Third-party construction fixed and mobile intelligent monitoring device

Abstract

The application discloses a kind of third party construction fixed and mobile intelligent monitoring device, it is related to safety monitoring technical field, specifically includes: acquisition positioning unit, pipe network mapping unit, intelligent fusion evaluation unit and early warning disposal unit;Acquisition positioning unit carries out continuous image acquisition to gas pipe network key protection area by fixed monitoring equipment, and supplementary acquisition is carried out to fixed monitoring blind area or temporary construction area by mobile monitoring equipment;Pipe network mapping unit maps the space-time collection information corresponding to the collection image to the gas pipe network protection range, determines the correlation between construction target and gas pipe network;Intelligent fusion evaluation unit identifies construction target and its behavior state, generates construction risk grade;Early warning disposal unit corrects risk position and revises construction risk grade when meeting preset early warning condition, generates alarm information, the application can improve third party construction target positioning accuracy and risk early warning reliability.

Description

Technical Field

[0001] This invention belongs to the field of safety monitoring technology, specifically relating to a third-party construction fixed and mobile intelligent monitoring device. Background Technology

[0002] As an important component of the urban energy transmission and distribution system, timely detection of third-party construction targets near the protection zone of the gas pipeline network and accurate assessment of their spatial relationship and risk level with the gas pipeline network are crucial aspects of gas pipeline network safety management.

[0003] Existing third-party construction supervision methods for gas pipeline networks mainly include manual inspection, fixed video surveillance, vehicle inspection, drone inspection, and construction reporting verification. Among these, manual and mobile inspections allow for flexible judgment based on on-site conditions, but their inspection time is discrete, making continuous monitoring of key areas difficult, and they are easily limited by inspection routes, personnel experience, and response time. Fixed video surveillance can continuously collect images of specific areas, but its monitoring range is affected by installation location, field of view, obstructions, and imaging distance, easily leading to blind spots or target positioning errors. Relying solely on fixed monitoring or mobile inspection makes it difficult to simultaneously ensure continuity, complete coverage, and accurate on-site confirmation.

[0004] Furthermore, existing image monitoring methods primarily focus on identifying the presence of construction machinery, personnel, or excavation marks in the image, but they typically lack effective correlation with gas pipeline network spatial data. This makes it difficult to accurately determine whether a construction target has entered the gas pipeline network protection zone, the trend of distance changes between the target and the pipeline, and the degree of impact on specific pipeline sections. When the same construction target is identified by different monitoring devices, existing technologies often simply summarize the identification results, lacking consistency comparison based on acquisition time, target mapping location, target category, identification confidence level, and continuous occurrence status. This easily leads to problems such as duplicate alarms, false alarms, or significant deviations in risk location.

[0005] Existing third-party construction monitoring methods typically use the presence of construction machinery or personnel as the basis for alarms. However, they do not fully consider factors such as the degree of intrusion between the construction target and the gas pipeline network protection area, the continuous presence of the construction target, the movement trend of the construction target, and the pressure level, burial depth, pipe material, and historical hidden danger status of the corresponding pipeline section for comprehensive assessment. This results in a rough risk level classification. At the same time, when there are time differences, location deviations, or differences in identification categories between fixed monitoring results and mobile inspection results, existing technologies lack a fusion correction mechanism for the same construction target, which can easily lead to false alarms, duplicate alarms, or risk location shifts.

[0006] Therefore, there is an urgent need for a third-party intelligent monitoring device for both fixed and mobile construction to solve the above problems. Summary of the Invention

[0007] The purpose of this invention is to provide a third-party construction fixed and mobile intelligent monitoring device to solve the technical problems in the prior art, such as blind spots in fixed monitoring, insufficient continuity of mobile inspection, and lack of spatiotemporal consistency correction between the two, which leads to low reliability of construction risk identification and early warning.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A third-party construction fixed and mobile intelligent monitoring device includes:

[0010] The data acquisition and positioning unit includes fixed monitoring equipment and mobile monitoring equipment. The fixed monitoring equipment is used to continuously acquire images of key protected areas of the gas pipeline network, while the mobile monitoring equipment is used to supplement the fixed monitoring blind spots or temporary construction areas along the inspection route and generate spatiotemporal acquisition information corresponding to the acquired images.

[0011] The pipeline mapping unit is used to establish a spatial model of the gas pipeline network and map the spatiotemporal collected information to the protection range of the gas pipeline network in order to determine the spatial relationship between the construction target and the gas pipeline network.

[0012] The intelligent fusion assessment unit is used for third-party construction identification and construction risk assessment. It identifies construction targets and their behavioral status that affect the safety of gas pipeline networks from the collected images, thus completing third-party construction identification. Based on spatial correlation, construction target attributes, behavioral continuity, and pipeline safety attributes, it generates construction risk levels to further realize construction risk assessment.

[0013] The early warning and response unit is used to call up the collected images and their spatiotemporal collection information that formed the construction risk level when the construction risk level meets the preset early warning conditions. It distinguishes between fixed monitoring results and mobile inspection results, performs consistency comparison on the same construction target according to the collection time, target mapping location and construction target category, corrects the risk location and construction risk level based on the comparison results, and generates alarm information containing risk location, risk object, risk level and on-site image, and pushes it to the gas pipeline network operation and management terminal.

[0014] Furthermore, a spatial model of the gas pipeline network is established, specifically using the following method:

[0015] The system acquires spatial data of the gas pipeline network and generates a pipeline protection area. The coverage area of ​​fixed monitoring equipment is mapped to the pipeline protection area to form a fixed monitoring coverage area. The inspection trajectory of mobile monitoring equipment is mapped to the pipeline protection area to form a mobile inspection blind spot. When a third-party construction risk target is identified in the acquired image, the risk status of the pipeline protection area is updated according to the acquisition location corresponding to the risk target to generate a dynamic pipeline spatial model for construction risk assessment.

[0016] Furthermore, the spatiotemporal acquisition information is mapped to the protection range of the gas pipeline network to determine the spatial correlation between the construction target and the gas pipeline network. The specific method is as follows:

[0017] Based on the location of the acquisition equipment, the imaging field of view, and the inspection posture, the construction target in the acquired image is projected onto the gas pipeline network spatial model to obtain the target mapping position. The target mapping position is matched with the gas pipeline network protection range to generate the spatial influence zone of the target relative to the pipeline network. The spatiotemporal consistency of the appearance results of the same construction target in fixed monitoring equipment and mobile monitoring equipment is verified, and the target mapping position is corrected. Based on the corrected target mapping position and its continuous change trend, the spatial correlation between the construction target and the gas pipeline network is determined.

[0018] Furthermore, by identifying construction targets and their behavioral states that affect the safety of the gas pipeline network from the acquired images, third-party construction identification is completed. The specific method is as follows:

[0019] Construction element detection is performed on fixed monitoring images and mobile inspection images to identify construction targets; construction targets are associated with image sources, acquisition time, and target mapping locations to form a spatiotemporal sequence of construction targets; the behavior of construction targets is judged based on their category, posture, position changes, and continuous appearance; the fixed continuous identification results and mobile supplementary identification results are cross-verified, non-construction interference targets are filtered out, and third-party construction identification results are output.

[0020] Furthermore, based on spatial relationships, construction target attributes, behavioral continuity status, and pipeline safety attributes, a construction risk level is generated. The specific method is as follows:

[0021] The spatial correlation is transformed into the degree of intrusion of the construction target into the protection range of the gas pipeline network; the target hazard weight is determined based on the attributes of the construction target, the risk accumulation weight is determined based on the continuous state of the behavior, and the pipeline network sensitivity weight is determined based on the safety attributes of the pipeline network; the confidence fusion of fixed monitoring results and mobile inspection results is performed to generate construction risk values; when the construction risk value reaches the classification threshold or shows a continuous upward trend, the corresponding construction risk level is output.

[0022] Furthermore, preset early warning conditions are established, and the specific methods are as follows:

[0023] The initial warning threshold is set as the tiered threshold, and a threshold correction coefficient is formed based on the degree of intrusion, target hazard weight, risk accumulation weight, and pipeline sensitivity weight. When the construction risk value shows a continuous upward trend, the initial warning threshold is reduced according to the threshold correction coefficient to obtain the preset warning condition. When the construction risk value reaches the reduced warning threshold, an alarm message is generated.

[0024] Furthermore, consistency comparisons are performed on the same construction objectives. The specific method is as follows:

[0025] Extract target records, calculate the acquisition time difference and target mapping position deviation between target records. When the acquisition time difference is less than a preset time threshold, the target mapping position deviation is less than a preset distance threshold, and the construction target categories are consistent, the corresponding target records are identified as the same construction target. The identification confidence and consecutive occurrence frequency of the same construction target are fused, and the consistency comparison result is output.

[0026] Furthermore, based on the comparison results, the risk location is corrected and the construction risk level is revised. The specific method is as follows:

[0027] When the consistency comparison results indicate that the fixed monitoring results and the mobile inspection results correspond to the same construction target, a target change trajectory is generated based on the continuous target mapping positions in the fixed monitoring results, and the target change trajectory is corrected using the target mapping positions in the mobile inspection results to obtain a modified target trajectory. The modified target trajectory is matched with the gas pipeline network protection range, and the trajectory point with the greatest intrusion degree is determined as the risk location. When the modified target trajectory does not intrude into the gas pipeline network protection range and its change trend points towards the gas pipeline network protection range, the trajectory point closest to the gas pipeline network protection range is determined as the risk location. The construction risk level is corrected based on the intrusion degree, the number of consecutive occurrences, and the mobile inspection confirmation results corresponding to the risk location to obtain the final risk level.

[0028] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0029] 1. This invention uses fixed monitoring equipment to continuously collect images of key protected areas of gas pipeline networks, and uses mobile monitoring equipment to supplement the collection of images of blind spots, obstructed areas and temporary construction areas, so as to achieve the synergy between fixed continuous monitoring and mobile inspection to fill blind spots and improve the completeness and timeliness of third-party construction target discovery;

[0030] 2. This invention establishes a spatial model of the gas pipeline network and maps the spatiotemporal acquisition information of the collected images to the protection range of the gas pipeline network. It combines the results of fixed monitoring and mobile inspection to perform spatiotemporal consistency comparison and target mapping position correction, thereby improving the accuracy of judging the position of the construction target relative to the gas pipeline network.

[0031] 3. This invention generates a construction risk level by comprehensively considering the attributes of the construction target, the continuous state of the behavior, the degree of intrusion, the movement trend, the safety attributes of the pipeline network, and the reliability of the monitoring results. When the preset early warning conditions are met, the risk location and risk level are corrected, thereby improving the reliability of third-party construction risk assessment and gas pipeline network safety early warning. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 The diagram shows a structural diagram of a third-party construction fixed and mobile intelligent monitoring device according to the present invention;

[0034] Figure 2 The present invention provides an operational flowchart of a third-party construction fixed and mobile intelligent monitoring device.

[0035] Figure 3 A flowchart of the method for third-party construction risk identification and assessment according to the present invention is shown. Detailed Implementation

[0036] 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.

[0037] like Figure 1 , Figure 2 The third-party construction fixed and mobile intelligent monitoring device shown includes a data acquisition and positioning unit, a pipeline mapping unit, an intelligent fusion evaluation unit, and an early warning and response unit.

[0038] The data acquisition and positioning unit includes fixed monitoring equipment and mobile monitoring equipment. Fixed monitoring equipment is installed in key protection areas of the gas pipeline network, crossing areas, around valve wells, or areas with a high incidence of historical construction, and is used to continuously acquire monitoring images according to a preset acquisition cycle. Mobile monitoring equipment can be installed on inspection vehicles, inspection robots, drones, or handheld inspection terminals, and is used to supplement the image acquisition of blind spots, obstructed areas, or temporary construction areas of the fixed monitoring equipment along the inspection path. Each acquired image is associated with and generates spatiotemporal acquisition information, which includes at least the acquisition time, acquisition device number, acquisition device location, imaging field of view parameters, inspection posture information, and image source identifier.

[0039] The spatiotemporal acquisition information includes acquisition time, acquisition device number, acquisition device spatial location, acquisition device attitude, imaging field of view parameters, image source identifier, and image frame number. After installation, fixed monitoring equipment undergoes camera intrinsic and extrinsic parameter calibration via on-site control points. Mobile monitoring equipment acquires its position and attitude at the acquisition time through a positioning module and an attitude measurement module. The acquisition and positioning unit unifies the acquisition time of both fixed and mobile monitoring equipment to the same time reference and converts the acquisition device location, construction target mapping location, and gas pipeline network spatial data to the same plane coordinate system or the same geographic coordinate system, enabling spatial matching of construction target records from different sources.

[0040] The pipeline mapping unit pre-acquires spatial data of the gas pipeline network, which includes at least one of the following: pipeline centerline, pipe diameter, burial depth, pressure rating, pipe material, valve well location, and pipeline protection zone boundary. The pipeline mapping unit generates a pipeline protection zone based on the pipeline centerline and protection distance, and maps the coverage area of ​​fixed monitoring equipment to this zone, forming a fixed monitoring coverage area. Simultaneously, it maps the inspection trajectory of mobile monitoring equipment to the pipeline protection zone, forming a mobile inspection blind spot. The fixed monitoring coverage area and the mobile inspection blind spot together constitute a dynamic monitoring area. When a third-party construction risk target is identified in the acquired image, the pipeline mapping unit updates the risk status of the pipeline protection area based on the acquisition location of the risk target, the target mapping location, and its corresponding pipe segment, thereby generating a dynamic pipeline spatial model.

[0041] During the image target mapping process, the pipeline mapping unit projects the construction target in the acquired image onto the gas pipeline network spatial model based on the location of the acquisition equipment, the imaging field of view, and the inspection posture. Specifically, the grounding point or the lowest circumscribed contour point of the construction target in the image is used as the target projection point. The target projection ray is determined based on the camera's intrinsic and extrinsic parameters and the equipment posture, and this projection ray is made to intersect with the ground plane or a preset terrain surface to obtain the target mapping position. Let the target mapping position be... Its distance to the nearest gas pipeline or pipeline protection boundary is The distance from the outer boundary of the pipeline protection area is The degree of intrusion of the target into the protection zone of the gas pipeline network can be expressed as:

[0042] ;

[0043] in, Using the distance attenuation coefficient, the target mapping location is matched with the pipeline network protection range to obtain the spatial influence zone of the target relative to the pipeline network. For the occurrence results of the same construction target in fixed monitoring equipment and mobile monitoring equipment, further spatiotemporal consistency verification is performed, and the target mapping location is corrected according to the verification results to obtain the spatial correlation between the construction target and the gas pipeline network.

[0044] The intelligent fusion evaluation unit detects construction elements in both fixed monitoring images and mobile inspection images, identifying at least one construction target among construction machinery, workers, excavation marks, earthwork stockpiles, fencing, or temporary construction facilities. A target detection model is used to detect construction elements in the acquired images, outputting the construction target category, target detection box, recognition confidence level, and target grounding point. Construction target categories include at least one of excavators, drilling rigs, piling equipment, hoisting equipment, transport vehicles, workers, fencing, earthwork stockpiles, and excavation marks. For each construction target, a target record is generated, including the acquisition time, image source, construction target category, recognition confidence level, target mapping location, and number of consecutive occurrences. The intelligent fusion evaluation unit determines the construction target behavior based on the construction target category, target posture, location changes, and continuous occurrence status. This behavior includes at least one of approaching, staying, excavating, moving operations, or withdrawing.

[0045] The intelligent fusion evaluation unit reduces false identification by cross-verifying fixed continuous identification results and mobile supplementary identification results. Let the target record in the fixed monitoring results be:

[0046] ;

[0047] The target record in the mobile inspection results is:

[0048] ;

[0049] Where t represents the collection time, P represents the target mapping location, C represents the construction target category, Q represents the identification confidence level, N represents the number of consecutive occurrences, F represents the source identifier of the fixed monitoring result, i represents the i-th target record in the fixed monitoring result, M represents the source identifier of the mobile inspection result, and j represents the j-th target record in the mobile inspection result.

[0050] When the following conditions are met: When determining that fixed monitoring results and mobile inspection results correspond to the same construction target, among which... This represents a preset time threshold, used to limit the maximum allowable time difference between fixed monitoring results and mobile inspection results when they can be determined to represent the same construction target. This represents a preset distance threshold, used to limit the maximum allowable target mapping position deviation when fixed monitoring results and mobile inspection results can be determined to be the same construction target.

[0051] in The image acquisition cycle is determined based on the image acquisition cycle of fixed monitoring equipment, the image acquisition cycle of mobile monitoring equipment, the equipment clock synchronization error, and the allowable interval for mobile inspection confirmation. Specifically, let the acquisition cycle of the fixed monitoring equipment be... The data collection cycle of the mobile monitoring equipment is The device clock synchronization error is The permissible response interval for mobile inspection equipment to supplement and confirm fixed alarm targets is [missing information]. Then the time threshold can be taken as:

[0052] ;

[0053] in, The inspection route length, mobile monitoring equipment inspection speed, and response requirements of key protected areas of the gas pipeline network are predetermined. When the stable dwell time of a third-party construction target is less than the calculated value, [the following will occur]. The time limit is set to no more than the stable dwell time to avoid misclassifying evacuated targets or different construction targets as the same construction target.

[0054] Preset distance threshold The target mapping position error is determined based on the target mapping position error, which includes the imaging projection error of the fixed monitoring equipment, the positioning error of the mobile monitoring equipment, the spatial data error of the gas pipeline network, and the possible positional changes of the construction target within a time threshold. Let the target mapping error of the fixed monitoring equipment be... The target mapping error of the mobile monitoring equipment is The spatial data error of the gas pipeline network is The permitted movement speed of the construction target is Then the distance threshold can be taken as:

[0055] ;

[0056] in, The results were obtained through the installation and calibration of fixed monitoring equipment and the calibration of on-site control points. The accuracy is determined by the positioning accuracy, attitude measurement accuracy, and image projection accuracy of the mobile monitoring equipment. The accuracy of the mapping is determined by the spatial data of the gas pipeline network. The maximum permissible movement speed of construction machinery or workers within the pipeline protection area is preset.

[0057] Furthermore, the consistency comparison result can be expressed by a nonlinear gating function as follows:

[0058] ;

[0059] in, This represents the category consistency gating factor, which takes a value of 1 when the construction target categories are consistent, and a value of 0 otherwise. This represents the baseline value for the number of consecutive occurrences. This consistency comparison method considers temporal proximity, spatial proximity, category consistency, identification confidence, and the number of consecutive occurrences simultaneously, rather than simply adding the results of fixed monitoring and mobile inspections together.

[0060] like Figure 3 As shown, the intelligent fusion assessment unit generates a construction risk level based on spatial relationships, construction target attributes, behavioral continuity, and pipeline safety attributes. Construction target attributes are used to determine the target hazard coefficient. For example, the target hazard factor of large excavating machinery is higher than that of ordinary workers; behavioral persistence is used to determine risk accumulation factors. It can be represented as:

[0061] ;

[0062] in, The duration of continuous or ongoing operations targeting the construction object near the pipeline protection zone. As the risk accumulation time constant, pipeline safety attributes are used to determine pipeline sensitivity factors. The pipeline safety attributes include at least one of the following: pipeline pressure level, burial depth, pipe material, service life, and historical hidden danger status.

[0063] Construction risk values ​​can be generated using a nonlinear coupling method:

[0064] ;

[0065] in, A factor indicating the trend of construction targets moving towards the protection zone of the gas pipeline network. This is the trend adjustment coefficient. To assess the consistency of comparison results or the credibility of single-source identification, This represents the hazard coefficient of the construction objective. This risk value increases with the hazard of the construction objective, the sensitivity of the pipeline network, the degree of intrusion, the duration, and the degree of collaborative confirmation, and is limited in range through an exponential coupling mechanism.

[0066] In this embodiment, the trend factor of the construction target toward the gas pipeline network protection area is determined based on the distance change and movement direction of the construction target relative to the gas pipeline network protection area during continuous collection cycles. When the construction target is stationary, far away from the protection area, or the distance does not show a continuous decreasing trend, the trend factor is set to a low value or zero value. When the construction target gradually approaches the protection area and the movement direction points toward the protection area during multiple consecutive collection cycles, the trend factor is increased based on the number of consecutive approaches, the magnitude of distance shortening, and the degree of consistency of direction.

[0067] The trend adjustment coefficient is set according to the pipeline safety attributes of the corresponding pipe section of the construction target. The pipeline safety attributes include at least one of pressure level, burial depth, pipe material, service life, historical hidden danger records and key protection level. For low-pressure, deep-buried, well-condition pipe sections with no historical hidden dangers, the trend adjustment coefficient is set to a lower value. For high-pressure, shallow-buried, old pipe sections with historical hidden dangers or belonging to key protection areas, the trend adjustment coefficient is set to a higher value.

[0068] The consistency comparison result is determined based on the time difference between the collection of fixed monitoring results and mobile inspection results, the target mapping position deviation, the construction target category, the identification confidence level, and the number of consecutive occurrences. When the time difference between the two collections is less than a preset time threshold, the target mapping position deviation is less than a preset distance threshold, and the construction target category is consistent, they are determined to be the same construction target. The consistency comparison result is determined based on the identification confidence level, the magnitude of the position deviation, and the stability of consecutive occurrences.

[0069] The hazard factor of a construction target is determined based on its attributes. For example, excavators, pile drivers, drilling rigs, and other equipment that directly break ground or impact the soil. The value is relatively high;

[0070] Equipment that indirectly affects the environment, such as dump trucks and cranes. Center the value;

[0071] Low-damage targets such as workers, fences, and warning signs. The value is relatively low.

[0072] Single-source identification confidence is used to evaluate the reliability of single-source identification results when fixed monitoring results and mobile inspection results cannot be mutually verified. It is determined based on the identification confidence of the source, the number of consecutive occurrences of the same construction target, the target mapping error, and the image quality. When the identification confidence is high, the consecutive occurrences are stable, the mapping error is small, and the image is clear, it is set to high confidence. When the target only appears briefly, the image is obviously occluded, the mapping error is large, or the identification confidence is close to the threshold, it is set to medium-low confidence or a result to be verified.

[0073] When the construction risk value reaches the corresponding grading threshold, the construction risk level is output. Construction risk levels can include low risk, medium risk, high risk, and emergency risk. If the construction risk value, although not reaching the next higher grading threshold, shows an increasing trend over multiple consecutive data collection periods, the intelligent fusion assessment unit will output the corresponding construction risk level in advance. A continuous increasing trend can be determined using the following conditions:

[0074] ;

[0075] in, This represents the m-th data collection time corresponding to the current construction risk value, where m is the time index arranged in chronological order of collection time, and m is a positive integer greater than 1. The preset number of consecutive judgments is determined based on the acquisition frequency, risk response requirements, and target type: For fixed monitoring equipment, due to its high continuous acquisition frequency, q can be set to multiple consecutive image acquisition cycles, such as 3 to 5 consecutive frames; for mobile monitoring equipment or scenarios involving joint judgments of fixed and mobile equipment, q can be determined based on the inspection interval and allowable warning delay, such as 2 to 3 consecutive valid acquisition results. q is a positive integer, and .

[0076] The early warning and response unit generates an initial early warning threshold based on the tiered thresholds, and then generates a threshold correction coefficient based on the degree of intrusion, target hazard coefficient, risk accumulation factor, and pipeline sensitivity factor. The threshold correction coefficient can be expressed as:

[0077] ;

[0078] in, This is the threshold adjustment coefficient, and The risk level is limited to a preset range. When the construction risk value shows a continuous upward trend, the initial warning threshold will be adjusted. Revised to When the construction risk value reaches the corrected warning threshold When this occurs, an alarm message is generated.

[0079] Upon triggering an alarm, the early warning and response unit retrieves the acquired images and their spatiotemporal acquisition information that established the construction risk level, distinguishes between fixed monitoring results and mobile inspection results, and performs a consistency comparison on the same construction target. When the consistency comparison result indicates that the fixed monitoring results and mobile inspection results correspond to the same construction target, a target change trajectory is generated based on the continuous target mapping positions in the fixed monitoring results. Specifically, the target mapping positions continuously acquired by the fixed monitoring equipment are sorted according to the acquisition time to form an initial target trajectory. ;

[0080] Because fixed monitoring equipment may be affected by factors such as obstructed viewpoints, long-distance target imaging errors, or installation angle deviations, the early warning and response unit uses the target mapping position from the mobile inspection results as a trajectory correction point to constrain and correct the initial target trajectory, thus obtaining the corrected target trajectory. The target trajectory can be corrected using the formula. Obtain, among which This is a robust loss function used to suppress the influence of outliers. This is the position error matrix for mobile inspection. To correct the constraint coefficients for mobile inspections. This serves as a trajectory smoothing constraint coefficient. In this way, fixed monitoring equipment provides a continuous trend of change, while mobile monitoring equipment provides an on-site correction benchmark, thereby improving the consistency between the target construction trajectory and the actual construction location.

[0081] The early warning and response unit will match the corrected target trajectory with the gas pipeline network protection zone. If any trajectory point in the corrected target trajectory falls within the gas pipeline network protection zone, the trajectory point with the highest degree of intrusion will be identified as the risk location.

[0082] ;

[0083] Where B represents the gas pipeline network protection zone. If the corrected target trajectory does not intrude into the gas pipeline network protection zone, but the continuous trend of the corrected target trajectory points towards the gas pipeline network protection zone, then the trajectory point closest to the gas pipeline network protection zone is determined as the risk location:

[0084] ;

[0085] The trend indicating the protection range of the gas pipeline network can be determined by the decreasing distance over multiple consecutive time periods, i.e.:

[0086] ;

[0087] Among them, r is the preset trend judgment number, which is used to indicate the number of consecutive collections required to determine whether the construction target is continuously approaching the gas pipeline network protection range. r is a positive integer and less than the current collection sequence number m. r is preset according to the collection cycle, the degree of hazard of the target, the speed of the target movement and the false alarm control requirements.

[0088] After identifying the risk location, the early warning and response unit adjusts the construction risk level based on the degree of intrusion, the number of consecutive occurrences, and the confirmation results of mobile inspections. Specifically, when the degree of intrusion corresponding to the risk location is greater than the preset intrusion threshold and the consistency comparison result is greater than the preset confirmation threshold, the construction risk level is raised by one level; when the risk location does not intrude into the gas pipeline network protection area but the continuous trend points to the gas pipeline network protection area, and the number of consecutive occurrences of the construction target exceeds the preset number of occurrences threshold, the original construction risk level is maintained and a trend warning indicator is added; when the mobile inspection results do not confirm the fixed monitoring results and the consistency comparison result is lower than the preset confirmation threshold, the original construction risk level is maintained or it is marked as pending review.

[0089] The early warning and response unit generates alarm information, which includes at least one of the following: risk location, risk object, risk level, construction target category, on-site image, acquisition time, acquisition equipment source, target change trajectory, and pipeline protection range matching result. This alarm information is then pushed to the gas pipeline network operation and management terminal. Upon receiving the alarm information, the operation and management terminal can conduct on-site verification, construction cessation, pipeline protection briefing, or emergency response based on the risk level.

[0090] In this embodiment, fixed monitoring equipment provides continuous target change trajectories, while mobile monitoring equipment provides blind spot supplementation and on-site correction points. The two are not simply superimposed results, but rather achieve collaborative monitoring through spatiotemporal consistency comparison, target trajectory constraint correction, pipeline protection range matching, and risk level correction. This improves the accuracy of third-party construction target positioning and the reliability of gas pipeline network risk early warning, even when fixed monitoring suffers from perspective errors and mobile inspections exhibit temporal dispersion.

[0091] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0092] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A third-party construction fixed and mobile intelligent monitoring device, characterized in that, include: The data acquisition and positioning unit includes fixed monitoring equipment and mobile monitoring equipment. The fixed monitoring equipment is used to continuously acquire images of key protected areas of the gas pipeline network, while the mobile monitoring equipment is used to supplement the fixed monitoring blind spots or temporary construction areas along the inspection route and generate spatiotemporal acquisition information corresponding to the acquired images. The pipeline mapping unit is used to establish a spatial model of the gas pipeline network and map the spatiotemporal collected information to the protection range of the gas pipeline network in order to determine the spatial relationship between the construction target and the gas pipeline network. The intelligent fusion assessment unit is used for third-party construction identification and construction risk assessment. It identifies construction targets and their behavioral status that affect the safety of gas pipeline networks from the collected images, thus completing third-party construction identification. Based on spatial correlation, construction target attributes, behavioral continuity, and pipeline safety attributes, it generates construction risk levels to further realize construction risk assessment. The early warning and response unit is used to call up the collected images and their spatiotemporal collection information that form the construction risk level when the construction risk level meets the preset early warning conditions. It distinguishes between fixed monitoring results and mobile inspection results, performs consistency comparison on the same construction target according to the collection time, target mapping location and construction target category, corrects the risk location and construction risk level based on the comparison results, and generates alarm information containing risk location, risk object, risk level and on-site image, and pushes it to the gas pipeline network operation and management terminal.

2. The third-party construction fixed and mobile intelligent monitoring device according to claim 1, characterized in that, The specific method for establishing a spatial model of the gas pipeline network is as follows: The system acquires spatial data of the gas pipeline network and generates a pipeline protection area. The coverage area of ​​fixed monitoring equipment is mapped to the pipeline protection area to form a fixed monitoring coverage area. The inspection trajectory of mobile monitoring equipment is mapped to the pipeline protection area to form a mobile inspection blind spot. When a third-party construction risk target is identified in the acquired image, the risk status of the pipeline protection area is updated according to the acquisition location corresponding to the risk target to generate a dynamic pipeline spatial model for construction risk assessment.

3. The third-party construction fixed and mobile intelligent monitoring device according to claim 1, characterized in that, The spatiotemporal acquisition information is mapped to the protection range of the gas pipeline network to determine the spatial correlation between the construction target and the gas pipeline network. The specific method is as follows: Based on the location of the acquisition equipment, the imaging field of view, and the inspection posture, the construction target in the acquired image is projected onto the gas pipeline network spatial model to obtain the target mapping position. The target mapping position is matched with the gas pipeline network protection range to generate the spatial influence zone of the target relative to the pipeline network. The spatiotemporal consistency of the appearance results of the same construction target in fixed monitoring equipment and mobile monitoring equipment is verified, and the target mapping position is corrected. Based on the corrected target mapping position and its continuous change trend, the spatial correlation between the construction target and the gas pipeline network is determined.

4. The third-party construction fixed and mobile intelligent monitoring device according to claim 1, characterized in that, Third-party construction identification is achieved by identifying construction targets and their behavioral states that affect the safety of gas pipeline networks from acquired images. The specific method is as follows: Construction element detection is performed on fixed monitoring images and mobile inspection images to identify construction targets; construction targets are associated with image sources, acquisition time, and target mapping locations to form a spatiotemporal sequence of construction targets; the behavior of construction targets is judged based on their category, posture, position changes, and continuous appearance; the fixed continuous identification results and mobile supplementary identification results are cross-verified, non-construction interference targets are filtered out, and third-party construction identification results are output.

5. A third-party construction fixed and mobile intelligent monitoring device according to claim 1, characterized in that, The construction risk level is generated based on spatial relationships, construction target attributes, behavioral continuity status, and pipeline safety attributes. The specific method is as follows: The spatial correlation is transformed into the degree of intrusion of the construction target into the protection range of the gas pipeline network; the target hazard weight, risk accumulation weight and pipeline network sensitivity weight are determined; and the confidence fusion of fixed monitoring results and mobile inspection results is performed to generate construction risk values. When the construction risk value reaches the classification threshold or shows a continuous upward trend, the corresponding construction risk level is output.

6. A third-party construction fixed and mobile intelligent monitoring device according to claim 5, characterized in that, The method for setting preset warning conditions is as follows: The initial warning threshold is set as the tiered threshold, and a threshold correction coefficient is formed based on the degree of intrusion, target hazard weight, risk accumulation weight, and pipeline sensitivity weight. When the construction risk value shows a continuous upward trend, the initial warning threshold is reduced according to the threshold correction coefficient to obtain the preset warning condition. When the construction risk value reaches the reduced warning threshold, an alarm message is generated.

7. A third-party construction fixed and mobile intelligent monitoring device according to claim 1, characterized in that, The specific method for comparing the consistency of the same construction objective is as follows: Extract target records, calculate the acquisition time difference and target mapping position deviation between target records. When the acquisition time difference is less than a preset time threshold, the target mapping position deviation is less than a preset distance threshold, and the construction target categories are consistent, the corresponding target records are identified as the same construction target. The identification confidence and consecutive occurrence frequency of the same construction target are fused, and the consistency comparison result is output.

8. A third-party construction fixed and mobile intelligent monitoring device according to claim 7, characterized in that, The risk location and construction risk level are corrected based on the comparison results. The specific method is as follows: When the consistency comparison results show that the fixed monitoring results and the mobile inspection results correspond to the same construction target, the target change trajectory is generated based on the continuous target mapping position in the fixed monitoring results, and the target change trajectory is corrected based on the target mapping position in the mobile inspection results to obtain the corrected target trajectory. The target trajectory will be corrected and matched with the protection range of the gas pipeline network, and the trajectory point with the greatest intrusion will be identified as the risk location. When the corrected target trajectory does not intrude into the gas pipeline network protection area and its trend points towards the gas pipeline network protection area, the trajectory point closest to the gas pipeline network protection area is identified as the risk location. The construction risk level is revised based on the degree of intrusion corresponding to the risk location, the number of consecutive occurrences, and the confirmation results of mobile inspections to obtain the final risk level.

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