Intelligent safe distance distinguishing and warning device

Abstract

The invention relates to the technical field of intelligent safe distance distinguishing and warning, in particular to an intelligent safe distance distinguishing and warning device which comprises a model building module, a model building module, a model building module, a model building module, a model building module and a model building module. The model building module builds a three-dimensional virtual model consistent with physical space by analyzing two-dimensional engineering drawings and marks dangerous area boundaries; the space calibration module establishes a virtual-real space coordinate mapping relation; the signal receiving module obtains the real-time position of personnel equipment through an ultra-wideband positioning technology; the distance calculation module dynamically calculates the shortest distance between the current position and the dangerous boundary; the alarm judgment module generates an early warning or alarm instruction according to the multi-level safety threshold value; the signal sending module transmits the instruction to the sound-light alarm device. Through automatic space modeling, accurate positioning and real-time distance judgment, the problems of visual blind areas and subjective errors existing in manual judgment are effectively solved, and the operation safety in the high-pressure environment is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent safety distance judgment and warning technology, and in particular to an intelligent safety distance judgment and warning device. Background Technology

[0002] Existing safety distance judgment and warning technologies are based on electromagnetic wave or optical ranging principles. Monitoring equipment is deployed at power operation sites such as high-voltage substations, transmission line corridors, and power distribution equipment areas. By continuously collecting data on the relative positions of personnel or vehicles and live conductors, and comparing them in real time using preset safety distance thresholds, the system automatically triggers audible and visual alarms or mechanical warning devices when the monitoring data indicates that an object is approaching a dangerous area. This helps to achieve dynamic safety protection and improve the risk management capabilities of the working environment.

[0003] Existing intelligent safety distance judgment and warning technologies suffer from the following technical challenges: In power operation sites such as high-voltage substations and transmission lines, current safety monitoring methods primarily rely on manual observation and experience to determine the safe distance to energized equipment. However, manual judgment has inherent subjectivity and limitations, easily affected by ambient light, blind spots, personnel fatigue, and blind areas during the operation of large machinery (such as cranes), leading to misjudgments of actual distances. For example, in densely populated equipment areas, the spatial relationship between the swing trajectory of a crane boom and energized bodies of different voltage levels is extremely complex, making it difficult for operators to consistently and accurately perceive gradually changing spatial distances by visual inspection alone. Furthermore, when moving within multi-segmented, highly similar substations, workers may accidentally enter energized areas due to distraction or unclear signage. All of these situations can lead to insufficient safe distances due to the failure to obtain timely and accurate distance warnings, ultimately resulting in electric shock injuries or equipment discharge failures. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an intelligent safety distance judgment and warning device, which solves the technical problem of electric shock injuries and equipment failures caused by blind spots and errors in manual judgment of safety distances in high-voltage power operation environments.

[0005] To solve the above-mentioned technical problems, the specific contents of the present invention are as follows: The present invention provides an intelligent safety distance determination and warning device, comprising: The model building module is used to construct a three-dimensional virtual model that corresponds one-to-one with the target physical space, and to mark the boundaries of dangerous areas in the three-dimensional virtual model; the model building module outputs the three-dimensional virtual model; A spatial calibration module, connected to the model construction module, is used to receive the three-dimensional virtual model and establish a mapping relationship between the coordinate system of the three-dimensional virtual model and the coordinate system of the target physical space; the spatial calibration module outputs the mapping relationship. The signal receiving module is used to receive real-time location signals sent by transmitting devices deployed in the target physical space; the signal receiving module outputs real-time location signals. A distance calculation module, connected to the spatial calibration module and the signal receiving module, is used to receive the mapping relationship and the real-time position signal, convert the real-time position signal into coordinates in the three-dimensional virtual model according to the mapping relationship, and calculate the shortest distance between the coordinates and the boundary of the danger zone; the distance calculation module outputs the shortest distance. An alarm judgment module, connected to the distance calculation module, is used to receive the shortest distance, compare the shortest distance with a preset safety threshold, and generate an alarm command when the shortest distance is less than the safety threshold; the alarm judgment module outputs the alarm command. A signal transmitting module, connected to the alarm judgment module, is used to receive the alarm command and send the alarm command to the alarm device associated with the transmitting device.

[0006] Furthermore, in the intelligent safety distance discrimination and warning device of the present invention, the model building module is also used for: Import the 2D engineering drawing data of the target physical space to obtain the original drawing data; The original drawing data is parsed to identify the equipment outline information and spatial structure information in the two-dimensional engineering drawing data; Based on the identified equipment outline and spatial structure information, an initial 3D mesh model is generated using 3D modeling rules. In the initial three-dimensional mesh model, according to the predefined equipment safety specifications, a corresponding three-dimensional hazardous area bounding box is associated with the identified live equipment. The size of the three-dimensional hazardous area bounding box is determined by the voltage level of the live equipment. Generate and output a 3D virtual model labeled with the bounding box of the 3D hazardous area.

[0007] Furthermore, in the intelligent safety distance discrimination and warning device of the present invention, the spatial calibration module is also used for: Select at least three non-collinear fixed points with known physical coordinates in the target physical space as reference points; The reference transmitting device deployed on the reference point is triggered to send a positioning signal, the positioning signal is received, and the positioning signal is parsed to obtain the actual coordinates of each reference point in physical space, forming an actual coordinate dataset; In the three-dimensional virtual model output by the model building module, virtual coordinate points corresponding to each of the reference points are located to form a virtual coordinate dataset; The actual coordinate dataset and the virtual coordinate dataset are input into a spatial registration algorithm to calculate the rotation matrix and translation vector required to transform the physical space coordinates to the coordinate system of the three-dimensional virtual model. The rotation matrix and translation vector constitute the mapping relationship.

[0008] Furthermore, in the intelligent safety distance discrimination and warning device of the present invention, the distance calculation module is also used for: Receive the real-time position signal output by the signal receiving module; Based on the real-time position signal and by calling the mapping relationship established by the spatial calibration module, the rotation matrix and translation vector are used to transform the real-time position signal from physical space coordinates to the current virtual coordinates in the coordinate system of the three-dimensional virtual model. Using the current virtual coordinates as the query point, and utilizing the spatial index constructed in the three-dimensional virtual model, all dangerous area boundary surfaces within a preset proximity range are retrieved; Calculate the vertical distance from the current virtual coordinates to the boundary of each retrieved danger zone, and select the minimum value from all calculated vertical distances as the shortest distance.

[0009] Furthermore, in the intelligent safety distance discrimination and warning device of the present invention, the alarm judgment module is also used for: Multiple safety thresholds are pre-stored for different devices or areas, including early warning thresholds and emergency alarm thresholds, wherein the emergency alarm threshold is lower than the early warning threshold; Receive the shortest distance data sent by the distance calculation module; The received shortest distance is compared with the warning threshold and the emergency alarm threshold; When the shortest distance is less than the warning threshold but greater than the emergency alarm threshold, a warning command is generated; An emergency alarm command is generated when the shortest distance is less than the emergency alarm threshold.

[0010] Furthermore, in the intelligent safety distance discrimination and warning device of the present invention, the alarm device is configured as follows: Receive alarm commands from the signal transmitting module; The alarm command is parsed to determine the command type, which includes warning commands and emergency alarm commands; If the instruction type is determined to be a warning instruction, then the yellow warning light will flash slowly and an intermittent warning sound will be emitted; If the instruction type is determined to be an emergency alarm instruction, then the red warning light will flash rapidly and a continuous buzzing sound will be emitted.

[0011] Furthermore, the intelligent safety distance discrimination and warning device of the present invention also includes a status management module, which is used for: Obtain the current operating status information of a specific equipment area in the three-dimensional virtual model, wherein the operating status information includes operating status or maintenance status; The current operating status information is associated with and stored in relation to the corresponding specific device area; Based on the associated stored current operating status information, the safety threshold corresponding to the specific device area in the alarm judgment module is set: when the current operating status information is in the operating state, it is set to the standard safety threshold; when the current operating status information is in the maintenance state, it is set to the alarm disabled state.

[0012] Furthermore, in the intelligent safety distance discrimination and warning device of the present invention, the alarm judgment module is also used for: After obtaining the shortest distance, query the status management module for the current operating status of the equipment area associated with the boundary of the danger zone corresponding to the shortest distance; Retrieve the current running status obtained from the query; An alarm command is generated only when the current operating state is in operation and the shortest distance is less than the safety threshold set for the current operating state.

[0013] Furthermore, the intelligent safety distance discrimination and warning device of the present invention also includes: The transmitting device is an ultra-wideband personnel positioning tag or an ultra-wideband vehicle positioning tag; The signal receiving module receives the signals periodically broadcast by the positioning tag through an ultra-wideband positioning base station deployed in the target physical space, and performs calculations on the received signals to obtain the real-time location signal.

[0014] Furthermore, in the intelligent safety distance discrimination and warning device of the present invention, the distance calculation module is also used for: Record the motion trajectory data of the current virtual coordinates as they change over time; Based on the motion trajectory data, predict the motion trend and expected coordinates of the transmitting device within a future preset time period; The predicted coordinates are compared with the boundary of the danger zone to calculate the predicted shortest distance; When the predicted shortest distance is less than the warning threshold but greater than the emergency alarm threshold, a motion trend warning command is generated; When the expected shortest distance is less than the emergency alarm threshold, a motion trend alarm command is generated; The alarm judgment module is also used to superimpose the motion trend warning instruction or motion trend alarm instruction with the warning instruction or emergency alarm instruction to generate a comprehensive alarm instruction; The signal sending module is used to send the integrated alarm command to the alarm device.

[0015] Beneficial effects of this invention; This invention creates a 3D virtual model that precisely corresponds to the physical space through a model building module and marks the boundaries of dangerous areas. Combined with the coordinate mapping relationship established by the spatial calibration module, it achieves seamless integration between the physical and virtual spaces. The signal receiving module captures the position of moving targets in real time through ultra-wideband positioning technology, and the distance calculation module converts physical coordinates into virtual coordinates based on the mapping relationship and dynamically calculates the shortest distance to the dangerous boundary, effectively overcoming the visual blind spots and subjective errors that exist in manual judgment. The alarm judgment module generates differentiated alarm commands through the synergy of multi-level safety thresholds and equipment status management functions, and the signal sending module works with the alarm device to achieve graded warnings. The entire system organically combines spatial modeling, precise positioning, real-time calculation, and intelligent alarm, significantly improving the accuracy and response efficiency of safety monitoring in high-pressure working environments, and fundamentally reducing the risk of personal injury and equipment accidents caused by misjudgment of safety distances. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 The system architecture diagram of the intelligent safety distance discrimination and warning device provided by the present invention.

[0018] Figure 2 This is a schematic diagram of the first application scenario provided by the present invention.

[0019] Figure 3 This is a schematic diagram illustrating a second application scenario provided by the present invention. Detailed Implementation

[0020] To make the technical solution of the present invention clearer, the present invention will be clearly and completely described below with reference to specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. 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. The present invention provided by various embodiments will be described in detail below with reference to the accompanying drawings. To better understand the purpose of the present invention, the present invention will be described in further detail below.

[0021] Please see Figures 1 to 3 The present invention provides an intelligent safety distance determination and warning device, comprising: The model building module is used to construct a three-dimensional virtual model that corresponds one-to-one with the target physical space, and to mark the boundaries of dangerous areas in the three-dimensional virtual model; the model building module outputs the three-dimensional virtual model; A spatial calibration module, connected to the model construction module, is used to receive the three-dimensional virtual model and establish a mapping relationship between the coordinate system of the three-dimensional virtual model and the coordinate system of the target physical space; the spatial calibration module outputs the mapping relationship. The signal receiving module is used to receive real-time location signals sent by transmitting devices deployed in the target physical space; the signal receiving module outputs real-time location signals. A distance calculation module, connected to the spatial calibration module and the signal receiving module, is used to receive the mapping relationship and the real-time position signal, convert the real-time position signal into coordinates in the three-dimensional virtual model according to the mapping relationship, and calculate the shortest distance between the coordinates and the boundary of the danger zone; the distance calculation module outputs the shortest distance. An alarm judgment module, connected to the distance calculation module, is used to receive the shortest distance, compare the shortest distance with a preset safety threshold, and generate an alarm command when the shortest distance is less than the safety threshold; the alarm judgment module outputs the alarm command. A signal transmitting module, connected to the alarm judgment module, is used to receive the alarm command and send the alarm command to the alarm device associated with the transmitting device.

[0022] The intelligent safety distance judgment and warning device integrates multiple functional modules to achieve safety monitoring in high-voltage working environments. The system operates based on the precise correspondence between a 3D virtual model and physical space. The model building module first imports the 2D engineering drawings of the target plant area, analyzes the equipment outlines and spatial structure information in the drawings, and generates an initial 3D mesh model using 3D modeling rules. Subsequently, according to predefined equipment safety specifications, it associates 3D hazardous area boundary boxes with the identified live equipment. The boundary box size is dynamically adjusted according to the voltage level, and finally outputs a 3D virtual model marked with hazardous areas. This modeling process ensures that the virtual environment accurately reflects the actual plant layout, providing a foundation for subsequent distance judgment.

[0023] After receiving the 3D virtual model, the spatial calibration module selects multiple non-collinear fixed points with known coordinates in the physical space as reference points and deploys a reference transmitting device to collect actual coordinate data. Simultaneously, it locates the virtual coordinates of the corresponding reference points in the virtual model and uses a spatial registration algorithm to calculate the rotation matrix and translation vector, establishing a mapping relationship between the physical and virtual coordinate systems. This calibration method ensures that any positioning signal can be accurately projected into the virtual space, eliminating errors caused by coordinate system differences.

[0024] The signal receiving module continuously receives real-time location signals broadcast by transmitting devices carried by personnel or vehicles through ultra-wideband positioning base stations deployed within the plant. The base station processes the signals and outputs a three-dimensional coordinate data stream with timestamps and IDs, ensuring the timeliness and accuracy of the location information. This module serves as a data entry point, providing real-time input for distance calculation.

[0025] The distance calculation module combines mapping relationships and real-time position signals to convert physical coordinates into current virtual coordinates in the virtual model. Utilizing a spatial index built into the 3D virtual model, it quickly retrieves the boundary surfaces of adjacent hazardous areas, calculates the vertical distance from the current virtual coordinates to each boundary surface, and selects the minimum value as the shortest distance. This process employs optimization algorithms to handle large-scale data, meeting real-time requirements. For example, in crane operation scenarios, it dynamically tracks the boom trajectory and calculates the minimum distance to live equipment.

[0026] The alarm judgment module pre-stores multiple safety thresholds for different equipment areas, including early warning thresholds and emergency alarm thresholds. The module compares the received shortest distance with the thresholds. If the shortest distance is less than the early warning threshold but greater than the emergency alarm threshold, an early warning command is generated. If the shortest distance further narrows to below the emergency alarm threshold, an emergency alarm command is generated. In addition, the module integrates status management functions to query the current operating status of the equipment area (such as running or under maintenance). Alarms are only triggered when the status is running, avoiding false alarms during maintenance.

[0027] The signal transmitting module sends the generated alarm commands to the alarm device associated with the transmitting device via the base station network. The alarm device parses the command type and activates the corresponding warning mode. For example, a yellow warning light flashes slowly with intermittent beeps during a pre-alarm, while a red light flashes rapidly with a continuous buzzing sound during an emergency alarm. This tiered alarm mechanism helps on-site personnel quickly identify the risk level and improves response efficiency.

[0028] The device integrates 3D modeling, spatial calibration, real-time positioning, and intelligent alarms through modular collaboration, enabling automated determination of safe distances in complex environments such as high-voltage substations, effectively compensating for blind spots in manual judgment. The system design also considers scalability; for example, it can integrate video surveillance data in the future to further enrich the dimensions of security protection.

[0029] The model building module imports 2D engineering drawings of the target physical space to obtain raw drawing data. This raw drawing data is then parsed to identify equipment outlines and spatial structure information, such as using contour extraction algorithms to process the line data of transformers and circuit breakers. Based on the identified information, 3D modeling rules are applied to generate an initial 3D mesh model. A polygonal mesh is used to construct the spatial structure, reflecting the actual layout of the plant. In the initial 3D mesh model, according to predefined equipment safety specifications, corresponding 3D hazardous area bounding boxes are associated with the identified live equipment. The size of the bounding boxes is dynamically adjusted according to the voltage level of the live equipment, with higher voltage level equipment corresponding to larger bounding box ranges. Finally, a 3D virtual model labeled with the 3D hazardous area bounding boxes is generated and output, providing an accurate spatial basis for the subsequent distance calculation module.

[0030] The spatial calibration module selects at least three non-collinear fixed points with known physical coordinates in the target physical space as reference points, such as the corner of a factory perimeter wall or the foundation point of permanent equipment. It triggers the reference transmitting device deployed on the reference points to send positioning signals, receives the signals and parses them to obtain the actual coordinates of each reference point in the physical space, forming an actual coordinate dataset. It locates the virtual coordinate points corresponding to each reference point in the 3D virtual model, forming a virtual coordinate dataset. It inputs the actual coordinate dataset and the virtual coordinate dataset into the spatial registration algorithm for calculation, and solves for the rotation matrix and translation vector required to transform the physical space coordinates to the coordinate system of the 3D virtual model, thereby establishing a mapping relationship and ensuring the coordinate consistency between the physical space and the virtual model.

[0031] The distance calculation module receives the real-time position signal output by the signal receiving module. Based on the real-time position signal, it calls the mapping relationship established by the spatial calibration module and applies a rotation matrix and translation vector to transform the real-time position signal from physical space coordinates to the current virtual coordinates in the coordinate system of the three-dimensional virtual model. Using the current virtual coordinates as the query point, it uses the spatial index constructed in the three-dimensional virtual model to retrieve all dangerous area boundaries within a preset proximity range. It calculates the vertical distance from the current virtual coordinates to each retrieved dangerous area boundary, uses a geometric algorithm to process the distance calculation from point to surface, and selects the minimum value from all calculated vertical distances as the shortest distance to achieve efficient real-time risk identification.

[0032] The alarm judgment module pre-stores multiple safety thresholds set for different devices or areas, including early warning thresholds and emergency alarm thresholds, with the emergency alarm threshold being less than the early warning threshold. It receives the shortest distance data sent by the distance calculation module; compares the shortest distance with the early warning threshold and the emergency alarm threshold; generates an early warning command when the shortest distance is less than the early warning threshold but greater than the emergency alarm threshold; and generates an emergency alarm command when the shortest distance is less than the emergency alarm threshold. This tiered alarm mechanism adapts to different risk levels, improving on-site safety response efficiency.

[0033] This invention's alarm device receives alarm commands transmitted by a signal transmission module via a built-in wireless communication unit. A microcontroller decodes the command data packets to distinguish command types; for example, a warning command corresponds to code 01, while an emergency alarm command corresponds to code 10. When a warning command is identified, the drive circuit controls a yellow LED warning light to flash slowly at a frequency of once per second, while simultaneously activating the audio module to output intermittent beeping sounds. This design helps personnel identify risk levels from a distance in high-voltage substation operation scenarios. An emergency alarm command triggers a red LED to flash rapidly at a frequency of five times per second, and activates a buzzer to emit a continuous high-decibel alarm sound, ensuring timely attention in noisy environments. The alarm device's hardware is integrated into a portable tag or vehicle terminal, and its waterproof and dustproof packaging adapts to harsh outdoor conditions. The microcontroller program continuously monitors the command stream to achieve a low-latency response.

[0034] The status management module collects real-time operational status information for specific equipment areas from the plant monitoring system. For example, it reads circuit breaker status registers via the Modbus protocol or synchronizes manually entered maintenance plans to the database. The module associates operational or maintenance status with equipment area IDs in a relational data table and dynamically adjusts the safety thresholds of the alarm judgment module based on predefined rules: operational status is strictly monitored using standard safety thresholds, while alarms are disabled during maintenance to avoid interfering with maintenance work. The status management module periodically polls for changes in equipment status; for example, when a transformer switches from operation to maintenance, it automatically updates the threshold settings and notifies the alarm judgment module via an event notification mechanism, ensuring the system adapts to on-site operating procedures.

[0035] After calculating the shortest distance, the alarm judgment module sends a query request to the status management module, including the danger zone boundary ID, to retrieve the current operating status of the associated equipment area. Upon receiving the status response, the module only performs a threshold comparison if the status is "running." For example, if the equipment is in operation and the shortest distance is less than the standard safety threshold, an alarm command is generated; otherwise, the alarm logic is skipped during maintenance. This interaction utilizes a message queue for asynchronous communication, avoiding blocking the real-time distance calculation thread. The alarm judgment module's built-in status cache reduces query latency, improving decision-making efficiency in complex plant environments.

[0036] The transmitting device employs ultra-wideband (UWB) technology for high-precision positioning. Personnel positioning tags are integrated into safety helmets or work badges, while vehicle positioning tags are installed in the crane cab. Tags periodically broadcast UWB signals including ID and timestamps. The signal receiving module forms a monitoring network with UWB positioning base stations deployed in various corners of the plant area. The base stations use a time-difference ranging algorithm to calculate signal arrival time, calculate the tag's three-dimensional coordinate data stream, and transmit it to the server via Ethernet. UWB base stations are used in a grid layout to cover blind spots; for example, additional base stations are added in the substation structure area to enhance signal strength. The signal calculation process incorporates filtering algorithms to eliminate multipath effects and ensure centimeter-level accuracy of the real-time position signal.

[0037] The distance calculation module continuously records the time-series data of the current virtual coordinates and stores it in a circular buffer to track the movement trajectory. The module applies a linear prediction algorithm to analyze trajectory trends; for example, it fits a movement vector based on the coordinates of the most recent ten seconds to predict the expected coordinates of the transmitting device within the next three seconds, and then calculates the shortest distance between the expected coordinates and the boundary of the danger zone. If the expected shortest distance is less than the warning threshold but greater than the emergency alarm threshold, a movement trend warning command is generated; if the expected shortest distance exceeds the emergency alarm threshold, a movement trend alarm command is triggered. The alarm judgment module superimposes the trend command and the real-time alarm command; for example, when personnel simultaneously approach the danger zone and the movement trend deteriorates, a comprehensive alarm command is generated, prioritizing the triggering of the highest-level alarm. The signal transmission module sends the comprehensive command to the alarm device through the base station network, enabling proactive risk intervention and providing early warnings in scenarios such as crane swaying or personnel running.

[0038] When the intelligent safety distance discrimination and warning device of this invention is implemented in complex environments such as high-voltage substations, it first processes the two-dimensional engineering drawing data of the plant area through the model building module. For example, it imports the CAD design drawings of the substation and uses a contour recognition algorithm to extract the boundary information of equipment such as transformers and circuit breakers. Combined with the plant structure data, it generates an initial three-dimensional mesh model. Subsequently, according to predefined safety specifications, it configures corresponding three-dimensional danger zone boundary boxes for equipment of different voltage levels. For example, it sets a safety boundary with a radius of several meters for 500kV live equipment. Finally, it outputs a three-dimensional virtual model with multi-level spatial information.

[0039] The spatial calibration module selects at least three fixed points with known coordinates at the physical site, such as the corner of the substation perimeter wall and the roof of the main control building, and deploys ultra-wideband reference tags to continuously transmit positioning signals. The system synchronously collects the actual coordinate data of the reference points and matches the corresponding coordinate points in a 3D virtual model. Coordinate transformation parameters are calculated using the least squares method to establish a spatial mapping relationship with centimeter-level accuracy. For example, in a 220kV substation implementation, after calibration using six sets of reference points, the positioning error can be controlled within 10 centimeters.

[0040] The signal receiving module captures UWB signals from personnel safety helmet tags and engineering vehicle tags in real time through an ultra-wideband base station network deployed within the factory area, and uses a time difference of arrival algorithm to calculate the three-dimensional coordinates of the moving targets. Each base station is equipped with a high-precision clock synchronization module, and transmits data to the processing server via optical fiber, forming a real-time location data stream that updates 10 times per second.

[0041] The distance calculation module converts the received physical coordinates into virtual coordinates through a mapping relationship, and then uses an octree spatial index to quickly retrieve surrounding hazardous areas. The system calculates the vertical distance from the moving target to the boundary of the nearest energized equipment in real time. For example, when a crane boom approaches a 500kV busbar, it dynamically calculates the shortest spatial distance between the two and updates the calculation results 30 times per second.

[0042] The alarm judgment module's preset tiered threshold system is linked to the equipment voltage level. When the distance between personnel and 220kV equipment is detected to be less than the warning threshold, a yellow warning command is generated. When the distance further decreases to the emergency threshold, a red alarm command is triggered. The system also integrates a status management function. When maintenance personnel mark a certain interval as under maintenance in the monitoring system, the alarm function for that area is automatically disabled to avoid false alarms.

[0043] The alarm device adopts an industrial-grade explosion-proof design and incorporates a multi-frequency vibration motor and high-brightness LED lights. Upon receiving a warning command, it activates a slow flashing amber light and intermittent buzzing; in case of an emergency alarm, it switches to a red strobe light and a continuous loud blast. The device receives commands via the LoRa wireless communication protocol, maintaining stable communication even in the strong electromagnetic interference environment of a substation.

[0044] The motion trend prediction function analyzes the historical trajectory of personnel positioning data and uses a Kalman filter algorithm to predict the movement path in the next few seconds. When the system detects that a worker is rapidly moving towards a live area, it will trigger a trend warning command in advance, allowing sufficient emergency response time for on-site personnel.

[0045] The system employs a modular architecture during deployment, with each substation configured with a corresponding number of positioning base stations and alarm terminals based on its actual scale. Implementation examples show that in complex substation areas encompassing multiple voltage levels, the system can complete the entire process from location acquisition to alarm response within 200 milliseconds, effectively solving the visual blind spot problem inherent in traditional manual judgment.

[0046] Embodiment 1 of the present invention: At the 500kV substation expansion project site, the intelligent safety distance judgment and warning device imports the 2D CAD design drawings of the substation area through the model building module, automatically identifies the outlines of equipment such as transformers and circuit breakers, generates a 3D virtual model consistent with the physical space, and sets 3D danger zone boundary boxes corresponding to the voltage level for the 500kV flexible busbar. The spatial calibration module deploys ultra-wideband reference tags at the corners of the substation perimeter wall and the tops of the structural columns, collects actual coordinate data, registers it with the reference points of the virtual model, calculates the rotation matrix and translation vector, and establishes a coordinate mapping relationship with centimeter-level accuracy. The signal receiving module receives UWB signals transmitted by the crane's onboard tags in real time through the ultra-wideband base station network deployed in the plant area, and calculates the coordinate data stream of the crane boom end. The distance calculation module calculates the shortest distance between the crane boom position and the flexible busbar boundary at a frequency of 10 times per second. When the detected distance is less than the warning threshold, the alarm judgment module generates a warning command, and the signal sending module transmits the command to the alarm device in the crane cab, triggering a slow flashing yellow warning light and an intermittent warning sound to guide the operator to adjust the working trajectory in real time. This embodiment achieves dynamic safety protection in crane blind spot operation scenarios, avoiding discharge faults caused by misjudgment of distance.

[0047] Embodiment 2 of the present invention: To address the risk of personnel accidentally entering energized compartments within a 220kV substation, the device deployment module generates a 3D model, including the boundaries of energized equipment, based on substation drawings. The status management module synchronously acquires the operational status (e.g., operating, under maintenance) of each compartment from the monitoring system. Ultra-wideband positioning tags worn by inspection personnel are tracked in real-time via a base station network by a signal receiving module, while a distance calculation module continuously analyzes the distance between the personnel's location and the boundary of the energized compartment. When personnel approach an operating compartment and the shortest distance exceeds the emergency alarm threshold, the alarm judgment module generates an emergency alarm command based on the status information. The alarm device activates a red flashing light and a continuous buzzer sound, and the system simultaneously pushes an alarm message to the monitoring platform. If the compartment is under maintenance, the status management module automatically disables the alarm function for that area to prevent false alarms from interfering with maintenance work. This embodiment addresses the safety hazard caused by personnel distraction in multi-compartment environments by integrating equipment status and real-time location data.

[0048] Embodiment 3 of the present invention: In the complex 110kV power distribution equipment area, the device uses a model building module to import high-precision point cloud data to assist in 3D modeling, marking hazardous areas for densely packed disconnect switches, busbars, and other equipment. The spatial calibration module employs redundant deployment of multiple reference points to improve the robustness of coordinate mapping. The signal receiving module uses ultra-wideband and inertial navigation fusion positioning technology to acquire the coordinates of personnel or vehicles in obstructed environments in real time. The distance calculation module introduces a motion trajectory prediction algorithm, predicting movement trends within the next few seconds based on historical coordinate sequences. When the shortest distance between the predicted location and the hazardous boundary approaches a threshold, the alarm judgment module generates a trend warning command in advance, and the alarm device activates a progressive warning mode. This embodiment compensates for visual blind spots in densely populated equipment areas through proactive early warning, enhancing adaptive protection capabilities in complex scenarios.

[0049] This invention solves the problem of misjudging safe distances due to blind spots and subjective errors caused by manual judgment by constructing a three-dimensional virtual model that corresponds one-to-one with the target physical space and marking the boundaries of dangerous areas in the model. The model construction module imports two-dimensional engineering drawing data, analyzes the equipment outline and spatial structure information, and generates an accurate three-dimensional virtual model, providing a reliable spatial basis for distance calculation. The spatial calibration module collects physical space coordinates by deploying a reference transmitting device and registers them with the coordinates of the virtual model to establish a mapping relationship, eliminating errors caused by coordinate system differences. The signal receiving module acquires the position signal sent by the transmitting device in real time and achieves centimeter-level accuracy positioning through ultra-wideband positioning technology, overcoming the influence of ambient light and visual blind spots. The distance calculation module uses the mapping relationship to convert physical coordinates into virtual coordinates, calculates the shortest distance to the boundary of the dangerous area, and uses an optimized algorithm to process complex geometry, avoiding the inaccuracies of manual visual estimation. The alarm judgment module pre-stores multiple levels of safety thresholds and dynamically generates early warning or emergency alarm commands based on the shortest distance. The status management module integrates equipment operating status information and adaptively adjusts alarm strategies to prevent false alarms and missed alarms. The signal transmission module transmits alarm commands to the alarm device, activating audible and visual warnings for real-time intervention. Through automated data acquisition, precise calculations, and immediate alerts, the system replaces subjective judgment based on human experience, effectively reducing the risk of electric shock and equipment malfunction.

Claims

1. An intelligent safety distance determination and warning device, characterized in that, include: The model building module is used to construct a three-dimensional virtual model that corresponds one-to-one with the target physical space, and to mark the boundaries of dangerous areas in the three-dimensional virtual model; the model building module outputs the three-dimensional virtual model; A spatial calibration module, connected to the model construction module, is used to receive the three-dimensional virtual model and establish a mapping relationship between the coordinate system of the three-dimensional virtual model and the coordinate system of the target physical space; the spatial calibration module outputs the mapping relationship. The signal receiving module is used to receive real-time location signals sent by transmitting devices deployed in the target physical space; the signal receiving module outputs real-time location signals. A distance calculation module, connected to the spatial calibration module and the signal receiving module, is used to receive the mapping relationship and the real-time position signal, convert the real-time position signal into coordinates in the three-dimensional virtual model according to the mapping relationship, and calculate the shortest distance between the coordinates and the boundary of the danger zone; the distance calculation module outputs the shortest distance. An alarm judgment module, connected to the distance calculation module, is used to receive the shortest distance, compare the shortest distance with a preset safety threshold, and generate an alarm command when the shortest distance is less than the safety threshold; the alarm judgment module outputs the alarm command. A signal transmitting module, connected to the alarm judgment module, is used to receive the alarm command and send the alarm command to the alarm device associated with the transmitting device.

2. The intelligent safety distance discrimination and warning device according to claim 1, characterized in that, The model building module is also used for: Import the 2D engineering drawing data of the target physical space to obtain the original drawing data; The original drawing data is parsed to identify the equipment outline information and spatial structure information in the two-dimensional engineering drawing data; Based on the identified equipment outline and spatial structure information, an initial 3D mesh model is generated using 3D modeling rules. In the initial three-dimensional mesh model, according to the predefined equipment safety specifications, a corresponding three-dimensional hazardous area bounding box is associated with the identified live equipment. The size of the three-dimensional hazardous area bounding box is determined by the voltage level of the live equipment. Generate and output a 3D virtual model labeled with the bounding box of the 3D hazardous area.

3. The intelligent safety distance discrimination and warning device according to claim 2, characterized in that, The spatial calibration module is also used for: Select at least three non-collinear fixed points with known physical coordinates in the target physical space as reference points; The reference transmitting device deployed on the reference point is triggered to send a positioning signal, the positioning signal is received, and the positioning signal is parsed to obtain the actual coordinates of each reference point in physical space, forming an actual coordinate dataset; In the three-dimensional virtual model output by the model building module, virtual coordinate points corresponding to each of the reference points are located to form a virtual coordinate dataset; The actual coordinate dataset and the virtual coordinate dataset are input into a spatial registration algorithm to calculate the rotation matrix and translation vector required to transform the physical space coordinates to the coordinate system of the three-dimensional virtual model. The rotation matrix and translation vector constitute the mapping relationship.

4. The intelligent safety distance discrimination and warning device according to claim 3, characterized in that, The distance calculation module is also used for: Receive the real-time position signal output by the signal receiving module; Based on the real-time position signal and by calling the mapping relationship established by the spatial calibration module, the rotation matrix and translation vector are used to transform the real-time position signal from physical space coordinates to the current virtual coordinates in the coordinate system of the three-dimensional virtual model. Using the current virtual coordinates as the query point, and utilizing the spatial index constructed in the three-dimensional virtual model, all dangerous area boundary surfaces within a preset proximity range are retrieved; Calculate the vertical distance from the current virtual coordinates to the boundary of each retrieved danger zone, and select the minimum value from all calculated vertical distances as the shortest distance.

5. The intelligent safety distance discrimination and warning device according to claim 4, characterized in that, The alarm judgment module is also used for: Multiple security thresholds are pre-stored for different devices or areas, including early warning thresholds and emergency alarm thresholds, wherein the emergency alarm threshold is lower than the early warning threshold; Receive the shortest distance data sent by the distance calculation module; The received shortest distance is compared with the warning threshold and the emergency alarm threshold; When the shortest distance is less than the warning threshold but greater than the emergency alarm threshold, a warning command is generated; An emergency alarm command is generated when the shortest distance is less than the emergency alarm threshold.

6. The intelligent safety distance discrimination and warning device according to claim 5, characterized in that, The alarm device is configured as follows: Receive alarm commands from the signal transmitting module; The alarm command is parsed to determine the command type, which includes warning commands and emergency alarm commands; If the instruction type is determined to be a warning instruction, then the yellow warning light will flash slowly and an intermittent warning sound will be emitted; If the instruction type is determined to be an emergency alarm instruction, then the red warning light will flash rapidly and a continuous buzzing sound will be emitted.

7. The intelligent safety distance discrimination and warning device according to claim 1, characterized in that, It also includes a state management module, which is used for: Obtain the current operating status information of a specific equipment area in the three-dimensional virtual model, wherein the operating status information includes operating status or maintenance status; The current operating status information is associated with and stored in relation to the corresponding specific device area; Based on the associated stored current operating status information, the safety threshold corresponding to the specific device area in the alarm judgment module is set: when the current operating status information is in the operating state, it is set to the standard safety threshold; when the current operating status information is in the maintenance state, it is set to the alarm disabled state.

8. The intelligent safety distance discrimination and warning device according to claim 7, characterized in that, The alarm judgment module is also used for: After obtaining the shortest distance, query the status management module for the current operating status of the equipment area associated with the boundary of the danger zone corresponding to the shortest distance; Retrieve the current running status obtained from the query; An alarm command is generated only when the current operating state is in operation and the shortest distance is less than the safety threshold set for the current operating state.

9. The intelligent safety distance discrimination and warning device according to claim 1, characterized in that, Also includes: The transmitting device is an ultra-wideband personnel positioning tag or an ultra-wideband vehicle positioning tag; The signal receiving module receives the signals periodically broadcast by the positioning tag through an ultra-wideband positioning base station deployed in the target physical space, and performs calculations on the received signals to obtain the real-time location signal.

10. The intelligent safety distance discrimination and warning device according to claim 4, characterized in that, The distance calculation module is also used for: Record the motion trajectory data of the current virtual coordinates as they change over time; Based on the motion trajectory data, predict the motion trend and expected coordinates of the transmitting device within a future preset time period; The predicted coordinates are compared with the boundary of the danger zone to calculate the predicted shortest distance; When the predicted shortest distance is less than the warning threshold but greater than the emergency alarm threshold, a motion trend warning command is generated; When the expected shortest distance is less than the emergency alarm threshold, a motion trend alarm command is generated; The alarm judgment module is also used to superimpose the motion trend warning instruction or motion trend alarm instruction with the warning instruction or emergency alarm instruction to generate a comprehensive alarm instruction; The signal sending module is used to send the integrated alarm command to the alarm device.

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