Beidou satellite electronic fence perimeter alarm system based on wireless networking communication

Abstract

The invention relates to the technical field of communication early warning, and discloses a Beidou satellite electronic fence perimeter alarm system based on wireless networking communication, which is applied to an alarm center. Comprising a boundary inflection point marking module used for marking boundary inflection points on a regional boundary line, a wireless node networking module used for establishing wireless nodes into a regional communication network, an electronic fence construction module used for constructing an electronic fence with a fence contour of a closed structure, and an alarm information judgment module. The judgment module is used for judging whether border-crossing alarm information and safety warning information are sent; according to the invention, the passive defense buffer area and the active defense safety area are divided in the electronic fence, so that the integrated electronic fence can be subjected to dual identification of the perimeter alarm position according to different harm severity degrees; and the conditions of different position depths and harm severity of the target object in the electronic fence can be accurately distinguished, so that the perimeter alarm accuracy of the electronic fence of the transformer substation is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of communication warning, and more specifically, to a Beidou satellite electronic fence perimeter alarm system based on wireless networking communication. Background Art

[0002] Substations are key infrastructure of the power system, and their perimeter security is directly related to the stable operation of the power grid and public safety. In recent years, with the continuous development of Beidou satellite technology, electronic fences equipped with Beidou satellite technology have gradually been applied to the security field of substations, and are used to perform perimeter identification and alarm processing for abnormal cross-border and illegal intrusion in substations.

[0003] Patent application with reference publication number CN114566016A discloses an electronic fence protection method and electronic fence protection system based on wireless networking. The electronic fence protection system includes a host computer, and the electronic fence has a main control device, an axis column, an infrared transmitter rotating around the axis column, and an infrared receiver rotating around the axis column. The main control device of the host computer is used to detect a power failure event of a fence that has successfully connected to the network, and then send an early warning signal to a server, so that the protective fence can be quickly deployed, and a protective barrier can be effectively established, and it can serve as a timely reminder to outsiders. The system has a large response range, a simple structure, a significant warning effect, and is environmentally friendly and highly applicable.

[0004] When the existing electronic fence perimeter alarm system identifies and alarms abnormal crossing of the boundary and illegal intrusion behavior of the object to be measured, it directly compares the real-time position of the object to be measured with the position range of the single-structure electronic fence to determine whether the object to be measured is located within the electronic fence and achieve the alarm effect. Although this method can realize perimeter alarm operation, the single-structure electronic fence can only make an overall judgment on the relative position of the object to be measured and the electronic fence when performing perimeter identification and alarm. It cannot accurately distinguish the depth and severity of the danger of the object to be measured at different positions within the electronic fence, nor can it achieve the dual perimeter alarm effects of passive defense and active defense of the electronic fence. As a result, the electronic fence has low efficiency in identifying abnormal behavior of the object to be measured, thereby reducing the accuracy of the perimeter alarm.

[0005] In view of this, the present invention proposes a Beidou satellite electronic fence perimeter alarm system based on wireless networking communication to solve the above problems. Summary of the Invention

[0006] In order to overcome the above-mentioned defects of the prior art and to achieve the above-mentioned purpose, the present invention provides the following technical solution: a Beidou satellite electronic fence perimeter alarm system based on wireless networking communication, applied to an alarm center, comprising:

[0007] A boundary inflection point marking module is used to identify the substation substation area in the electronic map, draw the area boundary line along the edge of the substation area, and mark the boundary inflection point on the area boundary line;

[0008] The wireless node networking module is used to configure the positioning terminal at the location of the boundary inflection point assigned with the node number, match the node number of the boundary inflection point with the positioning terminal as a wireless node, plan the wireless center area among the wireless nodes, and organize the wireless nodes into a regional communication network based on the node networking criteria;

[0009] The node networking criteria are: the scanning coverage area of the network radius of the regional communication network includes the scanning coverage area of the node communication radius of all wireless nodes;

[0010] An electronic fence construction module is used to collect node fence data of wireless nodes and communication fence data of the regional communication network, fuse the node fence data and communication fence data based on a multi-source data fusion algorithm, and construct an electronic fence with a fence outline of a closed structure;

[0011] The alarm information determination module is used to divide the electronic fence into a buffer zone for passive defense and a safety zone for active defense, and to analyze the position overlap between the real-time coordinates of the target object and the buffer zone and the safety zone to determine whether to issue an out-of-bounds alarm message and a safety warning message.

[0012] Furthermore, the steps for drawing the region boundary line are as follows:

[0013] Identify the substation locations of A substation equipment in the electronic map, and query the substation radius of A substation equipment one by one;

[0014] Taking A substation radius as the expansion standard, expand A substation points outward to obtain A substation ranges, and record the area corresponding to A substation ranges in the electronic map as the substation area;

[0015] Rendering and coloring the substation area to generate a rendered substation area, and identifying the boundary between the rendered substation area and the non-rendered area using computer vision technology;

[0016] Set up B interval points at the regional boundary position, count the point-to-point distances between the B interval points and the substation entrance, take the interval point corresponding to the minimum point-to-point distance as the starting point, connect the B interval points counterclockwise, and draw the regional boundary line.

[0017] Furthermore, the steps for marking the boundary inflection points are as follows:

[0018] Measure the distance between any two substations one by one, and record the minimum value of the distance between the points as the marking interval;

[0019] Using a marking interval as the standard, C interval points are equally spaced from B interval points, and the portion between three adjacent interval points on the region boundary line is recorded as a sub-boundary, obtaining D sub-boundaries;

[0020] Measure the line segment lengths of the D sub-boundaries and the point-to-point distances between any two interval points in the sub-boundaries one by one, and combine the maximum value of the D line segment lengths and the D point-to-point distances with the chord length ratio algorithm to calculate the curvature of the D sub-boundaries;

[0021] The calculation formula of the chord length ratio algorithm is:

[0022]

[0023] Where WQ ld is the curvature of the d-th sub-boundary, d = 1, 2, ..., D, XD cdd is the length of the line segment of the d-th sub-boundary, DJ zdd is the maximum value of the point spacing of the d-th sub-boundary;

[0024] The sub-boundary with a curvature greater than the calibrated curvature is recorded as the inflection point boundary, and the interval point located in the middle position of the inflection point boundary is recorded as the boundary inflection point, and E boundary inflection points are obtained.

[0025] Furthermore, the planning steps for the wireless center area are as follows:

[0026] The coordinates of E wireless nodes are queried through the Beidou positioning unit in the positioning terminal, and the E coordinates are marked on the electronic map to obtain the coordinates of E nodes;

[0027] Starting from the wireless node with the minimum node number, combine the coordinates of two nodes separated by one node coordinate in a clockwise manner to obtain F coordinate groups.

[0028] Connect the coordinates of two nodes in the F coordinate groups one by one to obtain F coordinate lines, and record the area enclosed by the F coordinate lines as the wireless center area.

[0029] Furthermore, the steps for establishing a regional communication network are as follows:

[0030] Use computer vision technology to mark the center point of the wireless center area, query the center coordinates of the center point, and measure the distances from the center coordinates to the E node coordinates one by one to obtain the E coordinate spacing values;

[0031] The wireless node corresponding to the minimum coordinate spacing value is recorded as the target node, the wireless communication radius of the target node is queried, and the communication coverage length is obtained by adding the minimum coordinate spacing value and the wireless communication radius of the target node;

[0032] With the center point as the center of the circle and the communication coverage length as the network radius, a circle is scanned and drawn to form a regional circle, and the local area network covered by the regional circle is recorded as the regional communication network.

[0033] Furthermore, the node fence data includes the outward camber amplitude and the stereo height value;

[0034] The steps for collecting the outward amplitude are as follows:

[0035] The locations of E wireless nodes are recorded as reference points, and the horizontal plane where the target node is located is used as the reference horizontal plane. The remaining E-1 reference points are adjusted to the reference horizontal plane.

[0036] Query the communication transmission angles of E wireless nodes one by one, draw angle lines along both sides of the communication transmission angle, and draw a center line that bisects the communication transmission angle between the two angle lines to obtain E center lines;

[0037] Draw a normal perpendicular to the reference horizontal plane through E reference points, adjust the positions of the E center lines until they coincide with the normals of the corresponding E reference points, and measure the angle values between the E angle lines on the side away from the wireless center area and the E normals one by one to obtain E outward inclination amplitudes.

[0038] Furthermore, the communication fence data includes communication blind zone boundaries and network delay values;

[0039] The steps for collecting the communication blind area boundary are as follows:

[0040] Mark all signal monitoring points in the regional communication network one by one, query the update time of data update at all signal monitoring points through timestamps, and record the maximum update time as the packet loss period;

[0041] According to the progressive method of regional communication network from bottom to top, the regional communication network is divided into communication levels to obtain H communication levels;

[0042] Query the real-time packet loss rate of all signal monitoring points within a packet loss period one by one, and record the signal monitoring points whose real-time packet loss rate is greater than the calibrated packet loss rate as blind spot monitoring points, and obtain F blind spot monitoring points;

[0043] The blind spots in the same communication layer are connected in sequence to form a layer boundary, and the layer boundaries of two adjacent communication layers are connected end to end to generate a communication blind spot boundary.

[0044] Furthermore, the steps for building an electronic fence are as follows:

[0045] With E wireless nodes as the fence base, the E fence bases are shifted outward by an outward inclination amplitude and upward by a three-dimensional height value to obtain E fence vertices.

[0046] The E fence bases are used as the bottom outline of the electronic fence, and the E fence vertices are used as the top outline of the electronic fence. The outline boundary is planned between the bottom outline and the top outline, and the enclosed area of the bottom outline, the top outline and the outline boundary is recorded as the electronic fence;

[0047] The electronic fence and the communication blind spot boundary are converted into the same coordinate system for space alignment. The coordinates of the communication blind spot boundary are highlighted within the electronic fence. The coordinates of the communication blind spot boundary are rendered to generate a closed fence outline.

[0048] A lower delay limit value greater than the network delay value is set on the fence outline to construct an electronic fence with a closed fence outline.

[0049] Furthermore, the steps for dividing the buffer zone and the safe zone are as follows:

[0050] Mark the coordinates of E fence bases and E fence vertices one by one in the electronic fence to obtain E base coordinates and E vertex coordinates;

[0051] Measure the horizontal distances from the E base coordinates to the E vertex coordinates one by one to obtain E horizontal distances, and record one-third of the minimum horizontal distance as the buffer distance;

[0052] Move the E fence bases horizontally toward the center point by a buffer spacing, and move the E fence vertices horizontally toward the center point by a corresponding E horizontal distances, to obtain the moved E fence bases and the moved E fence vertices.

[0053] The E fence bases after the movement are used as the dividing bottom points, and the E fence vertices after the movement are used as the dividing vertices. A dividing outline is planned between the dividing bottom points and the dividing vertices, and the electronic fence located outside the dividing outline is recorded as the buffer zone, and the electronic fence located inside the dividing outline is recorded as the safe zone.

[0054] Furthermore, the steps for determining whether to issue a boundary crossing alarm message and a safety warning message are as follows:

[0055] The points inside the buffer zone are recorded as buffer points, and the points between the buffer zone and the safety zone are recorded as safety points. The coordinates of the buffer points and the safety points are summarized to generate a buffer coordinate set and a safety coordinate set.

[0056] Keep the real-time coordinates of the target static and unchanged, and passively compare the coordinates in the buffer coordinate set with the real-time coordinates of the target one by one. When the real-time coordinates of the target coincide with the coordinates in the buffer coordinate set, a safety warning message is issued;

[0057] Keep the coordinates in the safety coordinate set static and unchanged, and actively compare the coordinates in the safety coordinate set with the real-time coordinates of the target object one by one. When the real-time coordinates of the target object coincide with the coordinates in the safety coordinate set, an out-of-bounds alarm message is issued.

[0058] The technical effects and advantages of the Beidou satellite electronic fence perimeter alarm system based on wireless networking communication of the present invention are as follows:

[0059] The present invention matches boundary inflection points with positioning terminals into wireless nodes, and establishes a regional communication network based on the planned wireless center area. This can not only achieve accurate identification of each boundary point of the substation's electronic fence and provide accurate point identification for the construction of the electronic fence, but also generate a regional communication network after wireless networking of the wireless nodes to meet the wireless communication needs of each positioning terminal in the subsequent electronic fence, ensuring the communication efficiency of data signals when the electronic fence is in perimeter alarm. At the same time, by dividing the passive defense buffer zone and the active defense safety zone in the electronic fence, the integrated electronic fence can perform dual identification of the perimeter alarm position according to the severity of the hazard, and combine the dual perimeter position analysis operations of passive defense and active defense to accurately distinguish the depth and severity of the target object in the electronic fence, and by issuing different alarm information, alarm the target object's crossing the boundary and severity of the electronic fence, thereby achieving a combined substation electronic fence perimeter warning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of a module of a Beidou satellite electronic fence perimeter alarm system based on wireless networking communication provided in the first embodiment of the present invention;

[0061] Figure 2 This is a flow chart of a Beidou satellite electronic fence perimeter alarm method based on wireless networking communication provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0063] Example 1: Please refer to Figure 1 As shown, the Beidou satellite electronic fence perimeter alarm system based on wireless networking communication described in this embodiment is applied to an alarm center and includes:

[0064] The boundary inflection point marking module identifies the substation substation area in the electronic map, draws the area boundary line along the edge of the substation area, and marks the boundary inflection point on the area boundary line;

[0065] An electronic map refers to a digital map that requires the construction of an electronic fence and perimeter alarm and contains substation information. The electronic map is obtained by querying the map database and can provide a visual representation of the actual construction location and distribution information of the substation.

[0066] The substation area is used to represent the specific location of the substation on the electronic map, thereby effectively distinguishing the substation area from other areas on the electronic map. After identifying the substation area, it is necessary to draw the area boundary line at the edge of the substation area. The area boundary line can serve as a closed mark for the specific location of the substation on the electronic map and provide the most basic location definition for the subsequent construction of the electronic fence.

[0067] The steps for drawing the region boundary line are as follows:

[0068] Identify the substation location of A substation equipment in the electronic map and query the substation radius of each substation equipment. The substation radius refers to the safe length required for the substation equipment to operate normally, so that factors outside the substation radius will not interfere with the substation equipment.

[0069] Taking A substation radius as the expansion standard, expand A substation points outward to obtain A substation ranges, and record the area corresponding to A substation ranges in the electronic map as the substation area;

[0070] The substation area is rendered and colored to generate a rendered substation area, and the boundary between the rendered substation area and the non-rendered area is identified using computer vision technology. By rendering and coloring the substation area, the boundary between the substation area and the non-rendered area can be clearly distinguished, thereby providing an accurate position basis for drawing the area boundary line.

[0071] Establish B interval points at the regional boundary. Calculate the distances between each of these B interval points and the substation entrance. Starting from the interval point with the minimum distance between each interval point, connect the B interval points counterclockwise to draw the regional boundary. Interval points are points spaced at intervals along the regional boundary and serve as connection points for drawing the regional boundary.

[0072] After the regional boundary line is drawn, it can now represent the overall impact range of the substation, so that the regional boundary line can provide sufficient data support for the construction of the electronic fence. In order to reduce the amount of data collection and analysis during the construction of the electronic fence, it is necessary to screen and mark a specific number of points on the regional boundary line so that these points can represent the extreme values of the substation's substation area in a specific direction. These points are recorded as boundary inflection points.

[0073] When marking boundary inflection points, in order to ensure that the boundary inflection points can form a closed area structure, the number of boundary inflection points must be at least three, and all boundary inflection points cannot be on the same straight line at the same time to ensure that the boundary inflection points can provide reasonable point support for subsequent electronic fences;

[0074] The steps for marking the boundary inflection points are as follows:

[0075] Measure the distance between any two substations one by one, and record the minimum value of the distance between the points as the marking interval;

[0076] Using a marking interval as the standard, C interval points are equally spaced from B interval points, and the portion between three adjacent interval points on the region boundary line is recorded as a sub-boundary, obtaining D sub-boundaries;

[0077] Measure the line segment lengths of the D sub-boundaries and the point-to-point distances between any two interval points in the sub-boundaries one by one, and combine the maximum value of the D line segment lengths and the D point-to-point distances with the chord length ratio algorithm to calculate the curvature of the D sub-boundaries;

[0078] The calculation formula of the chord length ratio algorithm is:

[0079]

[0080] Where WQ ld is the curvature of the d-th sub-boundary, d = 1, 2, ..., D, XD cdd is the length of the line segment of the d-th sub-boundary, DJ zdd is the maximum value of the point spacing of the d-th sub-boundary;

[0081] Subboundaries with curvatures greater than the calibrated curvature are marked as inflection boundaries, and the intermediate points in the inflection boundaries are marked as boundary inflection points, resulting in E boundary inflection points. The calibrated curvature is the minimum curvature of the subboundaries identified as inflection boundaries, providing a numerical basis for accurate inflection boundary identification and improving the accuracy of subsequent boundary inflection point marking.

[0082] The wireless node networking module matches boundary inflection points with positioning terminals into wireless nodes, plans wireless center areas among the wireless nodes, and organizes the wireless nodes into a regional communication network based on node networking criteria;

[0083] The positioning terminal is a hardware terminal that uses wireless networking technology to build the electronic fence of the substation. It can be used as a device that corresponds to and matches the boundary inflection points one by one, and provides accurate hardware technical support for the subsequent construction of the electronic fence and perimeter alarm.

[0084] Specifically, the positioning terminal integrates a wireless communication unit, a Beidou positioning unit and a power supply unit. The wireless communication unit is used to realize wireless communication between each positioning terminal and between the positioning terminal and Beidou satellites and other equipment. The Beidou positioning unit is used to combine with Beidou satellites to realize accurate positioning of the geographic location. The power supply unit is used to provide working power to the wireless communication unit and the Beidou positioning unit.

[0085] Wireless nodes are data endpoints used to implement wireless networking communications. That is, through the wireless networking operations of multiple wireless nodes, wireless communication of multiple wireless nodes can be achieved, and wireless networking support can be provided for the subsequent establishment of electronic fences. Specifically, when matching wireless nodes, each boundary inflection point is assigned a node number, a positioning terminal is configured at the position of each boundary inflection point of the substation, and the node number of the boundary inflection point is matched with the positioning terminal. The boundary inflection point and the positioning terminal can be matched as a wireless node, and E wireless nodes can be obtained.

[0086] The wireless center area is the area in the middle of the communication coverage of E wireless nodes. The outer sides of the wireless center area can be adjacent to the communication coverage of E wireless nodes, thus providing a foundation for the establishment of subsequent regional communication networks.

[0087] The planning steps for the wireless central area are as follows:

[0088] The coordinates of E wireless nodes are queried through the Beidou positioning unit in the positioning terminal, and the E coordinates are marked on the electronic map to obtain the coordinates of E nodes;

[0089] Starting from the wireless node with the minimum node number, combine the coordinates of two nodes separated by one node coordinate in a clockwise manner to obtain F coordinate groups.

[0090] Connect the coordinates of two nodes in the F coordinate groups one by one to obtain F coordinate lines, and record the area enclosed by the F coordinate lines as the wireless center area.

[0091] After the wireless center area is planned, it can serve as the location basis for the subsequent regional communication network. The regional communication network is a local area network built based on the wireless center area of wireless nodes and combined with wireless networking technology, so that each wireless node can perform wireless data transmission and communication operations within the regional communication network.

[0092] When establishing a regional communication network, it is necessary to ensure that every wireless node can participate in it and ensure that every wireless node can play its due role. Therefore, it is necessary to combine the node networking criteria and perform wireless networking operations on multiple wireless nodes;

[0093] The node networking principle is: the scanning coverage area of the network radius of the regional communication network includes the scanning coverage area of the node communication radius of all wireless nodes; it can ensure that the regional communication network formed by wireless nodes can cover the node communication areas of all wireless nodes, so that each wireless node can accurately, completely and quickly communicate wirelessly within the regional communication network.

[0094] The steps to build a regional communication network are as follows:

[0095] Use computer vision technology to mark the center point of the wireless center area, query the center coordinates of the center point, and measure the distances from the center coordinates to the E node coordinates one by one to obtain the E coordinate spacing values;

[0096] The wireless node corresponding to the minimum coordinate spacing value is recorded as the target node, the wireless communication radius of the target node is queried, and the communication coverage length is obtained by adding the minimum coordinate spacing value and the wireless communication radius of the target node;

[0097] With the center point as the center of the circle and the communication coverage length as the network radius, a circle is scanned and drawn to form a regional circle, and the local area network covered by the regional circle is recorded as the regional communication network.

[0098] It should be noted that the constructed regional communication network needs to maintain a complete and closed structure, so that the regional communication network can accurately distinguish the range inside and outside the network, ensure that the wireless nodes within the regional communication network can maintain secure communication effects, and provide a solid foundation for the subsequent construction of electronic fences.

[0099] The electronic fence construction module collects node fence data from wireless nodes and communication fence data from the regional communication network, matches and fuses the node fence data and communication fence data through a multi-source data fusion algorithm to construct an electronic fence with a closed fence outline;

[0100] Node fence data refers to the diverse data in wireless nodes that can provide fence boundary outlines for subsequent electronic fence construction, so that node fence data can determine the boundary position of the electronic fence and then be used to calibrate the location boundary of the electronic fence;

[0101] Node fence data includes outward camber amplitude and stereo height value;

[0102] The outward inclination amplitude refers to the outward inclination angle of the fence when the positioning terminal in the wireless node performs electronic fence protection on the location area of the substation. It can be used to indicate the degree to which the boundary outline of the electronic fence is tilted outward.

[0103] The steps for collecting the outward amplitude are as follows:

[0104] The locations of E wireless nodes are recorded as reference points, and the horizontal plane where the target node is located is used as the reference horizontal plane. The remaining E-1 reference points are adjusted to the reference horizontal plane. This ensures that all reference points can remain on the same reference plane and lays the foundation for the subsequent calculation of the outward amplitude, avoiding data errors when calculating the outward amplitude when reference points on different reference planes are located.

[0105] Query the communication transmission angles of E wireless nodes one by one, draw angle lines along both sides of the communication transmission angle, and draw a center line that bisects the communication transmission angle between the two angle lines to obtain E center lines;

[0106] Draw a normal perpendicular to the reference horizontal plane through E reference points, adjust the positions of the E center lines until they coincide with the normals of the corresponding E reference points, and measure the angle values between the E angle lines on the side away from the wireless center area and the E normals one by one to obtain E outward inclination amplitudes.

[0107] The stereo height value refers to the maximum height of the perimeter protection when the positioning terminal in the wireless node performs electronic fence protection on the location area of the substation, which can be used to represent the height of the boundary outline of the electronic fence. The stereo height value is obtained by querying the communication transmission height of the positioning terminal in E wireless nodes.

[0108] Communication fence data refers to the diversified data in the regional communication network that can provide communication protocol restrictions for the subsequent construction of electronic fences, so that the communication fence data can limit the communication logic of the electronic fence;

[0109] Communication fence data includes communication blind area boundaries and network delay values;

[0110] The communication blind zone boundary refers to the location of the area boundary where the real-time packet loss rate during data transmission in the regional communication network is greater than the calibrated packet loss rate. It can be used to indicate the abnormal packet loss boundary of data transmission within the electronic fence.

[0111] The steps for collecting the communication blind area boundary are as follows:

[0112] Mark all signal monitoring points in the regional communication network one by one, query the update duration of data at all signal monitoring points through timestamps, and record the maximum update duration as the packet loss period; signal monitoring points refer to monitoring points used to transmit data signals in the regional communication network and serve as the objects for collecting and detecting subsequent update durations;

[0113] According to the progressive method of the regional communication network from bottom to top, the regional communication network is divided into communication layers to obtain H communication layers. The communication layer is used to represent the different dimensions and sequences of the regional communication network, so that the layers of different dimensions and sequences in the regional communication network can be accurately distinguished.

[0114] The real-time packet loss rate of all signal monitoring points within a packet loss cycle is queried one by one, and the signal monitoring points whose real-time packet loss rate is greater than the calibrated packet loss rate are recorded as blind-spot monitoring points, obtaining F blind-spot monitoring points. The calibrated packet loss rate refers to the maximum real-time packet loss rate of a signal monitoring point within a packet loss cycle under normal circumstances, which can provide a basis for judging whether a signal monitoring point is a blind-spot monitoring point.

[0115] The blind spots in the same communication layer are connected in sequence to form a layer boundary, and the layer boundaries of two adjacent communication layers are connected end to end to generate a communication blind spot boundary.

[0116] The network delay value refers to the maximum delay duration of data transmission delay in the regional communication network, which can represent the delay performance of data transmission within the electronic fence. The network delay value is obtained by taking the maximum value after counting all the data transmission delay durations in the regional communication network.

[0117] After collecting the node fence data and the communication fence data, the node fence data and the communication fence data can be matched and fused in time and space. Under the action of the multi-source data fusion algorithm, the node fence data and the communication fence data can be accurately fused from multiple sources, thereby constructing an electronic fence that meets the perimeter alarm function of the substation;

[0118] The steps to build an electronic fence are as follows:

[0119] With E wireless nodes as the fence base, the E fence bases are shifted outward by an outward inclination amplitude and upward by a three-dimensional height value to obtain E fence vertices.

[0120] Using E fence bases as the bottom outline of the electronic fence and E fence vertices as the top outline of the electronic fence, a contour boundary is planned between the bottom outline and the top outline, and the enclosed area of the bottom outline, the top outline, and the contour boundary is recorded as the electronic fence; the bottom outline is the structural representation of the fence bases connected one by one, the top outline is the structural representation of the fence vertices connected one by one, and the contour boundary is used to enclose the edge of the area between the bottom outline and the top outline, and provides a structural definition for the construction of the electronic fence;

[0121] The electronic fence and the communication blind spot boundary are converted to the same coordinate system for space alignment. The coordinates of the communication blind spot boundary are highlighted within the electronic fence and rendered to generate a closed fence outline. Space alignment refers to the operation of converting the specific positions of the electronic fence and the communication blind spot boundary into the same coordinate system for coordinate representation, which ensures that the coordinates of the electronic fence and the communication blind spot boundary are spatially aligned.

[0122] A lower delay limit value greater than the network delay value is set on the fence outline to construct an electronic fence with a closed fence outline.

[0123] It should be noted that the constructed closed fence outline can play a protective role with perimeter blocking effect within the electronic fence, that is, an invisible fence structure can be formed within the electronic fence, and cooperate with the auxiliary limiting effect of the delay lower limit value to ensure that the fence outline can maintain a high-performance blocking protection effect within the electronic fence, so as to improve the overall stability of the perimeter protection of the electronic fence and avoid the structural collapse of the electronic fence under high load.

[0124] The alarm information determination module divides the electronic fence into a buffer zone for passive defense and a safety zone for active defense, and analyzes the position coincidence between the real-time coordinates of the target and the buffer zone and safety zone to determine whether to issue an alarm information;

[0125] The buffer zone is the area within the electronic fence used for the primary perimeter defense of the substation's exterior, and the safety zone is the area within the electronic fence used for the secondary perimeter defense of the substation's interior. Together, the buffer zone and safety zone divide the substation's electronic fence into two combined internal and external defense structures.

[0126] It should be noted that when the electronic fence is divided into a buffer zone and a safety zone, the buffer zone is used to provide a passive buffer defense for the perimeter alarm on the outside, and the safety zone is used to provide an active buffer defense for the perimeter alarm on the inside. This can achieve the dual perimeter recognition and alarm functions of the electronic fence for abnormal cross-border behavior, avoiding the limitations of single passive defense alarm and active defense alarm operation, thereby improving the accuracy of perimeter alarm;

[0127] The steps for dividing the buffer zone and the safe zone are as follows:

[0128] Mark the coordinates of E fence bases and E fence vertices one by one in the electronic fence to obtain E base coordinates and E vertex coordinates;

[0129] Measure the horizontal distances from the E base coordinates to the E vertex coordinates one by one to obtain E horizontal distances, and record one-third of the minimum horizontal distance as the buffer distance;

[0130] Move the E fence bases horizontally toward the center point by a buffer spacing, and move the E fence vertices horizontally toward the center point by a corresponding E horizontal distances, to obtain the moved E fence bases and the moved E fence vertices.

[0131] The E fence bases after the movement are used as the dividing bottom points, and the E fence vertices after the movement are used as the dividing vertices. A dividing outline is planned between the dividing bottom points and the dividing vertices, and the electronic fence located outside the dividing outline is recorded as the buffer zone, and the electronic fence located inside the dividing outline is recorded as the safe zone.

[0132] It should be noted that the buffer zone refers to the spatial area in the electronic fence that will not have a negative impact and interference on the normal operation of the substation, and the safety zone refers to the spatial area in the electronic fence that will have a negative impact and interference on the normal operation of the substation, thereby achieving the effect of distinguishing between different locations of the substation.

[0133] After dividing the buffer zone and the safety zone, it is necessary to analyze the coincidence of the real-time coordinate position of the target object with the perimeter of the buffer zone and the safety zone to determine whether the real-time coordinates of the target object are in the buffer zone or the safety zone. The relative position relationship between the target object and the electronic fence of the substation can be identified, and then the perimeter alarm processing can be performed based on the position relationship between the target object and the electronic fence.

[0134] Specifically, the target object refers to the inspection equipment equipped with a Beidou positioning unit and used for substation maintenance. The positional relationship between the real-time coordinates of the inspection equipment and the electronic fence can be used to provide location data support for the safety and standardization of the substation inspection operation. Among them, the inspection equipment includes but is not limited to inspection carts, inspection drones, etc., which can achieve substation inspection effects at different heights on the ground and in the air.

[0135] The real-time coordinates of the target object are obtained through real-time query of the Beidou positioning unit. After obtaining the real-time coordinates of the target object, the real-time coordinates of the target object can be passively and actively identified in terms of their positional relationship with the buffer zone and safety zone in the electronic fence, thereby accurately judging whether the target object has illegally entered the prohibited area of the substation and determining whether to trigger an alarm message.

[0136] The alarm information is used to indicate the relative position between the target object and the electronic fence, thereby providing a basis for judging whether the spatial position of the target object within the electronic fence is reasonable and effective;

[0137] Specifically, the alarm information includes out-of-bounds alarm information and safety warning information; wherein the out-of-bounds alarm information and safety warning information correspond to the position of the target object entering the safety zone and the buffer zone respectively, so as to perform perimeter alarm operations on two different positions of the target object;

[0138] The steps for determining whether to issue a boundary crossing alarm message and a safety warning message are as follows:

[0139] The points inside the buffer zone are recorded as buffer points, and the points between the buffer zone and the safety zone are recorded as safety points. The coordinates of the buffer points and the safety points are summarized to generate a buffer coordinate set and a safety coordinate set.

[0140] Keep the real-time coordinates of the target object static and unchanged, and passively compare the coordinates in the buffer coordinate set with the real-time coordinates of the target object one by one. When the real-time coordinates of the target object coincide with the coordinates in the buffer coordinate set, it means that the real-time position of the target object is within the buffer zone. At this time, the real-time position of the target object has not crossed into the safety zone and will not have a negative impact on the normal operation of the substation. In this case, a safety warning information is issued;

[0141] Keep the coordinates in the safety coordinate set static and unchanged, and actively compare the coordinates in the safety coordinate set with the real-time coordinates of the target object one by one. When the real-time coordinates of the target object coincide with the coordinates in the safety coordinate set, it means that the real-time position of the target object is within the safety zone. At this time, the real-time position of the target object crosses the safety zone, which will have a negative impact on the normal operation of the substation, and it is determined to issue an out-of-bounds alarm information;

[0142] When the real-time coordinates of the target object do not overlap with the coordinates in the buffer coordinate set and the safety coordinate set, it means that the real-time position of the target object is outside the electronic fence. At this time, there is no out-of-bounds behavior between the target object and the electronic fence, and it is determined that no out-of-bounds alarm information or safety warning information will be issued.

[0143] In this embodiment, by matching boundary inflection points with positioning terminals into wireless nodes and establishing a regional communication network based on the planned wireless center area, it is possible to accurately identify each boundary point of the substation's electronic fence, providing precise point identification for the construction of the electronic fence. At the same time, the wireless nodes can be wirelessly networked to form a regional communication network to meet the wireless communication needs of each positioning terminal within the subsequent electronic fence, ensuring the communication efficiency of data signals during the electronic fence perimeter alarm. At the same time, by dividing the electronic fence into a passive defense buffer zone and an active defense safety zone, the integrated electronic fence can perform dual identification of the perimeter alarm location based on the severity of the hazard. Combined with the dual perimeter position analysis operations of passive defense and active defense, it is possible to accurately distinguish the depth and severity of the target within the electronic fence. Different alarm messages can be issued to warn the target of the target's crossing the electronic fence and the severity of the crossing, thereby achieving a combined substation electronic fence perimeter warning effect.

[0144] Example 2: Please refer to Figure 2 As shown, for parts not described in detail in this embodiment, please refer to the description of the first embodiment. A Beidou satellite electronic fence perimeter alarm method based on wireless networking communication is provided, which is applied to an alarm center and is implemented by a Beidou satellite electronic fence perimeter alarm system based on wireless networking communication, including:

[0145] S1: Identify the substation area on the electronic map, draw a boundary line along the edge of the substation area, and mark the boundary inflection point on the boundary line;

[0146] S2: Deploy a positioning terminal at the location of the boundary inflection point assigned a node number, match the node number of the boundary inflection point with the positioning terminal to a wireless node, plan a wireless center area among the wireless nodes, and organize the wireless nodes into a regional communication network based on the node networking criteria;

[0147] S3: Collect node fence data of wireless nodes and communication fence data of regional communication network, fuse the node fence data and communication fence data based on multi-source data fusion algorithm, and construct an electronic fence with a fence outline of a closed structure;

[0148] S4: A buffer zone for passive defense and a safety zone for active defense are divided within the electronic fence, and the real-time coordinates of the target object are analyzed for position overlap with the buffer zone and the safety zone to determine whether to issue a cross-border alarm or a safety warning.

[0149] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication is used in the alarm center, which is characterized by: include: A boundary inflection point marking module is used to identify the substation substation area in the electronic map, draw the area boundary line along the edge of the substation area, and mark the boundary inflection point on the area boundary line; The wireless node networking module is used to configure the positioning terminal at the location of the boundary inflection point assigned with the node number, match the node number of the boundary inflection point with the positioning terminal as a wireless node, plan the wireless center area among the wireless nodes, and organize the wireless nodes into a regional communication network based on the node networking criteria; The node networking criteria are: the scanning coverage area of the network radius of the regional communication network includes the scanning coverage area of the node communication radius of all wireless nodes; An electronic fence construction module is used to collect node fence data of wireless nodes and communication fence data of the regional communication network, fuse the node fence data and communication fence data based on a multi-source data fusion algorithm, and construct an electronic fence with a fence outline of a closed structure; The alarm information determination module is used to divide the electronic fence into a buffer zone for passive defense and a safety zone for active defense, and to analyze the position overlap between the real-time coordinates of the target object and the buffer zone and the safety zone to determine whether to issue an out-of-bounds alarm message and a safety warning message.

2. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 1 is characterized in that: The steps for drawing the region boundary line are as follows: Identify the substation locations of A substation equipment in the electronic map, and query the substation radius of A substation equipment one by one; Taking A substation radius as the expansion standard, expand A substation points outward to obtain A substation ranges, and record the area corresponding to A substation ranges in the electronic map as the substation area; Rendering and coloring the substation area to generate a rendered substation area, and identifying the boundary between the rendered substation area and the non-rendered area using computer vision technology; Set up B interval points at the regional boundary position, count the point-to-point distances between the B interval points and the substation entrance, take the interval point corresponding to the minimum point-to-point distance as the starting point, connect the B interval points counterclockwise, and draw the regional boundary line.

3. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 2 is characterized in that: The steps for marking the boundary inflection points are as follows: Measure the distance between any two substations one by one, and record the minimum value of the distance between the points as the marking interval; Using a marking interval as the standard, C interval points are equally spaced from B interval points, and the portion between three adjacent interval points on the region boundary line is recorded as a sub-boundary, obtaining D sub-boundaries; Measure the line segment lengths of the D sub-boundaries and the point-to-point distances between any two interval points in the sub-boundaries one by one, and combine the maximum value of the D line segment lengths and the D point-to-point distances with the chord length ratio algorithm to calculate the curvature of the D sub-boundaries; The calculation formula of the chord length ratio algorithm is: Where WQ ld is the curvature of the d-th sub-boundary, d = 1, 2, ..., D, XD cdd is the length of the line segment of the d-th sub-boundary, DJ zdd is the maximum value of the point spacing of the d-th sub-boundary; The sub-boundary with a curvature greater than the calibrated curvature is recorded as the inflection point boundary, and the interval point located in the middle position of the inflection point boundary is recorded as the boundary inflection point, and E boundary inflection points are obtained.

4. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 3 is characterized in that: The planning steps for the wireless central area are as follows: The coordinates of E wireless nodes are queried through the Beidou positioning unit in the positioning terminal, and the E coordinates are marked on the electronic map to obtain the coordinates of E nodes; Starting from the wireless node with the minimum node number, combine the coordinates of two nodes separated by one node coordinate in a clockwise manner to obtain F coordinate groups. Connect the coordinates of two nodes in the F coordinate groups one by one to obtain F coordinate lines, and record the area enclosed by the F coordinate lines as the wireless center area.

5. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 4 is characterized in that: The steps to build a regional communication network are as follows: Use computer vision technology to mark the center point of the wireless center area, query the center coordinates of the center point, and measure the distances from the center coordinates to the E node coordinates one by one to obtain the E coordinate spacing values; The wireless node corresponding to the minimum coordinate spacing value is recorded as the target node, the wireless communication radius of the target node is queried, and the communication coverage length is obtained by adding the minimum coordinate spacing value and the wireless communication radius of the target node; With the center point as the center of the circle and the communication coverage length as the network radius, a circle is scanned and drawn to form a regional circle, and the local area network covered by the regional circle is recorded as the regional communication network.

6. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 5 is characterized in that: Node fence data includes outward camber amplitude and stereo height value; The steps for collecting the outward amplitude are as follows: The locations of E wireless nodes are recorded as reference points, and the horizontal plane where the target node is located is used as the reference horizontal plane. The remaining E-1 reference points are adjusted to the reference horizontal plane. Query the communication transmission angles of E wireless nodes one by one, draw angle lines along both sides of the communication transmission angle, and draw a center line that bisects the communication transmission angle between the two angle lines to obtain E center lines; Draw a normal perpendicular to the reference horizontal plane through E reference points, adjust the positions of the E center lines until they coincide with the normals of the corresponding E reference points, and measure the angle values between the E angle lines on the side away from the wireless center area and the E normals one by one to obtain E outward inclination amplitudes.

7. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 6 is characterized in that: Communication fence data includes communication blind area boundaries and network delay values; The steps for collecting the communication blind area boundary are as follows: Mark all signal monitoring points in the regional communication network one by one, query the update time of data update at all signal monitoring points through timestamps, and record the maximum update time as the packet loss period; According to the progressive method of regional communication network from bottom to top, the regional communication network is divided into communication levels to obtain H communication levels; Query the real-time packet loss rate of all signal monitoring points within a packet loss period one by one, and record the signal monitoring points whose real-time packet loss rate is greater than the calibrated packet loss rate as blind spot monitoring points, and obtain F blind spot monitoring points; The blind spots in the same communication layer are connected in sequence to form a layer boundary, and the layer boundaries of two adjacent communication layers are connected end to end to generate a communication blind spot boundary.

8. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 7 is characterized in that: The steps to build an electronic fence are as follows: With E wireless nodes as the fence base, the E fence bases are shifted outward by an outward inclination amplitude and upward by a three-dimensional height value to obtain E fence vertices. The E fence bases are used as the bottom outline of the electronic fence, and the E fence vertices are used as the top outline of the electronic fence. The outline boundary is planned between the bottom outline and the top outline, and the enclosed area of the bottom outline, the top outline and the outline boundary is recorded as the electronic fence; The electronic fence and the communication blind spot boundary are converted into the same coordinate system for space alignment. The coordinates of the communication blind spot boundary are highlighted within the electronic fence. The coordinates of the communication blind spot boundary are rendered to generate a closed fence outline. A lower delay limit value greater than the network delay value is set on the fence outline to construct an electronic fence with a closed fence outline.

9. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 8 is characterized in that: The steps for dividing the buffer zone and the safe zone are as follows: Mark the coordinates of E fence bases and E fence vertices one by one in the electronic fence to obtain E base coordinates and E vertex coordinates; Measure the horizontal distances from the E base coordinates to the E vertex coordinates one by one to obtain E horizontal distances, and record one-third of the minimum horizontal distance as the buffer distance; Move the E fence bases horizontally toward the center point by a buffer spacing, and move the E fence vertices horizontally toward the center point by a corresponding E horizontal distances, to obtain the moved E fence bases and the moved E fence vertices. The E fence bases after the movement are used as the dividing bottom points, and the E fence vertices after the movement are used as the dividing vertices. A dividing outline is planned between the dividing bottom points and the dividing vertices, and the electronic fence located outside the dividing outline is recorded as the buffer zone, and the electronic fence located inside the dividing outline is recorded as the safe zone.

10. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 9 is characterized in that: The steps for determining whether to issue a boundary crossing alarm message and a safety warning message are as follows: The points inside the buffer zone are recorded as buffer points, and the points between the buffer zone and the safety zone are recorded as safety points. The coordinates of the buffer points and the safety points are summarized to generate a buffer coordinate set and a safety coordinate set. Keep the real-time coordinates of the target static and unchanged, and passively compare the coordinates in the buffer coordinate set with the real-time coordinates of the target one by one. When the real-time coordinates of the target coincide with the coordinates in the buffer coordinate set, a safety warning message is issued; Keep the coordinates in the safety coordinate set static and unchanged, and actively compare the coordinates in the safety coordinate set with the real-time coordinates of the target object one by one. When the real-time coordinates of the target object coincide with the coordinates in the safety coordinate set, an out-of-bounds alarm message is issued.

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