angle data of the calibration module.

[0121] Specifically, obtaining the spatial position of the dangerous point includes:

[0122] When ranging based on the calibration module, the spatial position of the first positioning module is the first spatial position, and the coordinates of the first spatial position are (X1, Y1, Z1);

[0123] Based on the included angles α, β, and γ between the calibration module and the three axes of the coordinate system obtained by the angle measuring instrument;

[0124] Calculate and obtain the spatial position of the fixed dangerous point, and obtain the second spatial position, and the coordinates of the second spatial position are (X2, Y2, Z2);

[0125] X2 = X1 + D * cosα;

[0126] Y2 = Y1 + D * cosβ;

[0127] Z2 = Z1 + D * cosγ;

[0128] Wherein, D is the relative distance;

[0129] The spatial position obtained by the positioning module on the tracking module is the third spatial position, and the coordinates of the third spatial position are (X3, Y3, Z3);

[0130] Calculate the real-time distance from the tracking module to the dangerous point;

[0131]

[0132] Where D f is the real-time distance.

[0133] It can be understood that the operator can preset a safety distance and control the real-time distance D from the operating end of the construction equipment to the dangerous point f to be greater than the safety distance. It should be understood that in this embodiment, the included angles between the calibration module and the three axes of the coordinate system are directly obtained by means of a high-precision angle measuring instrument, and the world coordinates of the dangerous point can be obtained based on simple calculations, without mechanical adjustment, and the angle data can be obtained with one key, improving the calibration efficiency.

[0134] In another embodiment, the angle measurement module can also be the first positioning antenna and the second positioning antenna.

[0135] Specifically, when the calibration module measures the distance, the first positioning antenna obtains the first spatial position, and the coordinates of the first spatial position are (X1, Y1, Z1). At the same time, the second positioning antenna obtains the second spatial position, and the coordinates of the second spatial position are (X2, Y2, Z2);

[0136] Given the distance L between the first positioning antenna and the second positioning antenna, when measuring the distance, the first positioning antenna, the second positioning antenna and the fixed dangerous point are on a straight line, and the first positioning antenna is close to the fixed dangerous point;

[0137] Obtain the positional relationship between the rangefinder and the first positioning antenna, and obtain the distance D1 between the first positioning antenna and the fixed dangerous point based on the positional relationship and the relative distance;

[0138] Calculate the spatial position of the fixed dangerous point, and obtain the third spatial position. The coordinates of the third spatial position are:

[0139]

[0140] The spatial position obtained by the positioning module on the tracking module is the fourth spatial position, and the coordinates of the fourth spatial position are (X4, Y4, Z4);

[0141] Calculate the real-time distance from the tracking module to the dangerous point;

[0142]

[0143] where D f is the real-time distance.

[0144] Furthermore, after obtaining the real-time distance from the tracking module to the dangerous point, it further includes:

[0145] Set the warning distance;

[0146] Judge whether the real-time distance is greater than the warning distance;

[0147] If the real-time distance is less than or equal to the warning distance, then send out a warning signal.

[0148] It should be understood that assuming the warning distance is D0, when the real-time distance between the second positioning module and the dangerous point is less than D0, the warning module can trigger a warning. In addition, the warning module can also be externally connected to a display screen, and the world coordinates of the first positioning module, the second positioning module, and the dangerous points that have been measured by the first positioning module can also be displayed in real time on the display screen, so that the operator can more intuitively and clearly confirm the position of the operation end when operating the construction equipment.

[0149] Furthermore, when controlling the calibration module to detect at least one dangerous point, it further includes:

[0150] Obtain the marked dangerous points in the construction area;

[0151] When the calibration module detects each dangerous point, simultaneously take a corresponding point photo for each dangerous point;

[0152] Provide a display screen, upload the point photos to the display screen and count the dangerous points on the point photos;

[0153] Compare the count with the number of marked dangerous points to confirm whether there are any missing dangerous points.

[0154] It should be understood that in this embodiment, the taken photos can be transmitted to the central processing system, and the system combines the positioning data (such as the world coordinates of the dangerous points) to perform spatial marking on the images, embedding the coordinate information of the dangerous points into the photo metadata to form a "coordinate-image" binding relationship. In addition, upload the point photos to the display screen and count the dangerous points on the point photos. If there is an error between the counting result and the number of marked dangerous points, it indicates that there are missing dangerous points during the measurement of the dangerous points by the calibration module. At this time, the operator can perform manual confirmation.

[0155] Further, uploading the point photos to the display screen specifically includes:

[0156] Stitching different point photos together to obtain a panoramic photo;

[0157] Displaying the real-time distance between the point and the tracking module below the dangerous point in the point photo for checking whether there are missing monitoring points and real-time monitoring.

[0158] It can be understood that in this embodiment, when the calibration module detects each dangerous point, it synchronously takes point photos with visible light laser spots and automatically embeds the coordinate information of the point into the photo metadata. Further, the central processing system calls an image processing algorithm to stitch multiple local photos into a panoramic view covering the construction area. The system automatically marks and counts all dangerous points in the panoramic view through image recognition technology to generate a total number. Finally, the counting result on the panoramic view is compared with the actual number of dangerous points. If they are inconsistent, an alarm is triggered to indicate missing marking. It should be understood that the panoramic view in this embodiment integrates scattered local photos into a complete view of the construction area, intuitively showing the spatial distribution of all calibrated dangerous points.

[0159] The above has introduced in detail a spatial electronic fence system and a safety control method disclosed in the embodiments of the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation of the present invention. Any modifications, equivalent replacements, and improvements made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A spatial electronic fence system for monitoring the distance between a moving operation terminal or a moving person on a construction equipment and a fixed dangerous point that needs to maintain a safe distance, characterized in that: The described space electronic fence system includes a tracking module, a calibration module, and a central processing system. The tracking module is used to be set on the moving operation end of the construction equipment and move with the operation end, or be set on a human body and move with the person. The calibration module includes a rangefinder, a first positioning module, and an angle measurement module. The tracking module includes a second positioning module. The rangefinder is used to obtain the relative distance between the calibration module and the fixed dangerous point. The angle measurement module is used to obtain the original attitude angle data of the calibration module relative to the coordinate system where the first positioning module or the second positioning module is located. The central processing system is respectively connected to the calibration module and the tracking module. The central processing system obtains the relative distance and the original attitude angle data of the calibration module, calculates the spatial position of the fixed dangerous point, and then calculates the real-time distance between the tracking module and the fixed dangerous point with the spatial position obtained by the second positioning module in the tracking module obtained in real time.

2. The spatial electronic fence system according to claim 1, characterized in that: The space electronic fence system further includes an alarm module. The alarm module is in signal connection with the central processing system. When the distance between the tracking module and the dangerous point is less than the safe distance, the alarm module is used to issue an alarm.

3. The spatial electronic fence system according to claim 1, wherein: The calibration module further includes a camera. The optical axis of the camera is arranged coaxially or side-by-side parallelly with the rangefinder. The camera is used to take a photo of the fixed dangerous point when the rangefinder measures the distance.

4. The spatial electronic fence system according to claim 1, wherein: The angle measurement module includes an angle measuring instrument. The coordinate system includes the world geodetic coordinate system or the geographic coordinate system. The angle measuring instrument is used to directly measure the pitch angle of the calibration module relative to the horizontal plane and the horizontal angle relative to the geomagnetic meridian.

5. The spatial electronic fence system according to claim 1, characterized in that: The angle measurement module includes a first positioning antenna and a second positioning antenna. Both the first positioning antenna and the second positioning antenna are arranged on the calibration module and there is a distance between the first positioning antenna and the second positioning antenna. The first positioning antenna and the second positioning antenna are used to simultaneously obtain coordinate data to obtain the attitude angle of the calibration module in the coordinate system.

6. The spatial electronic fence system according to claim 5, characterized in that: The calibration module includes a body and a telescopic rod. The rangefinder and the first positioning module are both arranged in the body. One end of the telescopic rod is connected to the body, and the other end is connected to the first positioning antenna. The second positioning antenna is arranged on the body. The telescopic rod performs telescopic movement relative to the body to gradually increase or decrease the distance between the first positioning antenna and the second positioning antenna.

7. The electronic fence system according to claim 1, wherein: Both the first positioning module and the second positioning module are satellite positioning modules. The first positioning module and the second positioning module are used to obtain the world coordinates of satellite positioning.

8. The electronic fence system according to claim 1, wherein: The electronic fence system further includes a positioning reference station. The positioning reference station is fixed relative to the dangerous point. When the coordinate position of the positioning reference station is known, the positioning reference station is used to calculate the error between its own observation value and the known coordinate position and provide it to the central processing system to eliminate the coordinate error measured by the positioning module in the calibration module or the tracking module. Alternatively, when the coordinate position of the positioning reference station is unknown, at the same moment when the calibration module measures the distance, the central processing system records the coordinates obtained by the positioning reference station and uses these coordinates as the reference coordinates. The central processing system calculates the positioning error at that time based on the self-observations of the positioning reference station at each moment and the reference coordinates, and then uses this positioning error to eliminate the coordinate error measured by the positioning module in the tracking module or calibration module at that moment.

9. A security control method, applied to the spatial electronic fence system according to any one of claims 1-8, characterized in that: It includes the following steps: Obtain the dangerous points that need to be marked within the construction area; Control the calibration module to detect at least one dangerous point to obtain the relative distance between the calibration module and the dangerous point; and simultaneously control the angle measurement module to obtain the original attitude angle data of the calibration module; Obtain the spatial position of the calibration module based on the first positioning module; Obtain the spatial position of the tracking module based on the second positioning module; obtain the spatial position of the dangerous point based on the spatial position, relative distance, and original attitude angle data information of the calibration module; Obtain the real-time distance from the tracking module to the dangerous point based on the spatial positions of the tracking module and the dangerous point, and control the mobile operation end on the construction equipment or the moving personnel to maintain a safe distance from the dangerous point based on the real-time distance.

10. The security control method according to claim 9, characterized in that: Obtaining the real-time distance from the tracking module to the fixed dangerous point specifically includes: When the angle measurement module includes an angle measuring instrument; When the calibration module measures the distance, the spatial position of the first positioning module is the first spatial position, and the coordinates of the first spatial position are (X1, Y1, Z1); Based on the angles α, β, and γ between the calibration module and the three axes of the coordinate system obtained by the angle measuring instrument; Calculate to obtain the spatial position of the fixed dangerous point and obtain the second spatial position, and the coordinates of the second spatial position are (X2, Y2, Z2); X2 = X1 + D * cosα; Y2 = Y1 + D * cosβ; Z2 = Z1 + D * cosγ; where D is the relative distance; The spatial position obtained by the positioning module on the tracking module is the third spatial position, and the coordinates of the third spatial position are (X3, Y3, Z3); Calculate to obtain the real-time distance from the tracking module to the dangerous point; where D f is the real-time distance.

11. The security control method according to claim 9, wherein: Obtaining the real-time distance from the tracking module to the fixed dangerous point specifically includes: When the angle measurement module includes a first positioning antenna and a second positioning antenna; When the calibration module measures the distance, the first positioning antenna obtains the first spatial position, and the coordinates of the first spatial position are (X1, Y1, Z1), and at the same time, the second positioning antenna obtains the second spatial position, and the coordinates of the second spatial position are (X2, Y2, Z2); The distance L between the first positioning antenna and the second positioning antenna is known. When measuring the distance, the first positioning antenna, the second positioning antenna, and the fixed dangerous point are on a straight line, and the first positioning antenna is close to the fixed dangerous point; Obtain the positional relationship between the distance measuring instrument and the first positioning antenna, and obtain the distance D1 between the first positioning antenna and the fixed dangerous point based on the positional relationship and the relative distance; Calculate the spatial position of the fixed dangerous point and obtain the third spatial position. The coordinates of the third spatial position are: The spatial position obtained by the positioning module on the tracking module is the fourth spatial position, and the coordinates of the fourth spatial position are (X4, Y4, Z4); Calculate the real-time distance from the tracking module to the dangerous points; Among which D f is the real-time distance.

12. The security control method according to claim 9, wherein: When controlling the calibration module to detect at least one dangerous point, it further includes: Obtain the marked dangerous points within the construction area; When the calibration module detects each dangerous point, simultaneously take a corresponding point photo for each dangerous point; Provide a display screen and upload the point photo to the display screen; Stitch different point photos to obtain a panoramic photo; Display the real-time distance between the point and the tracking module below the dangerous point in the point photo, which is used to check whether there are missing monitoring points and for real-time monitoring.

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