Space electronic fence system and safety management method

Abstract

The present application relates to the technical field of safety control, in particular to a space electronic fence system and a safety control method. The space electronic fence system provided by the present application comprises a tracking module, a calibration module and a central processing system. The tracking module is arranged on a mobile operating end of a construction equipment and moves with the operating end, or is arranged on a human body and moves 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. The range finder is used to obtain the relative distance between the calibration module and a fixed dangerous point. The angle measurement module is used to obtain the attitude angle original data of the calibration module relative to the coordinate system of the first positioning module or the second positioning module. The real-time distance between the tracking module and the fixed dangerous point is calculated by using the spatial positions of the fixed dangerous point and the tracking module. An electronic fence system is sought to assist the construction equipment in the construction in the complex environment area, such as the area similar to the substation.

Description

[Technical Field]

[0001] This invention relates to the field of security control technology, and in particular to a spatial electronic fence system and security control method. [Background Technology]

[0002] During construction, it is necessary to consider avoiding potential physical collision hazards. For example, in substation construction, after large construction equipment or mobile personnel enter the construction area, the equipment inside the substation or the surrounding buildings need to maintain a sufficient safe distance between the mobile operating end of the construction equipment or the mobile personnel and the equipment inside the substation.

[0003] For example, existing technology involves installing radio modules on the body and boom of construction equipment to prevent the boom from touching hazardous points within the substation when the equipment enters. As the boom rises, the relative distance between the two radio modules increases. The distance between the boom and the body can be calculated through the signal connection between the two radio modules. This creates a spherical area between the boom and the body. The operator sets the boom's rising length based on the radius of this spherical area, based on the hazardous points being constructed. An alarm is triggered when the boom exceeds the spherical area. However, the substation environment is highly complex. Existing alarm control methods require setting the radius of the spherical area separately for each hazardous point, which is cumbersome. Furthermore, even when the boom moves away from hazardous points, an alarm is still triggered if it exceeds the spherical area. Therefore, finding an electronic fence to assist construction equipment in operating within the complex environment of substations is crucial. [Summary of the Invention]

[0004] In order to find an electronic fence system to assist construction equipment in complex environments, such as substations, this invention provides a spatial electronic fence system and a safety management method.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a spatial electronic fence system for monitoring the distance between a mobile operating terminal on construction equipment or a moving person and a fixed danger point where a safe distance needs to be maintained. The spatial electronic fence system includes a tracking module, a calibration module and a central processing system. The tracking module is used to be installed on the mobile operating terminal of the construction equipment and move with the operating terminal, or installed on the human body 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; and the rangefinder is used to obtain the relative distance between the calibration module and the fixed danger point.

[0007] The angle measuring module is configured to acquire attitude angle original data of the calibration module relative to a coordinate system of the first positioning module or the second positioning module; and the central processing system is connected with the calibration module and the tracking module respectively.

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

[0009] Preferably, the spatial electronic fence system further comprises an alarm module connected with the central processing system; when the distance between the tracking module and the dangerous point is less than a safe distance, the alarm module is configured to issue an alarm.

[0010] Preferably, the calibration module further comprises a camera, and an optical axis of the camera is coaxially arranged with the range finder or is arranged in parallel with the range finder; the camera is configured to take a photo of the fixed dangerous point when the range finder measures the distance.

[0011] Preferably, the angle measuring module comprises an angle measuring instrument, and the coordinate system comprises a world geodetic coordinate system or a geographic coordinate system.

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

[0013] Preferably, the angle measuring module comprises a first positioning antenna and a second positioning antenna, and the first positioning antenna and the second positioning antenna are both arranged on the calibration module and are spaced apart from each other; the first positioning antenna and the second positioning antenna are configured to simultaneously acquire coordinate data to obtain an attitude angle of the calibration module in the coordinate system.

[0014] Preferably, the calibration module comprises a main body and a telescopic rod, the range finder and the first positioning module are arranged in the main body, one end of the telescopic rod is connected with the main body, and the other end of the telescopic rod is connected with the first positioning antenna; the second positioning antenna is arranged on the main body, and the telescopic rod is configured to perform telescopic movement relative to the main body so as to gradually increase or decrease the distance between the first positioning antenna and the second positioning antenna.

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

[0016] Preferably, the electronic fence system further comprises 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 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, the calibration module measures the distance at the same time, the central processing system records the coordinates obtained by the positioning reference station, and uses the coordinates as the reference coordinates, and the central processing system calculates the positioning error at the moment according to the own observation value of the positioning reference station at each moment and the reference coordinates, and then uses the positioning error to eliminate the coordinate error measured by the positioning module in the tracking module or the calibration module at the moment.

[0019] To solve the above technical problems, the present application provides another technical solution as follows: a safety management method applied to the spatial electronic fence system in any one of the above,

[0020] Obtaining dangerous points needing to be marked in the construction area;

[0021] Controlling 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 controlling the angle measurement module to obtain the attitude angle original data of the calibration module;

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

[0023] 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 the mobile operation end on the construction equipment or the 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 measurement instrument;

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

[0027] Obtaining the included angles α, β and γ between the calibration module and the three axes of the coordinate system based on the angle measurement instrument;

[0028] Calculating and obtaining the spatial position of the fixed dangerous point, and obtaining a second spatial position, and the coordinates (X2, Y2, Z2) of the second spatial position.

[0029] X2 = X1 + D*cosα;

[0030] Y2 = Y1 + D*cosβ;

[0031] Z2 = Z1 + D*cosγ;

[0032] wherein D is a relative distance;

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

[0034] The real-time distance of the tracking module to the dangerous point is calculated and obtained;

[0035]

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

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

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

[0039] When the calibration module measures the distance, the first positioning antenna obtains a 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 a second spatial position, and the coordinates of the second spatial position are (X2, Y2, Z2);

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

[0041] The positional relationship between the distance measuring instrument and the first positioning antenna is obtained, and the distance D1 between the first positioning antenna and the fixed dangerous point is obtained based on the positional relationship and the relative distance;

[0042] The spatial position of the fixed dangerous point is calculated, and a third spatial position is obtained, and the coordinates of the third spatial position are:

[0043]

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

[0045] The real-time distance of the tracking module to the dangerous point is calculated and obtained;

[0046]

[0047] wherein D f is a real-time distance.

[0048] Preferably, the control calibration module further comprises the following steps when detecting the at least one dangerous point:

[0049] acquiring the marked dangerous point in the construction area;

[0050] When the calibration module detects each dangerous point, the corresponding point photos are acquired by simultaneously taking a photo of each dangerous point;

[0051] providing a display screen and uploading the point photos to the display screen;

[0052] stitching different point photos to obtain panoramic photos;

[0053] displaying the real-time distance between the dangerous point and the tracking module below the dangerous point in the point photo, for checking whether there is a monitoring point missing and real-time monitoring.

[0054] Compared with the prior art, the space electronic fence system and the safety management and control method have the following beneficial effects:

[0055] 1. The space electronic fence system provided by the embodiment of the present application is used for monitoring the distance between the mobile operation end on the construction equipment or the moving personnel and the fixed dangerous point which needs to maintain a safe distance, and the space electronic fence system comprises a tracking module, a calibration module and a central processing system, the tracking module is used for being arranged on the mobile operation end of the construction equipment and moving with the operation end, or being arranged on the human body and moving with the human body;

[0056] the calibration module comprises a range finder, a first positioning module and an angle measurement module, the tracking module comprises a second positioning module, the range finder is used for acquiring the relative distance between the calibration module and the fixed dangerous point;

[0057] the angle measurement module is used for acquiring the attitude angle original data of the calibration module relative to the coordinate system of the first positioning module or the second positioning module; the central processing system is connected with the calibration module and the tracking module respectively; the central processing system acquires the relative distance and the attitude angle original 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 combining the spatial position acquired by the second positioning module in the tracking module in real time.

[0058] 2. The safety management method provided by the embodiment of the present application comprises the following steps: obtaining a dangerous point position in a construction area that needs to be marked; controlling a calibration module to detect at least one dangerous point position to obtain a relative distance between the calibration module and the dangerous point position; and simultaneously controlling an angle measurement module to obtain original data of a posture angle of the calibration module; obtaining a spatial position of the calibration module based on a first positioning module; obtaining a spatial position of a tracking module based on a second positioning module; obtaining a spatial position of the dangerous point position based on the spatial position of the calibration module, the relative distance, and the original data of the posture angle; obtaining a real-time distance from the tracking module to the dangerous point position based on the spatial positions of the tracking module and the dangerous point position, and controlling a mobile operation end on a construction device or a person to keep a safe distance from the dangerous point position based on the real-time distance. The digital boundary definition of the electronic fence promotes the intelligent and standardized transformation of construction in a complex environment BRIEF DESCRIPTION OF DRAWINGS

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

[0060] Figure 2a is a dangerous point position schematic diagram in the first embodiment of the present application Figure 1 .

[0061] Figure 2b is a dangerous point position schematic diagram in the first embodiment of the present application Figure 1 .

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

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

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

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

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

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

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

[0069] Figure 10 is a flowchart of a security management method provided by the second embodiment of the present application.

[0070] Explanation of the drawings:

[0071] 100, spatial electronic fence system;

[0072] 1, calibration module; 2, tracking module; 3, central processing system; 4, positioning reference station;

[0073] 10, body; 11, range finder; 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 DESCRIPTION

[0075] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0076] In the embodiments provided by the present application, 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 the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0077] It should be understood that "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 application. Therefore, "in one embodiment" or "in an embodiment" appearing 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 know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0078] In various embodiments of the present application, it should be understood that the size of the serial number of the above processes does not mean the inevitable sequence of execution, and the execution sequence of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0079] The computer program element, preferably implemented as software code, can be stored in any second storage medium 130, for example in the RAM of a data processor, such as a computer or computer network server. Further, the computer program element can be provided with the application as one file or several files in computer programme code, which can be transferred in pieces or in total into the memory of the data processor.

[0080] During the construction process, it is necessary to consider avoiding physical collision hazards, such as in the construction of a substation, after large construction equipment or mobile personnel enter the construction area, the equipment in the substation or the buildings around it need to maintain a safe distance between the mobile operating end on the construction equipment or the mobile personnel and the equipment in the substation.

[0081] Exemplarily, the prior art is to install a radio module on the body and boom of the construction equipment respectively, when the construction equipment enters the substation for construction, it will avoid the boom from touching the dangerous point in the substation. As the boom rises, the relative distance between the two radio modules also increases. The distance between the boom and the body can be calculated through the signal connection of the two radio modules. That is, a spherical region will be formed between the boom and the body, and the constructor sets the length of the boom rising based on the radius range of the preset spherical region according to the dangerous point for construction. When the boom exceeds the spherical region, an alarm will be implemented.

[0082] However, the environment in the substation is very complex. In an embodiment, the existing alarm control method needs to set the radius of the spherical region based on the environment of each dangerous point, and the process is complex.

[0083] In an embodiment, when the boom is working away from the dangerous point, as long as it exceeds the spherical region, an alarm will still be given. For example, set the body to be stationary, and the length of the boom rising is a1, at this time the boom and the dangerous point have a safe distance. When the boom approaches the dangerous point, based on the distance a1, it can indeed prevent the boom from contacting the dangerous point, however, when the boom is working in other directions (such as lifting materials), as long as the length of the boom rising exceeds a1, an alarm will be given, which is a false alarm.

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

[0085] Please combine Figure 1 , Figure 2a and Figure 2b , the first embodiment of the application provides a space electronic fence system 100 for monitoring the distance between the mobile operation end on the construction equipment or the moving personnel and the fixed dangerous point position which needs to maintain a safe distance, the space electronic fence system 100 comprises 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 equipment and move with the operation end, or be arranged on the human body and move with the human body;

[0086] The calibration module 1 comprises a range finder 11, an angle measurement module 12 and a first positioning module 13 which are connected with the central processing system 3 respectively, the tracking module 2 comprises a second positioning module 21, the angle measurement module 12 is used to obtain the attitude angle original data of the calibration module 11 relative to the coordinate system of the first positioning module 13 or the second positioning module 21;

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

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

[0089] It can be understood that, in the construction process, safety management and accurate operation are core requirements. Especially in complex environments, such as construction in a substation, it should be noted that the embodiments of the present application take the construction in the substation as an example, and the specific construction site is not limited. The fixed dangerous point is a point that the operating end of the construction equipment may touch when the construction equipment is used for construction in the substation. Among them, the fixed dangerous point may be a facility inside the substation, or a building around the substation. In order to carry out safe construction, the operating personnel will mark these dangerous points in advance. The spatial electronic fence system 100 provided in the embodiment realizes dynamic detection of the operating end of the construction equipment in real time by integrating advanced technologies of high-precision positioning and dynamic monitoring, and provides all-round and intelligent safety protection for construction in complex environments. Specifically, the first positioning module 13 and the second positioning module 21 in the embodiment are signal connected with each other, and the first positioning module 13 and the second positioning module 21 can adopt high-precision real-time positioning technology. Exemplarily, the first positioning module 13 and the second positioning module 21 can adopt GPS positioning technology when acquiring positioning, or can adopt RTK positioning technology. It should be noted that real-time dynamic positioning (Real-Time Kinematic, RTK for short) is a high-precision positioning technology based on a satellite navigation system (such as GPS, Beidou, etc.). The positioning accuracy is improved from the conventional meter level to the centimeter level through the differential correction method. The core principle is to realize real-time error correction through the cooperative work of the reference station and the mobile station. Exemplarily, a reference station is set around the substation, and the world coordinates of the reference station and the mobile station can be accurately obtained through the cooperative action of the reference station, the mobile station and the satellite signal. It should be understood that the first positioning module 13 and the second positioning module 21 in the embodiment respectively play a role similar to the reference station and the mobile station, which 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 that the mobile operating end on the construction equipment or the moving personnel and the dangerous point leave a safe distance, it is necessary to monitor the distance between the operating end or the moving personnel and the dangerous point in real time. In the embodiment, first, the distance between the calibration module 1 and the dangerous point is measured by the distance measuring instrument 11 in the calibration module 1. Since the world coordinates of the first positioning module 13 have been obtained, the attitude angle original data of the calibration module 1 is further obtained by the angle measuring module 12. Therefore, based on the relative distance and the attitude angle original data, the world coordinates of the dangerous point can be obtained. At this time, the world coordinates of the first positioning module 13, the second positioning module and the dangerous point have been obtained.

[0091] Further, the distance between the operating end of the construction equipment or the moving personnel and the dangerous point can be controlled by the world coordinates of the second positioning module 21 and the dangerous point. For example, it is assumed that the calibration module 1 is measuring the dangerous point 1 at this time, and the world coordinates of the first positioning module 13, the second positioning module and the dangerous point 1 are obtained by the central processing system 3. Further, based on the world coordinates of the second positioning module and the dangerous point 1, the construction equipment can keep a safe distance from the dangerous point 1 during construction. When 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 also completes the construction work in the substation. It can be understood that in the embodiment, high-precision positioning technology can be used, such as RTK technology, to achieve centimeter-level positioning accuracy. In the substation construction, the position coordinates of key facilities such as live equipment, high-voltage conductors and temporarily erected support structures can be accurately calibrated by the calibration module 1 to form a dynamic electronic fence. Through the signal linkage of the calibration module 1 and the tracking module 2, the distance between the construction equipment and the dangerous point is calculated in real time, and physical collision and other accidents are avoided.

[0092] It should be noted that, as shown in Figure 3 , the calibration module 1 in the embodiment can be arranged in one module with the central processing system 3, wherein the calibration module 1 is electrically connected with the central processing system 3. Alternatively, as shown in Figure 4 , the calibration module 1 in the embodiment can be arranged in two modules with the central processing system 3, wherein the calibration module 1 is signal connected with the central processing system 3.

[0093] Further, in some possible embodiments, in order to make the positioning accuracy obtained by the first positioning module 13 and the second positioning module 21 higher, please refer to Figure 9 , the electronic fence system further comprises a positioning reference station 4, which is fixed relative to the dangerous point. It should be noted that the positioning reference station 4 can be a local fixed 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 the observation value and the known coordinate position, and provide to the central processing system 3 to eliminate the coordinate error measured by the calibration module 1 or the positioning module 1 of the tracking module 2.

[0095] Or, when the positioning reference station 4 is unknown, the calibration module 1 measures the distance at the same time, the central processing system 3 records the coordinates obtained by the positioning reference station 4, and uses the coordinates as the reference coordinates, and the central processing system 3 calculates the positioning error at that time according to the observation value of the positioning reference station 4 at each time and the reference coordinates, and then uses the positioning error to eliminate the coordinate error measured by the positioning module in the tracking module 2 or the calibration module 1 at that time.

[0096] It should be understood that in the above scheme, a network rtk is added in the calibration module 1 and the tracking module 2, at this time, a local base station is not needed to assist in eliminating errors, and the specific principle is to use a network base station, for example, error information is provided to the central processing system 3 through 4G or other ways, and then the coordinate error measured by the positioning module 1 in the calibration module 1 or the tracking module 2 is eliminated. In addition, a local base station is built Figure 9 As shown, the coordinates of the local base station may not be clear, but the position of the local base station is fixed, and when the distance is measured, the coordinates of the local base station are recorded. At this time, the coordinates of the dangerous point and the relative position of the base station are fixed, and the positioning error can be confirmed by subtracting the real-time measured position coordinates from the coordinates at that time. The precise coordinates can be obtained by eliminating the above error when positioning the position obtained by the tracking module 2.

[0097] Specifically, the space electronic fence system 100 further comprises an alarm module, which is in signal connection with the central processing system 3; when the distance between the tracking module 2 and the dangerous point is less than the safe 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 the embodiment can alarm according to the distance between the second positioning module and the dangerous point. Assuming that 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 the alarm. In addition, the alarm module can also be externally connected to a display screen, and the display screen can also display the world coordinates of the first positioning module 13, the second positioning module, and the dangerous point which has been measured by the first positioning module 13 in real time, so that the operator can more intuitively and clearly confirm the position of the operation end when operating the construction equipment.

[0098] Further, the alarm module in the embodiment can also set a hierarchical alarm mechanism. For example, the alarm distance is set to multiple levels: D0, D1 and D2, wherein 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 working personnel are reminded to pay attention to the distance through light flickering. When the distance between the second positioning module and the dangerous point is less than D1, a middle alarm is triggered, for example, at this time the working personnel are required to pause work through voice prompt. 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 remote monitoring center is notified to intervene in processing. Further, the alarm module can also transmit data records back to the central processing system 3.

[0099] Further, the spatial electronic fence system 100 also includes a camera, which is electrically connected with the central processing system 3. The camera is used to take photos of the dangerous point. Specifically, the camera optical axis is coaxially arranged with the range finder 11 or is arranged in parallel on the side of the axis. The camera is used to take photos of the fixed dangerous point when the range finder 11 measures the distance. Understandably, when the calibration module 1 measures the distance to the dangerous point, the camera can synchronously take a clear image of the target point. Through image recognition algorithm, the central processing system 3 can associate the distance data obtained by the range finder 11, the dangerous point data and the position of the dangerous point in the photo. Specifically, the embodiment can transmit the taken photos to the central processing system 3. The system then combines the positioning data (such as the world coordinates of the dangerous point) to mark the image in space, embeds the coordinate information of the dangerous point into the photo metadata, and forms a “coordinate-image” binding relationship. Understandably, by setting the camera, the calibration accuracy and control efficiency can be improved. For example, the working personnel can verify visually to prevent mislabeling. In the transformer substation, the dangerous point (such as high-voltage conductor, lightning arrester) can be blocked by other equipment or located in a complex structure. The on-site photos taken by the camera can help the operator to visually confirm whether the range finder 11 is aimed at the correct target, so as to avoid calibration deviation caused by environmental interference. In addition, the photos taken each time can also be used as construction process records: the photos of each calibration are attached with time stamp and coordinate information, and after archiving, they can be used as safety audit basis. If an accident occurs, the history image can be used to trace whether there is a mistake in the calibration process. Further, the taken photos can also form a photo library, providing visual training materials for construction personnel, and helping to understand the spatial distribution of dangerous points and safety operation specifications.

[0100] Specifically, please refer to Figure 1 and Figure 5, the calibration module 1 can be fixed in the construction area, or the construction personnel can enter the construction area to hold the calibration module 1. When the construction personnel enters the construction area to hold the calibration module 1, the angle of the calibration module 1 can be adjusted by hand to align the range finder 11 with the dangerous point. In another embodiment, the calibration module 1 further comprises a base 14 and a body 10, the body 10 is rotationally connected with the base 14, and the body 10 can be controlled to rotate freely in the horizontal or vertical direction relative to the base 14 by a motor (not shown in the figure). The range finder 11, the angle measurement module 12 and the first positioning module 13 are all accommodated in the body 10. In the complex environment of the substation, the dangerous points can be distributed at different heights or positions. When the calibration module 1 measures the dangerous points, the construction personnel can remotely control the body 10 to rotate relative to the base 14, so that the range finder 11 in the calibration module 1 accurately aligns with the dangerous point. At this time, the body 10 is cancelled, and the body 10 will form an attitude angle original data with the horizontal plane.

[0101] In one embodiment, please combine Figure 6 and Figure 7 The angle measurement module 12 is an angle measurement instrument, which 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 attitude angle original data. It can be understood that the angle measurement instrument can directly measure the attitude angle original data of the calibration module 1. Specifically, the angle measurement instrument (such as an electronic tilt sensor) can directly detect the inclination angle of the body 10 relative to the horizontal plane through the built-in micro-electro-mechanical system or optical gyroscope, without relying on external reference points or complex conversion. In addition, the angle measurement instrument has high efficiency, and the distance and angle data can be obtained simultaneously when the range finder 11 aligns with the dangerous point.

[0102] In another embodiment, please combine Figure 6 and Figure 8 The angle measurement module 12 comprises a first positioning antenna 121 and a second positioning antenna 123, both of which are arranged on the body 10 and have a distance between them, and are signal connected. The first positioning antenna 121 and the second positioning antenna 123 are used to obtain coordinate data at the same time, and indirectly obtain the attitude angle of the calibration module 1 in the coordinate system. Specifically, the embodiment uses the signal difference (position difference) between the two antennas to calculate the inclination angle of the body 10.

[0103] The body 10 is provided with an opening for the ranging instrument 11 to emit light, and the connecting line direction of the first positioning antenna 121 and the second positioning antenna 123 is parallel to the light emitting direction of the ranging instrument 11. When the ranging instrument 11 is aimed at 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. At this time, the connecting line of the first positioning antenna 121 and the second positioning antenna 123 is parallel to the light emitting direction of the ranging instrument 11. The first positioning antenna 121 and the second positioning antenna 123 can accurately obtain the world coordinate position. In combination with the distance measured by the ranging instrument 11 between the dangerous point and the calibration module 1, the world coordinate of the dangerous point can be indirectly calculated. Alternatively, the connecting line direction of the first positioning antenna 121 and the second positioning antenna 123 forms an angle with the light emitting direction of the ranging instrument 11, and the user can set the positions of the first positioning antenna 121 and the second positioning antenna 123 according to actual needs, and then calculate the attitude angle original data of the calibration module 1.

[0104] Please refer to Figure 8 The calibration module 1 includes a body 10 and a telescopic rod 122, the ranging instrument 11 and the first positioning module 13 are arranged in the body 10, and the angle measuring module 12 further includes the telescopic rod 122, one end of which is connected to the body 10 and the other end of which is connected to the first positioning antenna 121. The second positioning antenna 123 is arranged on the body 10, and the telescopic rod 122 is telescopically movable relative to the body 10 to gradually increase or decrease the distance between the first positioning antenna 121 and the second positioning antenna 123. The first positioning antenna 121, the telescopic rod 122, 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 attitude angle original data of the calibration module 1. It can be understood that the telescopic rod 122 is helpful for the storage of the first positioning antenna 121. When the ranging instrument 11 measures the distance to the dangerous point, the farther the distance between the two antennas, the more accurate the result of the attitude angle original data. Therefore, during the measurement, the telescopic rod 122 is first controlled to telescopically move relative to the body 10 to force the first positioning antenna 121 to move away from the second positioning antenna 123. Further, the present embodiment uses the signal difference (position difference) between the two antennas to calculate and estimate the inclination angle of the body 10. It should be understood that the present embodiment does not need to rely on a high-precision inclination sensor, but indirectly calculates the angle through the antenna signal relationship, thereby reducing the dependence on precise hardware. Moreover, in a strong electromagnetic environment, the antenna signal (such as UWB or microwave) is more stable than the traditional sensor. Further,

[0105] Specifically, the body 10 can be provided with an opening for the ranging instrument 11 to emit light. The laser emitted by the ranging instrument 11 is transmitted to the dangerous point through the opening and then returns to the ranging instrument 11 for distance measurement.

[0106] In one mode, the telescopic direction of the telescopic rod 122 is parallel to the light emitting direction of the range finder 11. It should be understood that in the embodiment, the telescopic direction of the telescopic rod 122 is parallel to the light emitting direction of the range finder 11, when the range finder 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. And the first positioning antenna 121 and the second positioning antenna 123 can accurately obtain the world coordinate position. Combined with the distance between the range finder 11 and the calibration module 1, the world coordinate of the dangerous point can be indirectly calculated. For example, the world coordinate of the first positioning antenna 121 is (7, 5, 2), the world coordinate of the second positioning antenna 123 is (5, 5, 2), and the relative distance D is 7 at this time. At this time, according to the light emitting direction of the range finder 11, the world coordinate of the dangerous point can be obtained 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 range finder 11, the world coordinate of the dangerous point can be quickly calculated, and the efficiency is high.

[0107] Alternatively, in another mode, the telescopic direction of the telescopic rod 122 forms an angle with the light emitting direction of the range finder 11. It should be understood that in addition to the antenna, other elements can also be arranged on the body 10. Therefore, in this mode, the telescopic rod 122 can be arranged at any position of the body 10, and can be inclined to form an angle with the light emitting direction of the range finder 11, thereby improving the selectability of the designer in arranging the position of the telescopic rod 122.

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

[0109] Please combine Figure 1 and Figure 10 In order to solve the above technical problems, the second embodiment of the present application also provides a safety control method applied to the above-mentioned space electronic fence system:

[0110] S1, obtaining the labeled dangerous point in the construction area;

[0111] S2, controlling 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 controlling the angle measuring module to obtain the attitude angle original data of the calibration module;

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

[0113] S4, obtaining the spatial position of the tracking module based on the second positioning module; obtaining the spatial position of the tracking module based on the second positioning module;

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

[0115] S6, 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 the mobile operating end on the construction equipment or the mobile personnel to keep a safe distance from the dangerous point based on the real-time distance.

[0116] It can be understood that the safety management method provided in the embodiment can be used to monitor the distance between the mobile operating end on the construction equipment or the mobile personnel and the fixed dangerous point that needs to keep a safe distance. Specifically, the calibration module and the central processing system ensure the stability of the data acquisition and processing center, and in addition, the position of the calibration module can ensure that it can detect the positions of all dangerous points. It should be noted that when detecting the dangerous points, if some dangerous points are blocked by obstacles or other problems and cannot be detected by the calibration module, the operating personnel can selectively move the positions of the calibration module and the central processing system. Ensure that the calibration module successfully detects the position of the dangerous point. It should be understood that the calibration module can be quickly fixed on a support 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] Further, assuming that a support on the substation is a dangerous point, the distance from the calibration module to the support can be calculated by aligning the range finder of the calibration module to the support. It should be understood that the range finder and the angle measurement module calibrate the dangerous points (such as high-voltage busbars, lightning arresters, and temporary supports) one by one. Specifically, the range finder can accurately calculate the distance from the calibration module to the dangerous point. Compared with the range of manual distance measurement, automatic distance measurement can keep the human away from the high-voltage dangerous area. Preferably, the range finder can be a laser range finder, which can ensure the accuracy of the dangerous point coordinate calculation and avoid the boundary offset of the electronic fence 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 complex environments.

[0118] Further, the attitude angle raw 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. The first positioning module is usually a fixed coordinate where the calibration module is placed at a fixed position, and 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 of the first positioning module, the relative distance, and the attitude angle raw data information. The relative distance and the angle data are converted into absolute coordinates through a mathematical algorithm to construct a high-precision electronic fence boundary. Based on the real-time distance from the tracking module to the dangerous point obtained based on the tracking module and the spatial position of the dangerous point, the construction equipment can be warned in advance before approaching the dangerous point to avoid collision accidents. The safety management method provided in this embodiment has the characteristics of full-process automation, can reduce manual intervention and reduce the risk of operation errors. The digital boundary definition of the electronic fence can also promote the intelligent and standardized transformation of the substation construction.

[0119] It should be noted that the way in which the real-time distance control method described in this embodiment is used to keep the moving operating end or the moving personnel on the construction equipment away from the dangerous point at a safe distance can be through an alarm to warn, for example, when 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 alarm in real time, or the moving operating end and the dangerous point can be directly locked to force the moving operating end to stop moving towards the dangerous point.

[0120] In one embodiment, the angle measurement module includes an angle measurement instrument for directly measuring the attitude angle raw data of the calibration module.

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

[0122] When the calibration module is ranging, 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] The angles a, b, and g of the calibration module with respect to the three axes of the coordinate system obtained based on the angle measurement instrument;

[0124] The spatial position of the fixed dangerous point is calculated and obtained, and the second spatial position is obtained, and the coordinates (X2, Y2, Z2) of the second spatial position are obtained;

[0125] X2 = X1 + D*cos a;

[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 a third spatial position, and the coordinates of the third spatial position are (X3, Y3, Z3);

[0130] The real-time distance of the tracking module to the dangerous point is calculated and obtained;

[0131]

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

[0133] Understandably, the operator can preset a safety distance and control the real-time distance D f of the operation end of the construction equipment to the dangerous point to be greater than the safety distance. It should be understood that the present embodiment directly obtains the included angles of the calibration module and the three axes of the coordinate system by means of the high-precision angle measuring instrument, and the world coordinates of the dangerous point can be obtained based on simple calculation without mechanical adjustment, one-key angle data acquisition, and improved calibration efficiency.

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

[0135] Specifically, when the calibration module measures the distance, the first positioning antenna obtains a 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 a second spatial position, and the coordinates of the second spatial position are (X2, Y2, Z2);

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

[0137] The positional relationship between the distance measuring instrument and the first positioning antenna is obtained, and the distance D1 between the first positioning antenna and the fixed dangerous point is obtained based on the positional relationship and the relative distance;

[0138] The spatial position of the fixed dangerous point is calculated, and a third spatial position is obtained, and the coordinates of the third spatial position are:

[0139]

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

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

[0142]

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

[0144] Further, after obtaining the real-time distance from the tracking module to the dangerous point, the method further comprises:

[0145] setting an alarm distance;

[0146] judging whether the real-time distance is greater than the alarm distance;

[0147] if the real-time distance is less than or equal to the alarm distance, an alarm signal is sent.

[0148] It should be understood that, assuming the alarm distance is D0, when the real-time distance from the second positioning module to 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 display screen can also display the world coordinates of the first positioning module, the second positioning module, and the dangerous point that has been measured by the first positioning module in real time, so that the operator can more intuitively and clearly confirm the position of the operation end when operating the construction equipment.

[0149] Further, when the control calibration module detects at least one dangerous point, the method further comprises:

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

[0151] when the calibration module detects each dangerous point, the corresponding point photos are acquired by simultaneously taking a photo of each dangerous point;

[0152] providing a display screen, uploading the point photos to the display screen, and counting the dangerous points on the point photos;

[0153] comparing the count with the number of marked dangerous points to confirm whether the dangerous points are missed.

[0154] It should be understood that the photos taken can be transmitted to a central processing system, and the system can then combine the positioning data (such as the world coordinates of the dangerous points) to spatially mark the images, embed the coordinate information of the dangerous points into the photo metadata, and form a “coordinate-image” binding relationship. In addition, the point photos are uploaded to the display screen, and the dangerous points on the point photos are counted. If there is an error between the counting result and the number of marked dangerous points, it indicates that there are missed dangerous points in the process of measuring the dangerous points by the calibration module, and 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 to obtain a panoramic photo;

[0157] displaying the real-time distance between the point and the tracking module under the dangerous point in the point photo, for checking whether there is a monitoring point missing and real-time monitoring.

[0158] It can be understood that the embodiment synchronously takes a point photo with a visible light laser spot when the calibration module detects each dangerous point, 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 photo covering the construction area. The system automatically marks and counts all dangerous points in the panoramic photo through image recognition technology, and generates a total number. Finally, the counting result on the panoramic photo is compared with the actual number of dangerous points, and if they are inconsistent, an alarm is triggered to prompt missing calibration. It should be understood that the panoramic photo in the embodiment integrates scattered local photos into a complete view of the construction area, and intuitively displays the spatial distribution of all calibrated dangerous points.

[0159] The above has introduced in detail a space electronic fence system and a safety management and control method disclosed by the embodiment of the present application. In this paper, specific examples are applied to explain the principle and implementation mode of the present application. The above embodiment is only used to help understand the method of the present application and its core idea; at the same time, for the general technical personnel in the art, according to the idea of the present application, the specific implementation mode and application range will be changed; in conclusion, the content of the specification should not be understood as the limitation of the present application, any modification, equivalent replacement and improvement within the principle of the present application should be included in the protection scope of the present application.

Claims

1. A spatial electronic fence system for monitoring the distance between a mobile operating terminal on construction equipment or a mobile person and a fixed hazardous point where a safe distance needs to be maintained, characterized in that: The spatial electronic fence system includes a tracking module, a calibration module, and a central processing system. The tracking module is used to be installed on the mobile operating end of the construction equipment and move with the operating end, or it can be installed on the 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; and the rangefinder is used to obtain the relative distance between the calibration module and the fixed danger point. The angle measurement module is used to acquire the raw attitude angle data of the calibration module relative to the coordinate system of the first positioning module or the second positioning module; the central processing system is connected to the calibration module and the tracking module respectively; The central processing system acquires the relative distance and the original attitude angle data of the calibration module, calculates the spatial position of the fixed danger point, and then compares it with the spatial position acquired by the second positioning module in the real-time tracking module to calculate the real-time distance between the tracking module and the fixed danger point.

2. The spatial electronic fence system as described in claim 1, characterized in that: The spatial electronic fence system also includes an alarm module, which is connected to the central processing system via a signal; 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 as described in claim 1, characterized in that: The calibration module also includes a camera, the optical axis of which is arranged coaxially with or parallel to the rangefinder, and the camera is used to take pictures of the fixed danger point when the rangefinder is measuring distance.

4. The spatial electronic fence system as described in claim 1, characterized in that: The angle measurement module includes an angle measuring instrument, and the coordinate system includes a world geodetic coordinate system or a 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 as described in claim 1, characterized in that: The angle measurement module includes a first positioning antenna and a second positioning antenna. Both the first and second positioning antennas are disposed on the calibration module and a distance is left between them. The first and second positioning antennas are used to simultaneously acquire coordinate data to obtain the attitude angle of the calibration module in the coordinate system.

6. The spatial electronic fence system as described in claim 5, characterized in that: The calibration module includes a body and a telescopic rod. The rangefinder and the first positioning module are both located 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 located on the body. The telescopic rod extends and retracts 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 as described in claim 1, characterized in that: 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.

8. The electronic fence system as described in claim 1, characterized in that: The electronic fence system also includes a positioning reference station, which 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 time that 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 positioning reference station's own observation value 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 a spatial electronic fence system as described in any one of claims 1-8, characterized in that: Includes the following steps: Identify the hazardous locations within the construction area that need to be marked; The calibration module is controlled 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, the angle measurement module is controlled to obtain the raw attitude angle data of the calibration module. The spatial position of the calibration module is obtained based on the first positioning module; The spatial position of the tracking module is obtained based on the second positioning module; the spatial position of the danger point is obtained based on the original data information of the spatial position, relative distance and attitude angle of the calibration module. The real-time distance from the tracking module to the dangerous point is obtained based on the spatial location of the tracking module and the dangerous point. Based on the real-time distance, the mobile operating terminal on the construction equipment or the mobile personnel are controlled to maintain a safe distance from the dangerous point.

10. The security control method as described in claim 9, characterized in that: Obtaining the real-time distance from the tracking module to the fixed danger point specifically includes: When the angle measurement module includes an angle measuring instrument; When measuring distance 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). The angles α, β, and γ between the calibration module and the three axes of the coordinate system are obtained from the angle measuring instrument; Calculate and obtain the spatial location of the fixed danger point, and obtain the second spatial location, the coordinates of the second spatial location (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 the real-time distance from the tracking module to the danger point; Where D f This represents the real-time distance.

11. The security control method as described in claim 9, characterized in that: Obtaining the real-time distance from the tracking module to the fixed danger point specifically includes: When the angle measurement module includes a first positioning antenna and a second positioning antenna; When the calibration module measures distance, the first positioning antenna acquires a first spatial position with coordinates (X1, Y1, Z1), and the second positioning antenna acquires a second spatial position with coordinates (X2, Y2, Z2). Given the distance L between the first and second positioning antennas, during ranging, the first positioning antenna, the second positioning antenna, and the fixed danger point are on a straight line, with the first positioning antenna being closer to the fixed danger point. 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 danger point based on the positional relationship and relative distance; The spatial location of the fixed danger point is calculated, and the third spatial location is obtained. The coordinates of the third spatial location 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 danger point; Where D f This represents the real-time distance.

12. The security control method as described in claim 9, characterized in that: When the control calibration module detects at least one hazardous point, it also includes: Identify the marked hazardous locations within the construction area; When the calibration module detects each dangerous point, it also takes a picture of each dangerous point. Provide a display screen to upload photos of the locations; Stitching photos from different locations together to obtain a panoramic photo; The real-time distance between the location and the tracking module is displayed below the hazardous location in the location photo, which is used to check whether any monitoring points are missed and to monitor in real time.

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