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

Abstract

The application relates to the field of communication early warning technology and discloses a Beidou satellite electronic fence perimeter alarm system based on wireless networking communication, which is applied to an alarm center; the system comprises a boundary inflection point marking module, a wireless node networking module and an electronic fence construction module; the boundary inflection point marking module is used for marking boundary inflection points on a regional boundary line; the wireless node networking module is used for networking wireless nodes into a regional communication network; the electronic fence construction module is used for constructing an electronic fence with a closed fence contour; and an alarm information judging module is used for judging whether to send a border-crossing alarm information and a safety warning information; the application can double-identify the perimeter alarm positions of the integrated electronic fence according to the different hazard severities, can accurately distinguish the different position depths and the hazard severities of the target objects in the electronic fence, and effectively improves the perimeter alarm accuracy of the electronic fence of the transformer substation.

Description

Technical Field

[0001] This invention relates to the field of communication early warning technology, and more specifically, to a Beidou satellite electronic fence perimeter alarm system based on wireless networking communication. Background Technology

[0002] As a critical infrastructure of the power system, the perimeter security of substations 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 been gradually applied to the security field of substations, and used to identify and alarm abnormal behaviors such as abnormal boundary crossings and illegal intrusions in substations.

[0003] Reference patent application CN114566016A discloses an electronic fence protection method and system based on wireless networking. The electronic fence protection system includes a host, and the electronic fence has a main control device, a pivot, an infrared transmitter rotating around the pivot, and an infrared receiver rotating around the pivot. The main control device of the host is used to send an early warning signal to the server after detecting a power failure event in the fence that has successfully entered the network. This allows for the rapid deployment of the protective fence, effectively establishing a protective barrier and promptly alerting external personnel. It has a large response range, simple structure, significant warning effect, and is also environmentally friendly, making it highly scalable.

[0004] Existing electronic fence perimeter alarm systems identify and alarm on abnormal boundary crossings and illegal intrusions by directly comparing the real-time location of the object with the location range of a single-structure electronic fence. While this method achieves perimeter alarm operation, a single-structure electronic fence can only make an overall judgment on the relative position of the object and the fence. It cannot accurately distinguish between different depths and degrees of harm of the object within the fence, nor can it achieve the dual perimeter alarm effect of passive and active defense. This results in low efficiency in identifying abnormal behavior of the object and reduces the accuracy of perimeter alarms.

[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] To overcome the aforementioned deficiencies of the prior art and to achieve the above objectives, the present invention provides the following technical solution: a Beidou satellite electronic fence perimeter alarm system based on wireless networking communication, applied in an alarm center, comprising:

[0007] The boundary inflection point marking module is used to identify the substation area of ​​a substation in an 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 positioning terminals at the boundary inflection points with assigned node numbers, match the node numbers of the boundary inflection points with the positioning terminals to form wireless nodes, plan a wireless central area in the wireless nodes, and build the wireless nodes into a regional communication network based on the node networking criteria.

[0009] The node networking principle is: the scanning coverage area of ​​the regional communication network's network radius includes the scanning coverage area of ​​the node communication radius of all wireless nodes;

[0010] The electronic fence construction module is used to collect node fence data from wireless nodes and communication fence data from the regional communication network. Based on a multi-source data fusion algorithm, the node fence data and communication fence data are fused to construct an electronic fence with a closed structure outline.

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

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

[0013] Identify the substation locations of A electrical equipment within the substation on the electronic map, and query the substation radius of each of the A electrical equipment.

[0014] Using A substation radii as the expansion standard, A substation locations are expanded outward to obtain A substation ranges, and the area corresponding to A substation ranges in the electronic map is recorded as the substation area;

[0015] The substation area is rendered and colored to generate the rendered substation area, and the boundary between the rendered substation area and the unrendered area is identified by computer vision technology.

[0016] B interval points are set at the boundary of the area. The distance between each of the B interval points and the substation inlet is calculated. The interval point corresponding to the minimum distance is taken as the starting point. The B interval points are connected counterclockwise to draw the boundary line of the area.

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

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

[0019] Using a marked interval as a standard, select C interval points at equal intervals from B interval points, and record the portion between three adjacent interval points on the boundary line of the region as a sub-boundary, thus obtaining D sub-boundaries;

[0020] The lengths of the line segments of the D sub-boundaries and the distance between any two points in the sub-boundaries are measured one by one. The maximum value of the lengths of the D line segments and the distance between the D points are combined with the chord length ratio algorithm to calculate the curvature of the D sub-boundaries.

[0021] The formula for calculating the chord length ratio is as follows:

[0022]

[0023] In the formula, WQ ld Let d be the curvature of the d-th sub-boundary, where d = 1, 2, ..., D, XD. cdd DJ is the length of the line segment of the d-th sub-boundary. zdd This represents the maximum distance between points on the d-th sub-boundary;

[0024] Sub-boundaries with curvature greater than the calibrated curvature are designated as inflection point boundaries, and the intermediate points within these inflection point boundaries are designated as boundary inflection points, resulting in E boundary inflection points.

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

[0026] The coordinates of E wireless nodes are retrieved by the Beidou positioning unit in the positioning terminal, and the coordinates of E nodes are marked on the electronic map respectively.

[0027] Starting from the wireless node corresponding to the minimum node number, the coordinates of two nodes separated by one node coordinate are combined in a clockwise direction to obtain F coordinate groups.

[0028] Connect the coordinates of two nodes in each of 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] The center point of the wireless central area is marked by computer vision technology, the center coordinates of the center point are found, and the distance from the center coordinates to the coordinates of E nodes is measured 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 found. The minimum coordinate spacing value is added to the wireless communication radius of the target node to obtain the communication coverage length.

[0032] Using the center point as the center and the communication coverage length as the network radius, a circle is drawn by scanning to create a regional circle. The local area network covered by the regional circle is denoted as the regional communication network.

[0033] Furthermore, the node fence data includes outward tilt amplitude and three-dimensional height value;

[0034] The steps for acquiring outward tilt amplitude are as follows:

[0035] Record the locations of the E wireless nodes as reference points, and use the horizontal plane where the target node is located as the reference horizontal plane. Adjust the remaining E-1 reference points to the reference horizontal plane.

[0036] Find out 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 normals perpendicular to the reference horizontal plane through E reference points. Adjust the position of E center lines until they coincide with the normals of the corresponding E reference points. Measure the angle values ​​between E angle lines and E normals on the side furthest from the wireless center area to obtain E outward tilt amplitude values.

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

[0039] The steps for collecting data at the boundary of the communication blind zone are as follows:

[0040] Mark all signal monitoring points in the regional communication network one by one, query the update duration of each data update at all signal monitoring points by timestamp, and record the maximum update duration as the packet loss period.

[0041] Following the bottom-up progression of the regional communication network, the regional communication network is divided into communication layers, resulting in H communication layers;

[0042] Query the real-time packet loss rate of all signal monitoring points within a packet loss period, and record the signal monitoring points whose real-time packet loss rate is greater than the calibrated packet loss rate as blind zone monitoring points, thus obtaining F blind zone monitoring points.

[0043] Connect the blind spots within the same communication level sequentially to form the level boundary, and then connect the end-to-end level boundaries of two adjacent communication levels to generate the communication blind spot boundary.

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

[0045] Using E wireless nodes as the fence base, the E fence bases are shifted outward by an outward tilting amplitude and then shifted upward by a three-dimensional height amplitude to obtain the E fence vertices;

[0046] Using E fence bases as the bottom outline of the electronic fence and E fence vertices as the top outline of the electronic fence, the outline boundary is planned between the bottom outline and the top outline, and the area enclosed by the bottom outline, the top outline and the outline boundary is denoted as the electronic fence.

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

[0048] An electronic fence with a closed fence outline is constructed by setting a lower limit for latency greater than the network latency value on the 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 the coordinates of E bases and E vertices;

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

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

[0053] Using the moved E fence bases as the boundary bottom points and the moved E fence vertices as the boundary vertices, a boundary outline is planned between the boundary bottom points and the boundary vertices. The electronic fences located outside the boundary outline are recorded as buffer zones, and the electronic fences located inside the boundary outline are recorded as safe zones.

[0054] Furthermore, the steps for determining whether to issue boundary crossing alarms and safety warnings are as follows:

[0055] Points located inside the buffer zone are designated as buffer points, and points located between the buffer zone and the safe zone are designated as safe points. The coordinates of the buffer points and the safe points are then summarized to generate a set of buffer coordinates and a set of safe coordinates.

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

[0057] The coordinates within the safe coordinate set remain static. Each coordinate in the safe coordinate set is actively compared with the real-time coordinates of the target object. When the real-time coordinates of the target object overlap with the coordinates in the safe coordinate set, an out-of-bounds alarm is issued.

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

[0059] This invention matches boundary inflection points with positioning terminals to form wireless nodes, and builds a regional communication network based on a planned wireless center area. This achieves accurate identification of each boundary point of the substation's electronic fence, providing precise location markers for the fence's construction. Simultaneously, it generates a regional communication network by wirelessly networking the nodes, meeting the wireless communication needs of various positioning terminals within the electronic fence and ensuring efficient data signal communication during perimeter alarms. Furthermore, by dividing the electronic fence into passive defense buffer zones and active defense security zones, the integrated electronic fence can perform dual identification of perimeter alarm locations based on the severity of the hazard. Combining passive and active defense perimeter location analysis, it can accurately distinguish the depth and severity of the target object within the electronic fence and issue different alarm messages to alert the target object to its boundary crossing behavior and severity, thus achieving a combined perimeter early warning effect for the substation electronic fence. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of a Beidou satellite electronic fence perimeter alarm system based on wireless networking communication provided in Embodiment 1 of the present invention;

[0061] Figure 2 This is a flowchart illustrating the BeiDou satellite electronic fence perimeter alarm method based on wireless networking communication provided in Embodiment 2 of the present invention. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

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

[0065] An electronic map is a digital map that requires the construction of electronic fences and perimeter alarms, and includes information about substations. Electronic maps are obtained by querying map databases, and can intuitively represent the actual construction location and distribution information of substations.

[0066] The substation area is used to represent the specific location of the substation in the electronic map, thereby effectively identifying and distinguishing the substation area from other areas in the electronic map. After identifying the substation area, the boundary line of the area needs to be drawn at the edge of the substation area so that the boundary line can play a closed marking role on the specific location of the substation on the electronic map and provide the most basic location limitation for the subsequent construction of the electronic fence.

[0067] The steps for drawing the boundary lines of a region are as follows:

[0068] Identify the substation locations of A electrical equipment within the substation on the electronic map, and then query the substation radius of each of the A electrical equipment. The substation radius refers to the safe length required for the electrical equipment to operate normally, ensuring that factors located outside the substation radius will not interfere with the electrical equipment.

[0069] Using A substation radii as the expansion standard, A substation locations are expanded outward to obtain A substation ranges, and the area corresponding to A substation ranges in the electronic map is recorded as the substation area;

[0070] The substation area is rendered and colored to generate the rendered substation area. Computer vision technology is used to identify the boundary between the rendered substation area and the non-rendered area. By rendering and coloring the substation area, the boundary between the substation area and the non-substation area can be clearly distinguished, thus providing an accurate positional basis for drawing the boundary line of the area.

[0071] B interval points are established at the boundary of the region. The distance between each of the B interval points and the substation inlet is calculated. Taking the interval point corresponding to the minimum distance as the starting point, the B interval points are connected counterclockwise to draw the boundary line of the region. Interval points refer to the points distributed at intervals at the boundary of the region, which are used to provide the connecting points for drawing the boundary line of the region.

[0072] After the area boundary line is drawn, it can now represent the overall working influence range of the substation, enabling the area boundary line to 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 select and mark a specific number of points on the area boundary line so that these points can represent the extreme values ​​of the substation's substation area in a specific direction. These points are called 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, so as to ensure that the boundary inflection points can provide reasonable point support for the subsequent electronic fence.

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

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

[0076] Using a marked interval as a standard, select C interval points at equal intervals from B interval points, and record the portion between three adjacent interval points on the boundary line of the region as a sub-boundary, thus obtaining D sub-boundaries;

[0077] The lengths of the line segments of the D sub-boundaries and the distance between any two points in the sub-boundaries are measured one by one. The maximum value of the lengths of the D line segments and the distance between the D points are combined with the chord length ratio algorithm to calculate the curvature of the D sub-boundaries.

[0078] The formula for calculating the chord length ratio is as follows:

[0079]

[0080] In the formula, WQ ld Let d be the curvature of the d-th sub-boundary, where d = 1, 2, ..., D, XD. cdd DJ is the length of the line segment of the d-th sub-boundary. zdd This represents the maximum distance between points on the d-th sub-boundary;

[0081] Sub-boundaries with curvature greater than the calibrated curvature are designated as inflection point boundaries, and intermediate points within these inflection point boundaries are designated as boundary inflection points, resulting in E boundary inflection points. The calibrated curvature refers to the minimum curvature of the sub-boundaries identified as inflection point boundaries, providing a numerical basis for accurate identification of inflection point boundaries and improving the accuracy of subsequent boundary inflection point marking.

[0082] The wireless node networking module matches boundary inflection points with positioning terminals to form wireless nodes, plans a wireless central area within the wireless nodes, and builds the wireless nodes into a regional communication network based on node networking principles.

[0083] A positioning terminal is a hardware terminal that uses wireless networking technology to build an electronic fence for a substation. This allows the positioning terminal to be a device that corresponds one-to-one with the boundary inflection point 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 enables wireless communication between the various positioning terminals and between the positioning terminals and BeiDou satellites and other devices. The BeiDou positioning unit is used to combine with BeiDou satellites to achieve accurate geographical location. The power supply unit provides operating power to the wireless communication unit and the BeiDou positioning unit.

[0085] Wireless nodes are data endpoints used to achieve wireless networking communication. That is, through the wireless networking operation of multiple wireless nodes, wireless communication between multiple wireless nodes can be realized, and wireless networking support can be provided for the subsequent construction of electronic fences. Specifically, when matching wireless nodes, each boundary inflection point is assigned a node number. A positioning terminal is configured at the location of each boundary inflection point in the substation, and the node number of the boundary inflection point is matched with the corresponding positioning terminal to match the boundary inflection point with the positioning terminal as a wireless node, thus obtaining E wireless nodes.

[0086] The wireless center area refers to the area located in the middle of the communication coverage of E wireless nodes, so that the outer side of the wireless center area can be adjacent to the communication coverage of E wireless nodes respectively, thus providing a foundation for the subsequent construction of the regional communication network.

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

[0088] The coordinates of E wireless nodes are retrieved by the Beidou positioning unit in the positioning terminal, and the coordinates of E nodes are marked on the electronic map respectively.

[0089] Starting from the wireless node corresponding to the minimum node number, the coordinates of two nodes separated by one node coordinate are combined in a clockwise direction to obtain F coordinate groups.

[0090] Connect the coordinates of two nodes in each of 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 central 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 central area of ​​wireless nodes and combined with wireless networking technology, enabling each wireless node to transmit wireless data and perform communication operations within the regional communication network.

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

[0093] The node networking principle is: the scanning coverage area of ​​the regional communication network's network radius includes the scanning coverage area of ​​the node communication radius of all wireless nodes; this ensures that the regional communication network formed by wireless nodes can cover the node communication areas of all wireless nodes, enabling each wireless node to communicate accurately, completely, and quickly within the regional communication network.

[0094] The steps for building a regional communication network are as follows:

[0095] The center point of the wireless central area is marked by computer vision technology, the center coordinates of the center point are found, and the distance from the center coordinates to the coordinates of E nodes is measured 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 found. The minimum coordinate spacing value is added to the wireless communication radius of the target node to obtain the communication coverage length.

[0097] Using the center point as the center and the communication coverage length as the network radius, a circle is drawn by scanning to create a regional circle. The local area network covered by the regional circle is denoted 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 between the internal and external ranges of the network, ensure that wireless nodes within the regional communication network can maintain secure communication, 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. It then uses a multi-source data fusion algorithm to match and fuse the node fence data and communication fence data 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 the boundary outline of the fence for subsequent electronic fence construction. This data enables the determination of the boundary position of the electronic fence and is then used to mark the location boundary of the electronic fence.

[0101] Node fence data includes outward tilt amplitude and three-dimensional height value;

[0102] Outward tilt amplitude refers to the angle at which the fence tilts outward when the positioning terminal in the wireless node protects the substation's location area with an electronic fence. It can represent the degree to which the boundary outline of the electronic fence tilts outward.

[0103] The steps for acquiring outward tilt amplitude are as follows:

[0104] The locations of the 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 all adjusted to the reference horizontal plane. This ensures that all reference points can be kept on the same reference plane and lays the foundation for the subsequent calculation of the outward tilt amplitude, avoiding data errors when calculating the outward tilt amplitude between reference points on different reference planes.

[0105] Find out 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 normals perpendicular to the reference horizontal plane through E reference points. Adjust the position of E center lines until they coincide with the normals of the corresponding E reference points. Measure the angle values ​​between E angle lines and E normals on the side furthest from the wireless center area to obtain E outward tilt amplitude values.

[0107] The 3D 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. It can represent the height of the boundary outline of the electronic fence. The 3D height value is obtained by querying the communication transmission height of the positioning terminal in E wireless nodes.

[0108] Communication fence data refers to diverse data in a regional communication network that can provide communication protocol constraints for the subsequent construction of electronic fences, enabling the communication fence data to constrain the communication logic of the electronic fence;

[0109] Communication fence data includes communication blind zone boundaries and network latency values;

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

[0111] The steps for collecting data at the boundary of the communication blind zone are as follows:

[0112] All signal monitoring points within the regional communication network are marked one by one. The update duration of each data update at all signal monitoring points is retrieved by timestamp, and the maximum update duration is recorded as the packet loss period. Signal monitoring points refer to the monitoring points in the regional communication network used to transmit data signals, and are used as the objects for subsequent update duration collection and detection.

[0113] Following the top-down progression of the regional communication network, the regional communication network is divided into communication layers, resulting in H communication layers. The communication layers are used to represent the regional communication network in different dimensions and sequences, thus accurately distinguishing the layers in the regional communication network in different dimensions and sequences.

[0114] The real-time packet loss rate of all signal monitoring points within a packet loss period is queried one by one, and signal monitoring points with a real-time packet loss rate greater than the calibrated packet loss rate are recorded as blind zone monitoring points, resulting in F blind zone 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 period under normal conditions, which can provide a basis for judging whether a signal monitoring point is a blind zone monitoring point.

[0115] Connect the blind spots within the same communication level sequentially to form the level boundary, and then connect the end-to-end level boundaries of two adjacent communication levels to generate the communication blind spot boundary.

[0116] The network latency value refers to the maximum delay time during data transmission in a regional communication network, which can represent the latency performance of data transmission within the electronic fence. The network latency value is obtained by taking the maximum value after statistically analyzing the data transmission latency times of all data transmissions in the regional communication network.

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

[0118] The steps for constructing an electronic fence are as follows:

[0119] Using E wireless nodes as the fence base, the E fence bases are shifted outward by an outward tilting amplitude and then shifted upward by a three-dimensional height amplitude to obtain the 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, an outline boundary is planned between the bottom outline and the top outline, and the area enclosed by the bottom outline, the top outline and the outline boundary is denoted as the electronic fence; the bottom outline is the structural representation after connecting the fence bases one by one, the top outline is the structural representation after connecting the fence vertices one by one, and the outline boundary is the structural representation used to close the edge of the area between the bottom outline and the top outline, and to provide structural constraints for the construction of the electronic fence.

[0121] The process involves converting the electronic fence and the communication blind zone boundary to the same coordinate system for spatial alignment. This highlights the coordinates of the communication blind zone boundary within the electronic fence and renders these coordinates to generate a closed fence outline. Spatial alignment refers to the operation of converting the specific locations of the electronic fence and the communication blind zone boundary to the same coordinate system for coordinate representation, which ensures that the coordinates of the electronic fence and the communication blind zone boundary remain aligned in space.

[0122] An electronic fence with a closed fence outline is constructed by setting a lower limit for latency greater than the network latency value on the fence outline.

[0123] It should be noted that the constructed closed fence outline can play a protective role of perimeter sealing within the electronic fence, forming an invisible fence structure within the electronic fence. Combined with the auxiliary limiting effect of the delay lower limit value, it ensures that the fence outline can maintain a high-performance sealing and protective function within the electronic fence, thereby improving the overall stability of the electronic fence's perimeter protection and preventing the electronic fence from collapsing under high loads.

[0124] The alarm information determination module divides the electronic fence into a buffer zone for passive defense and a safe zone for active defense, and analyzes the real-time coordinates of the target object with the buffer zone and the safe zone to determine whether to issue an alarm information.

[0125] The buffer zone refers to the area within the electronic fence used for the first perimeter defense of the substation's outer side, while the safety zone refers to the area within the electronic fence used for the second perimeter defense of the substation's inner side. This allows the buffer zone and the safety zone to divide the substation's electronic fence into two combined inner and outer defense structures.

[0126] It should be noted that when the electronic fence is divided into a buffer zone and a safe zone, the buffer zone is used to provide an outer passive buffer defense for perimeter alarms, while the safe zone is used to provide an inner active buffer defense for perimeter alarms. This enables the electronic fence to achieve dual perimeter identification and alarm functions for abnormal boundary crossings, avoiding the limitations of single passive and active defense alarm operations, thereby improving the accuracy of perimeter alarms.

[0127] The steps for dividing the buffer and 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 the coordinates of E bases and E vertices;

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

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

[0131] Using the moved E fence bases as the boundary bottom points and the moved E fence vertices as the boundary vertices, a boundary outline is planned between the boundary bottom points and the boundary vertices. The electronic fences located outside the boundary outline are recorded as buffer zones, and the electronic fences located inside the boundary outline are recorded as safe zones.

[0132] It should be noted that the buffer zone refers to the space within the electronic fence that will not negatively affect or interfere with the normal operation of the substation, while the safety zone refers to the space within the electronic fence that will negatively affect or interfere with 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 safe zone, it is necessary to perform a perimeter overlap analysis between the real-time coordinates of the target object and the buffer zone and the safe zone to determine whether the real-time coordinates of the target object are within the buffer zone or the safe zone. This allows for the identification of the relative positional relationship between the target object and the substation's electronic fence, and further enables perimeter alarm processing based on the positional relationship between the target object and the electronic fence.

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

[0135] The real-time coordinates of the target object are obtained through the BeiDou positioning unit. After obtaining the real-time coordinates of the target object, the positional relationship between the real-time coordinates of the target object and the buffer zone and safety zone in the electronic fence can be passively and actively identified. This allows for an accurate determination of whether the target object has illegally entered the prohibited area of ​​the substation and whether an alarm message has been triggered.

[0136] Alarm information is used to represent the relative positional relationship 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 boundary crossing alarm information and safety warning information; among them, the boundary crossing alarm information and the safety warning information correspond to the target object's location entering the safe zone and the buffer zone, respectively, to perform perimeter alarm operations for the two different locations of the target object;

[0138] The steps for determining whether to issue boundary crossing alarms and safety warnings are as follows:

[0139] Points located inside the buffer zone are designated as buffer points, and points located between the buffer zone and the safe zone are designated as safe points. The coordinates of the buffer points and the safe points are then summarized to generate a set of buffer coordinates and a set of safe coordinates.

[0140] Keep the real-time coordinates of the target object static and unchanged. 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 safe zone and will not have a negative impact on the normal operation of the substation. Then, a safety alarm message is issued.

[0141] Keep the coordinates in the safe coordinate set static and unchanged. Actively compare each coordinate in the safe coordinate set with the real-time coordinates of the target object. When the real-time coordinates of the target object coincide with the coordinates in the safe coordinate set, it means that the real-time position of the target object is within the safe zone. At this time, the real-time position of the target object has crossed into the safe zone, which will have a negative impact on the normal operation of the substation. Therefore, it is determined to issue an over-boundary alarm message.

[0142] When the real-time coordinates of the target do not coincide with the coordinates in the buffer coordinate set and the safety coordinate set, it means that the real-time position of the target is outside the electronic fence. At this time, the target does not cross the boundary with the electronic fence, so it is determined that no boundary crossing alarm or safety warning information will be issued.

[0143] In this embodiment, by matching boundary inflection points with positioning terminals to form wireless nodes, and building a regional communication network based on the planned wireless center area, it is possible to achieve accurate identification of each boundary point of the substation's electronic fence, providing precise location markers for the construction of the electronic fence. Simultaneously, the wireless nodes can be wirelessly networked to generate a regional communication network, meeting the wireless communication needs of each positioning terminal within the electronic fence and ensuring the communication efficiency of data signals when the electronic fence triggers a perimeter alarm. Furthermore, by dividing the electronic fence into a passive defense buffer zone and an active defense security zone, the integrated electronic fence can perform dual identification of perimeter alarm locations based on the severity of the hazard. Combined with the dual perimeter location analysis of passive and active defense, it is possible to accurately distinguish the depth and severity of the target object within the electronic fence and issue different alarm messages to alert the target object to its boundary crossing behavior and severity, thereby achieving a combined perimeter early warning effect for the substation electronic fence.

[0144] Example 2: Please refer to Figure 2 As shown, parts not described in detail in this embodiment are described in Embodiment 1. A BeiDou satellite electronic fence perimeter alarm method based on wireless network communication is provided, applied to an alarm center, and implemented through a BeiDou satellite electronic fence perimeter alarm system based on wireless network communication, including:

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

[0146] S2: Configure positioning terminals at the boundary inflection points with assigned node numbers, match the node numbers of the boundary inflection points with the positioning terminals to form wireless nodes, plan a wireless center area in the wireless nodes, and build the wireless nodes into a regional communication network based on the node networking criteria.

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

[0148] S4: Divide the area within the electronic fence into a buffer zone for passive defense and a safe zone for active defense. Analyze the real-time coordinates of the target object against the buffer zone and the safe zone to determine whether to issue boundary crossing alarm and safety warning messages.

[0149] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A Beidou satellite electronic fence perimeter alarm system based on wireless networking communication, applied in an alarm center, characterized in that: include: The boundary inflection point marking module is used to identify the substation area of ​​a substation in an 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 positioning terminals at the boundary inflection points with assigned node numbers, match the node numbers of the boundary inflection points with the positioning terminals to form wireless nodes, plan a wireless central area in the wireless nodes, and build the wireless nodes into a regional communication network based on the node networking criteria. The node networking principle is: the scanning coverage area of ​​the regional communication network's network radius includes the scanning coverage area of ​​the node communication radius of all wireless nodes; The electronic fence construction module is used to collect node fence data from wireless nodes and communication fence data from the regional communication network. Based on a multi-source data fusion algorithm, the node fence data and communication fence data are fused to construct an electronic fence with a closed structure outline. The steps for constructing an electronic fence are as follows: Using E wireless nodes as the fence base, the E fence bases are shifted outward by an outward tilting amplitude and then shifted upward by a three-dimensional height amplitude to obtain the E fence vertices; Using E fence bases as the bottom outline of the electronic fence and E fence vertices as the top outline of the electronic fence, the outline boundary is planned between the bottom outline and the top outline, and the area enclosed by the bottom outline, the top outline and the outline boundary is denoted as the electronic fence. The electronic fence and the communication blind zone boundary are transformed into the same coordinate system for empty alignment. The coordinates of the communication blind zone boundary are highlighted within the electronic fence, and the coordinates of the communication blind zone boundary are rendered to generate a closed fence outline. A lower limit for latency greater than the network latency value is set on the fence outline to construct an electronic fence with a closed fence outline; The alarm information determination module is used to divide the electronic fence into a buffer zone for passive defense and a safe zone for active defense, and to perform position overlap analysis between the real-time coordinates of the target object and the buffer zone and the safe zone to determine whether to issue boundary crossing alarm information and safety warning information.

2. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication as described in claim 1, characterized in that, The steps for drawing the boundary lines of a region are as follows: Identify the substation locations of A electrical equipment within the substation on the electronic map, and query the substation radius of each of the A electrical equipment. Using A substation radii as the expansion standard, A substation locations are expanded outward to obtain A substation ranges, and the area corresponding to A substation ranges in the electronic map is recorded as the substation area; The substation area is rendered and colored to generate the rendered substation area, and the boundary between the rendered substation area and the unrendered area is identified by computer vision technology. B interval points are set at the boundary of the area. The distance between each of the B interval points and the substation inlet is calculated. The interval point corresponding to the minimum distance is taken as the starting point. The B interval points are connected counterclockwise to draw the boundary line of the area.

3. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 2, characterized in that, The steps for marking boundary inflection points are as follows: Measure the distance between any two substation points one by one, and record the minimum distance between the points as the marking interval; Using a marked interval as a standard, select C interval points at equal intervals from B interval points, and record the portion between three adjacent interval points on the boundary line of the region as a sub-boundary, thus obtaining D sub-boundaries; The lengths of the line segments of the D sub-boundaries and the distance between any two points in the sub-boundaries are measured one by one. The maximum value of the lengths of the D line segments and the distance between the D points are combined with the chord length ratio algorithm to calculate the curvature of the D sub-boundaries. The formula for calculating the chord length ratio is as follows: In the formula, WQ ld Let d be the curvature of the d-th sub-boundary, where d = 1, 2, ..., D, XD. cdd DJ is the length of the line segment of the d-th sub-boundary. zdd This represents the maximum distance between points on the d-th sub-boundary; Sub-boundaries with curvature greater than the calibrated curvature are designated as inflection point boundaries, and the intermediate points within these inflection point boundaries are designated as boundary inflection points, resulting in E boundary inflection points.

4. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 3, characterized in that, The planning steps for the wireless center area are as follows: The coordinates of E wireless nodes are retrieved by the Beidou positioning unit in the positioning terminal, and the coordinates of E nodes are marked on the electronic map respectively. Starting from the wireless node corresponding to the minimum node number, the coordinates of two nodes separated by one node coordinate are combined in a clockwise direction to obtain F coordinate groups. Connect the coordinates of two nodes in each of 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, characterized in that, The steps for building a regional communication network are as follows: The center point of the wireless central area is marked by computer vision technology, the center coordinates of the center point are found, and the distance from the center coordinates to the coordinates of E nodes is measured 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 found. The minimum coordinate spacing value is added to the wireless communication radius of the target node to obtain the communication coverage length. Using the center point as the center and the communication coverage length as the network radius, a circle is drawn by scanning to create a regional circle. The local area network covered by the regional circle is denoted as the regional communication network.

6. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 5, characterized in that, Node fence data includes outward tilt amplitude and three-dimensional height value; The steps for acquiring outward tilt amplitude are as follows: Record the locations of the E wireless nodes as reference points, and use the horizontal plane where the target node is located as the reference horizontal plane. Adjust the remaining E-1 reference points to the reference horizontal plane. Find out 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 normals perpendicular to the reference horizontal plane through E reference points. Adjust the position of E center lines until they coincide with the normals of the corresponding E reference points. Measure the angle values ​​between E angle lines and E normals on the side furthest from the wireless center area to obtain E outward tilt amplitude values.

7. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 6, characterized in that, Communication fence data includes communication blind zone boundaries and network latency values; The steps for collecting data at the boundary of the communication blind zone are as follows: Mark all signal monitoring points in the regional communication network one by one, query the update duration of each data update at all signal monitoring points by timestamp, and record the maximum update duration as the packet loss period. Following the bottom-up progression of the regional communication network, the regional communication network is divided into communication layers, resulting in H communication layers; Query the real-time packet loss rate of all signal monitoring points within a packet loss period, and record the signal monitoring points whose real-time packet loss rate is greater than the calibrated packet loss rate as blind zone monitoring points, thus obtaining F blind zone monitoring points. Connect the blind spots within the same communication level sequentially to form the level boundary, and then connect the end-to-end level boundaries of two adjacent communication levels to generate the communication blind spot boundary.

8. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 7, characterized in that, The steps for dividing the buffer and 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 the coordinates of E bases and E vertices; Measure the horizontal distances from the E base coordinates to the E vertex coordinates one by one to obtain the E horizontal distances, and record one-third of the minimum horizontal distance as the buffer spacing; Move the E fence bases horizontally towards the center point by a buffer distance, and move the E fence vertices horizontally towards the center point by the corresponding E horizontal distances to obtain the moved E fence bases and the moved E fence vertices. Using the moved E fence bases as the boundary bottom points and the moved E fence vertices as the boundary vertices, a boundary outline is planned between the boundary bottom points and the boundary vertices. The electronic fences located outside the boundary outline are recorded as buffer zones, and the electronic fences located inside the boundary outline are recorded as safe zones.

9. The Beidou satellite electronic fence perimeter alarm system based on wireless networking communication according to claim 8, characterized in that, The steps for determining whether to issue boundary crossing alarms and safety warnings are as follows: Points located inside the buffer zone are designated as buffer points, and points located between the buffer zone and the safe zone are designated as safe points. The coordinates of the buffer points and the safe points are then summarized to generate a set of buffer coordinates and a set of safe coordinates. Keep the real-time coordinates of the target object static and unchanged, passively compare the coordinates in the buffer coordinate set with the real-time coordinates of the target object one by one, and issue a safety warning message when the real-time coordinates of the target object coincide with the coordinates in the buffer coordinate set. The coordinates within the safe coordinate set remain static. Each coordinate in the safe coordinate set is actively compared with the real-time coordinates of the target object. When the real-time coordinates of the target object overlap with the coordinates in the safe coordinate set, an out-of-bounds alarm is issued.

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