Near-electricity safety monitoring algorithm based on radar ranging signal

Abstract

The invention relates to a near-electricity safety monitoring algorithm based on a radar ranging signal. The near-electricity safety monitoring algorithm comprises the following steps: Step 1, constructing a laser radar monitoring area; step 2, constructing a laser initial scene; 3, in the security and protection monitoring stage, real-time monitoring of a monitoring area is achieved; and step 4, monitoring the invader. According to the method, an environment modeling algorithm is constructed, distance measurement information of a laser beam is used as a detection signal of the surrounding environment, and the surrounding environment is modeled through the algorithm; a model analysis algorithm is constructed, and whether there is a crossing object crossing a monitoring environment is analyzed by analyzing a model in a safe state and a model in a current state.

Description

Technical Field

[0001] The present invention relates to the technical field of power safety protection equipment, and particularly relates to a near-electricity safety monitoring algorithm based on radar ranging signals. Background Art

[0002] Perimeter defense systems have already been an important part of security systems at the present stage, and are widely used in high-risk fields such as military bases, government agencies, correctional institutions, industrial bases, nuclear power plants, borders, airports, the oil industry, the natural gas industry, commercial buildings and warehouses, important cultural relic protection sites and museums, banks, and communication hubs. The most commonly used technical solutions in the application and development of perimeter defense systems mainly include infrared pair shooting, pulse electronic fences, tension electronic fences, etc.

[0003] In the prior art, Chinese patent document CN202110784241 records a method for modeling and identifying a railway fence based on lidar secondary echo point cloud data. When constructing an electronic fence, an airplane is used to carry a lidar to obtain three-dimensional coordinate information of the terrain. It has a wide recognition range, and subsequent processing of point cloud data can be carried out. However, the implementation cost is high, and a flight permit needs to be applied for each measurement.

[0004] Chinese patent document CN201721500695.5 records a substation safety protection fence. The invention mainly uses a physical fence belt, and a pan-tilt and camera with remote communication functions are arranged on the top of the support rod. At the same time, a microwave radar detector is arranged on the support rod, which can expand the detection range and prevent operators, maintenance personnel, and maintenance equipment from entering the dangerous area. Compared with infrared induction, the detection range is wide, and an alarm can be issued when there is still a certain distance from the fence.

[0005] "Design of Underground Electronic Fence Based on Precise Positioning"; The electronic fence designed by Dai Jianbo focuses on positioning personnel and uses ultrasonic detection. After detecting that a person is approaching, the identity of the approaching person is identified. When it is found that an unrecognized person is approaching, an alarm is issued. If it is an admitted person, guidance is provided.

[0006] A kind of intelligent community warning far-infrared electronic fence recorded in CN216240068U. When designing an electronic fence for an intelligent community, far-infrared electronic technology is selected. The invention selects infrared pair shooting technology while using a traditional physical steel wire rope fence. It avoids the inability of traditional methods to protect against people climbing over.

[0007] A kind of intelligent infrared laser pair shooting electronic fence system based on the Internet of Things recorded in CN207704588U. In order to solve the problem that traditional protection fences are not intelligent and networked. The infrared laser pair shooting electronic fence system adds a communication module.

[0008] A device for positioning a main and sub - machine with an electronic fence as described in CN201750561U. The electronic fence adopts the mode of a main and sub - machine. The main machine includes an electronic map and a mobile communication module, and the sub - machine includes a positioning module, a sub - machine control module, and an electronic fence coordinate storage module. The steps for the sub - machine to initiate an alarm are as follows: The sub - machine compares the positioning information with the position information of driving into or out of the fence area; the sub - machine sends the pre - set alarm information to the main machine. This device can set the monitoring range arbitrarily, which is convenient for deployment.

[0009] The above - mentioned technologies all require a large amount of manpower and material resources for deployment. At the same time, subsequent maintenance is required after deployment, with high costs and inconvenient deployment. At the same time, for physical fences, high requirements are needed during deployment, and they cannot be installed on any terrain. After deployment, they cannot be moved. Summary of the Invention

[0010] The technical problem to be solved by the present invention is to provide a near - electricity safety monitoring algorithm based on radar ranging signals. Security personnel set the monitoring area, and the lidar starts to perform digital modeling on the environment of the plane where it is located. After the modeling is completed, the lidar starts the monitoring work. When an intruder enters the radar measurement range, the lidar obtains the position of the intruder and determines whether the intruder is within the radar monitoring area. If the intruder enters the set monitoring area, an alarm signal is issued.

[0011] To solve the above - mentioned technical problem, the technical solution adopted by the present invention is:

[0012] The near - electricity safety monitoring algorithm based on radar ranging signals includes the following steps:

[0013] Step1. Construct the lidar monitoring area; set the security area according to the site environment and requirements. The security area is the dangerous area where objects are prohibited from entering;

[0014] Step2. Construct the initial lidar scene; the lidar scans all objects in the plane, constructs the security scene map of the monitoring area, and forms a security wall model;

[0015] Step3. Realize real - time monitoring of the monitoring area during the security monitoring stage; during the security monitoring stage, use the lidar scan data to construct the real - time security monitoring map of the monitoring area;

[0016] Step4. Intruder monitoring; by comparing and analyzing the real - time security monitoring map and the security wall model, determine whether there is an intruder crossing the security wall, obtain the coordinate formula of the abnormal point and the intruder. If the intruder is within the monitoring range, an alarm is issued.

[0017] In the above - mentioned Step1, the security area is a rectangular area S(x, y), which satisfies the following conditions:

[0018] (x, y) = f(r, a);

[0019] C = [(x left , y top ), (x right , y bottom )];

[0020]

[0021] Where: f(·) is the coordinate conversion formula, which realizes the conversion of the polar coordinate formula obtained by radar scanning into the rectangular coordinate formula. (r, a) is the distance and angle of the polar coordinates of the object detected by the radar with the radar as the origin. C is the edge of the set monitoring area. (x, y) is the coordinate value in the rectangular coordinate system with the point where the radar is located as the origin (0, 0).

[0022] (x left , y top ), (x right , y bottom ) are the upper left corner and lower right corner coordinates of the set monitoring area respectively. S(x, y) is the effective monitoring area that satisfies:

[0023]

[0024] In the above Step2, for all objects in the 360° scanning plane of the lidar periodically, the reflected light generated after the laser is emitted and encountered by the target object will be received by the acquisition system of the lidar and then calculated in real time. By obtaining the distance and the angle relative to the lidar of all objects within the range to be measured output from the radar, a security scene map of the monitoring area is constructed. The security wall edge model is:

[0025] B = {(x1, y1), (x2, y2), …, (x i , y i ), … (x n , y n )};

[0026]

[0027] Where: B is the coordinate set of existing objects in the monitoring area S when deploying monitors for security settings. n is the number of objects detected during security settings. (x i , y i ) is the coordinate of the i-th object (i = 1~n) detected in the rectangular coordinate system constructed in 2. SS(x, y) is the final security wall edge of the security system;

[0028] SC(x, y) = F(SS, SA);

[0029] Among them, SA is the plane constructed by the laser beam emitted by the lidar, SS is the edge of the security wall, and SC(x, y) is the electronic security wall jointly constructed by the laser beam plane SA and the security wall edge SS.

[0030] In the above Step3, the coordinate formula of the intruder is:

[0031] t i = {(x i1 , y i1 ), (x i2 , y i2 ), …, (x ij , y ij ), …(x im , y im )};

[0032]

[0033] Among them: t i is the i-th intruder detected, which is composed of a series of continuous points (x ij , y ij ) passing through the electronic security wall SC;

[0034] The set of intruders detected within one cycle is:

[0035] T = {t1, t2, …, t i , …t p};

[0036] Among them: T is the set of intruders composed of all passing objects in the monitoring area when the monitor is deployed for security settings.

[0037] A near-electric safety monitoring algorithm based on radar ranging signals provided by the present invention has the following beneficial effects:

[0038] 1. The device is convenient to deploy and is not affected by the ground conditions of the deployment area. For example, the uneven ground and the physical fences such as trees on the deployment plane that need to be considered during deployment.

[0039] 2. The monitoring area is convenient to set, and the setting area can be adjusted at any time according to the on-site situation. For example, the height of the monitoring area can be flexibly set, and it overcomes the difficulty of installation when the physical fence is too high and the new safety hazards caused by being too high.

[0040] 3. It is convenient to adjust. According to the on-site changes, the monitoring surface can be adjusted at any time and the monitoring edge can be automatically adjusted.

[0041] 4. It is convenient to transport and carry. The monitoring device is small and flexible, and is convenient to carry and transport. Description of the Drawings

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0043] Figure 1 This is the workflow diagram of the present invention. Specific embodiments

[0044] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0045] The near-electrical safety monitoring algorithm based on radar ranging signals includes the following steps:

[0046] Step1. Construct a lidar monitoring area; set the security area according to the on-site environment and requirements. The security area is the dangerous area where objects are prohibited from entering.

[0047] Step2. Construct an initial lidar scene; scan all objects in the lidar scanning plane to construct a security scene map of the monitoring area and form a security wall model.

[0048] Step3. Realize real-time monitoring of the monitoring area during the security monitoring stage; during the security monitoring stage, use the lidar scanning data to construct a real-time security monitoring map of the monitoring area.

[0049] Step4. Intruder monitoring; by comparing and analyzing the real-time security monitoring map and the security wall model, determine whether there is an intruder crossing the security wall, obtain the coordinate formulas of the abnormal points and intruders, and if the intruder is within the monitoring range, an alarm will be issued.

[0050] In the above Step1, the security area is a rectangular area S(x,y), which satisfies the following conditions:

[0051] (x,y) = f(r,a);

[0052] C = [(x left ,y top ),(x right ,y bottom )];

[0053]

[0054] Where: f(·) is the coordinate conversion formula, which realizes the conversion of the polar coordinate formula obtained by radar scanning into the rectangular coordinate formula. (r,a) is the distance and angle of the polar coordinates of the object detected by the radar with the radar as the origin. C is the edge of the set monitoring area, and (x,y) is the coordinate value in the rectangular coordinate system with the point where the radar is located as the origin (0,0).

[0055] (x left ,y top ),(x right ,y bottom) are the coordinates of the upper left corner and the lower right corner of the set monitoring area respectively; S(x, y) is the effective monitoring area satisfying:

[0056]

[0057] In the above Step 2, all objects within the periodically 360° scanning plane of the lidar are scanned. The reflected light generated after the laser emission encounters the target object will be received by the acquisition system of the lidar and then calculated in real time. By calculating the distance and the angle relative to the lidar of all objects within the range to be measured output from the radar, a security scene map of the monitoring area is constructed. The security wall edge model is:

[0058] B = {(x1, y1), (x2, y2), …, (x i , y i ), …(x n , y n )};

[0059]

[0060] Among them: B is the coordinate set of the existing objects within the monitoring area S when deploying the monitor for security settings, n is the number of objects detected during security settings, (x i , y i ) is the coordinate of the i-th object (i = 1 to n) detected in the rectangular coordinate system constructed in 2, and SS(x, y) is the final security wall edge of the security;

[0061] SC(x, y) = F(SS, SA);

[0062] Among them, SA is the plane constructed by the laser beam emitted by the lidar, SS is the security wall edge, and SC(x, y) is the electronic security wall jointly constructed by the laser beam plane SA and the security wall edge SS.

[0063] In the above Step 3, the coordinate formula of the intruder is:

[0064] t i = {(x i1 , y i1 ), (x i2 , y i2 ), …, (x ij , y ij ), …(x im , y im )};

[0065]

[0066] Among them: t i is the i-th intruder detected, consisting of a series of consecutive points (x passing through the electronic security wall SCij , y ij ) set composition;

[0067] The set of intrusions monitored within one period is:

[0068] T = {t1, t2, …, t i , … t p};

[0069] Where: T is the set of intrusions composed of all crossing objects in the monitored area when deploying monitors for security settings.

[0070] Example:

[0071] The device was tested in the field. The test environments were cloudy day, open area, night, and tree-lined path.

[0072] Environment 1: Cloudy day, open area

[0073] The crossing objects were 5 meters, 15 meters, 20 meters, and 25 meters away from the monitoring device respectively, and the cross-sectional widths of the crossing objects were 5 cm, 10 cm, 20 cm, and 30 cm respectively for testing, and the number of detected pulses was returned.

[0074] 1. Distance 5 meters:

[0075] (1) Crossing object 5 cm: The average number of measured pulses returned was 6.6;

[0076] (2) Crossing object 10 cm: The average number of measured pulses returned was 10.1;

[0077] (3) Crossing object 20 cm: The average number of measured pulses returned was 20;

[0078] (4) Crossing object 30 cm: The average number of measured pulses returned was 25.7.

[0079] Therefore, the device can identify all targets at a distance of 5 meters.

[0080] 2. Distance 15 meters:

[0081] (1) Crossing object 5 cm: The average number of measured pulses returned was 1.3;

[0082] (2) Crossing object 10 cm: The average number of measured pulses returned was 2.5;

[0083] (3) Crossing object 20 cm: The average number of measured pulses returned was 5;

[0084] (4) Crossing object 30 cm: The average number of measured pulses returned was 9.

[0085] Therefore, the device can identify all targets within a distance range of 15 meters.

[0086] 3. Distance: 20 meters:

[0087] (1) Object penetration: 5 cm: Average return of 0.7 measurement pulses;

[0088] (2) Object penetration: 10 cm: Average return of 1.8 measurement pulses;

[0089] (3) Object penetration: 20 cm: Average return of 4 measurement pulses;

[0090] (4) Object penetration: 30 cm: Average return of 6.4 measurement pulses.

[0091] Therefore, this device can identify objects over 10 cm within a distance range of 20 meters.

[0092] 4. Distance: 25 meters:

[0093] (1) Object penetration: 5 cm: Average return of 0.3 measurement pulses;

[0094] (2) Object penetration: 10 cm: Average return of 0.9 measurement pulses;

[0095] (3) Object penetration: 20 cm: Average return of 2.8 measurement pulses;

[0096] (4) Object penetration: 30 cm: Average return of 4.7 measurement pulses.

[0097] Therefore, this device can identify objects over 20 cm within a distance range of 25 meters.

[0098] The measurement data is shown in Table 1:

[0099] Table - 1 Test Distance and Accuracy (Pulse Count) of the Monitoring Unit

[0100] Test weather: Cloudy day, daytime. Test scenario: Open area

[0101]

[0102]

[0103] Environment 2: Night, tree-lined path

[0104] The object is at distances of 7 meters, 10 meters, and 20 meters from the monitoring device respectively, and the cross-sectional widths of the object are 5 cm, 10 cm, 20 cm, and 30 cm respectively for testing, and the number of detected pulses is returned.

[0105] 5. Distance: 7 meters:

[0106] (1) Object penetration: 5 cm: Average return of 4.4 measurement pulses

[0107] (2) Penetrating object: 10 cm: Average number of returned measurement pulses: 7.2

[0108] (3) Penetrating object: 20 cm: Average number of returned measurement pulses: 11.6

[0109] (4) Penetrating object: 30 cm: Average number of returned measurement pulses: 20.9.

[0110] Therefore, this device can identify all targets at a distance of 5 meters.

[0111] Therefore, this device can identify all targets at a distance of 5 meters.

[0112] 6. Distance: 10 meters:

[0113] (1) Penetrating object: 5 cm: Average number of returned measurement pulses: 2.9

[0114] (2) Penetrating object: 10 cm: Average number of returned measurement pulses: 4.8

[0115] (3) Penetrating object: 20 cm: Average number of returned measurement pulses: 9.3

[0116] (4) Penetrating object: 30 cm: Average number of returned measurement pulses: 13.9.

[0117] Therefore, this device can identify all targets within a distance range of 10 meters.

[0118] 7. Distance: 20 meters:

[0119] (1) Penetrating object: 5 cm: Average number of returned measurement pulses: 0.9

[0120] (2) Penetrating object: 10 cm: Average number of returned measurement pulses: 1.9

[0121] (3) Penetrating object: 20 cm: Average number of returned measurement pulses: 4.7

[0122] (4) Penetrating object: 30 cm: Average number of returned measurement pulses: 6.2.

[0123] Therefore, this device can identify objects above 10 cm within a distance range of 20 meters.

[0124] The measurement data is shown in Table 2:

[0125] Table 5-3 Monitoring Unit Test Distance and Accuracy (Number of Pulses) Test Weather: Night Test Scenario: Site with Trees Surrounding

[0126]

[0127]

Claims

1. Near-electricity safety monitoring algorithm based on radar ranging signal, characterized in that, It includes the following steps: Step 1: Construct the lidar monitoring area; set the security area according to the on-site environment and requirements. The security area is a dangerous area where objects are prohibited from entering. Step 2: Construct the initial laser scene; scan all objects within the lidar scanning plane, construct the security scene map of the monitoring area, and form a security wall model. Step 3: In the security monitoring stage, realize real-time monitoring of the monitoring area; in the security monitoring stage, use the lidar scan data to construct the real-time security monitoring map of the monitoring area. Step 4: Intruder monitoring; by comparing and analyzing the real-time security monitoring map and the security wall model, judge whether there is an intruder crossing the security wall, obtain the coordinate formula of the abnormal point and the intruder. If the intruder is within the monitoring range, an alarm will be issued.

2. The near-electrical safety monitoring algorithm based on radar ranging signals according to claim 1, wherein In Step 1, the security area is a rectangular area S(x, y), which satisfies the following conditions: (x, y) = f(r, a); C = [(x left , y top ), (x right , y bottom )]; where: f(·) is the coordinate conversion formula, which realizes the conversion of the polar coordinate formula obtained by radar scanning into the rectangular coordinate formula. (r, a) is the distance and angle of the polar coordinates of the object detected by the radar with the radar as the origin. C is the set edge of the monitoring area, and (x, y) is the coordinate value in the rectangular coordinate system with the radar location as the origin (0, 0). (x left , y top ) and (x right , y bottom ) are the coordinates of the upper left corner and the lower right corner of the set monitoring area respectively; S(x, y) is the effective monitoring area that satisfies:

3. The near-electrical safety monitoring algorithm based on radar ranging signals according to claim 2, wherein In Step 2, the lidar periodically scans all objects within the 360° scanning plane. The reflected light generated after the laser is emitted and encounters the target object will be received by the acquisition system of the lidar and then calculated in real time. By obtaining the distance and the angle relative to the lidar of all objects within the range to be measured output from the radar, construct the security scene map of the monitoring area. The security wall edge model is: B = {(x1, y1), (x2, y2), …, (x i , y i ), …(x n , y n )}; Where: B is the coordinate set of existing objects in the monitoring area S when deploying the monitor for security settings, n is the number of objects detected during security settings, (x i , y i ) is the coordinate of the i-th object (i = 1 to n) detected in the rectangular coordinate system constructed in 2, and SS(x, y) is the edge of the final security wall for security; SC(x, y) = F(SS, SA); where SA is the plane constructed by the laser beam emitted by the lidar, SS is the security wall edge, F(S, A) is the plane constructed with the closed curve S as the boundary on the plane A, and SC(x, y) is the electronic security wall jointly constructed by the laser beam plane SA and the security wall edge SS.

4. The near-electricity safety monitoring algorithm based on radar ranging signals according to claim 3, wherein, In Step 3, the coordinate formula of the intruder is: t i = {(x i1 , y i1 ), (x i2 , y i2 ), …, (x ij , y ij ), … (x im , y im )}; where: t i is the i-th detected intrusion object, which is composed of a series of consecutive points (x ij , y ij ) that pass through the electronic security wall SC; The set of intruders monitored within one period is: T = {t1, t2, …, t i , … t p}; where: T is composed of the set of intruders formed by all crossing objects in the monitoring area when the monitor is deployed for security settings.

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