CN108320451A - A kind of virtual fence early warning system for line maintenance security protection - Google Patents
A kind of virtual fence early warning system for line maintenance security protection Download PDFInfo
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- CN108320451A CN108320451A CN201810087494.XA CN201810087494A CN108320451A CN 108320451 A CN108320451 A CN 108320451A CN 201810087494 A CN201810087494 A CN 201810087494A CN 108320451 A CN108320451 A CN 108320451A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention discloses a kind of virtual fence early warning systems for line maintenance security protection, including：Monitoring client and server end, monitoring client include：GPS movement stations, alarm module, first communication module；Server end includes：Virtual fence definition module, GPS reference station, real-time processing module, second communication module；Wherein, virtual fence definition module is for establishing virtual fence；The location information obtained based on GPS movement stations and GPS reference station, monitoring client is monitored using GPS carrier phase real time dynamic differential, obtain monitoring client dynamic location information, monitoring client dynamic location information is compared judgement by real-time processing module with the boundary information of virtual fence, when monitoring client dynamic position exceeds the boundary of virtual fence, it then sends out alarm command and first communication module is transmitted to by second communication module, be then transmit to alarm module and alarm；Accurate positioning is realized, is alarmed accurately and timely, the higher technique effect of security of system.
Description
Technical field
The present invention relates to the maintenance of transmission line of electricity and maintenance areas, and in particular, to one kind is anti-safely for line maintenance
The virtual fence early warning system of shield.
Background technology
The maintenance and maintenance of transmission line of electricity are to ensure that one of effective means of electric power netting safe running, pass through the maintenance to circuit
And maintenance, make the weak link of transmission line of electricity obtain timely safeguarding and replacing, greatly reduce by transmission line malfunction and
The electric power accident of initiation.Having in the transmission line of electricity run at present quite a lot of is set up using double loop even multiloop, when certain section
When circuit needs to overhaul and safeguard, a part of charging operation of shaft tower that more loop lines are set up can often occur, another part, which has a power failure, to be examined
The case where repairing.In maintenance process, if not obtaining warning message in time when service personnel mistakenly entering into charged region, it will cause to touch
The generation of electric casualty accident.
For the safety precaution problem of multi circuit transmission lines service work, the main method that power industry uses at present has：Induction
Line name is compareed before voltage alarm device, pole ascending operation, is distinguished with colour code between circuit, is emphasized guardian in place etc..These
Although method reduces the generation of mistakenly entering into charged area accident to a certain extent, due to the complexity of site environment, above-mentioned side
Fado is to be used alone, and fails technical precaution and people's air defense being combined, the less effective for avoiding accident from occurring.Therefore, seek a kind of new
Type, effective line maintenance safety protecting method, which have become, improves the task of top priority that line maintenance safeguards safety.
In power industry, it in the weight always all to work the security protection in distribution transforming power station and O＆M service personnel
Weight.Have currently on the market much using different technologies as the safety-protection system of core, including：Video monitoring system, image procossing system
System, infrared emission alarm system, electrostatic induction formula electronic enclosure system, high-tension pulse stamp electronic enclosure system etc..Wherein, electric
Sub- fence class safety-protection system not only have monitoring and warning function, also need that corresponding physics fence is arranged, play information transmit and
Certain barrier effect, there is more application in substation security system.For Overhaul site, since site environment is multiple
It is miscellaneous, physics fence should not be set, while be not easy to the equipment such as installing high definition camera, infrared transmitter, therefore current line overhauls
The safety protecting method of personnel is still distinguished between line name, circuit with colour code, by force to be compareed before more traditional pole ascending operation
It adjusts guardian to wait code methods and the empirical method by service personnel's long-term work practice in place, can not effectively ensure to overhaul people
The personal safety of member.
In recent years, with the void that the civil nature of location technology, the Location Service Platform based on global position system are provided
Quasi- fence service is gradually applied to the various aspects such as vehicle monitoring, item tracing, intelligence cultivation.Compared with traditional safety-protection system,
Virtual fence need to only make monitoring client carry positioning device, and delimit fence range in server end it is not necessary that physics fence is arranged,
His task transfers to GPS positioning and computer disposal to complete, and application scenarios are unrestricted, thus the maintenance for being suitable for environment complexity is existing
The personnel safety guard of field.
Currently, the virtual fence system based on location technology has more grind in terms of vehicle monitoring and unmanned plane safe flight
Study carefully and apply, the application of positioning service and the establishment of fence system are more mature.And in power industry, it is answered compared to other
With direction, since monitoring client is service personnel, scope of activities is applied to maintenance safety guard system within 20 rice diameters
GPS needs higher positioning accuracy, to realize that the Centimeter Level to service personnel position is tracked.
Invention content
The present invention provides a kind of virtual fence early warning systems for line maintenance security protection, solve existing pre-
The deficiency of alert system, realizes accurate positioning, alarms accurately and timely, the higher technique effect of security of system.
The present invention is directed to this problem, fully analyzes existing high-altitude working safety guard technology, anti-with line maintenance
Electric shock early warning is target, using GPS high-precision location techniques, site environment feature when combined circuit overhauls, and by largely innovating,
A set of line maintenance protection against electric shock system is researched and developed successfully.Whole system contains GPS positioning module, GPS receiver, data processing
Module, communication and alarm module etc., main task are to create virtual fence in remote computer using GIS-Geographic Information System (GIS),
The security protection wearable device that service personnel wears exploitation is set to enter workspace, using GPS carrier phase real time dynamic differential (RTK) skill
Art is monitored equipment, and the cartographic information of obtained Centimeter Level dynamic location information and virtual fence is carried out comparison processing simultaneously
Output display, real time inspection and tracking service personnel position, it is ensured that it is far from the charging zone except virtual fence, to realize
The real time position of line maintenance personnel is monitored, the function of virtual fence geofence.
The system that the present invention researches and develops can exclude the limitation of site environment, without installing altitude plant, as long as service personnel
The good wearable monitoring end equipment of configuration before working, you can the security protection to anywhere service personnel is realized, thus from basic
Upper change is existing by regulation, experience and the high risk of monitor working method.The present invention is expected to substantially reduce service personnel and touches
Risk realizes that the combination of technical precaution and people's air defense, successful application inherently bring significant economic benefit and social benefit,
With splendid application value.
The system of the application design uses RTK differential positions, by the way that the base station of known coordinate is arranged, by base station
Location information does comparison with satellite positioning information and obtains correcting data, the mobile monitor end elements of a fix is corrected with this, to realize
To the high-precision centimeter-level positioning target of movement station.
This application provides a kind of virtual fence early warning system for line maintenance security protection, the system comprises：
Monitoring client and server end, monitoring client include：GPS movement stations, alarm module, first communication module；Server end
Including：Virtual fence definition module, GPS reference station, real-time processing module, second communication module；Wherein, virtual fence defines mould
Block is for establishing virtual fence；It is real-time using GPS carrier phase based on the location information that GPS movement stations and GPS reference station obtain
Dynamic difference is monitored monitoring client, obtains monitoring client dynamic location information, and real-time processing module is by monitoring client dynamic position
Information is compared judgement with the boundary information of virtual fence, when monitoring client dynamic position exceeds the boundary of virtual fence, then
It sends out alarm command and first communication module is transmitted to by second communication module, be then transmit to alarm module and alarm.
Further, described that monitoring client is monitored using GPS carrier phase real time dynamic differential, it specifically includes：By
GPS reference station sends its carrier observations amount and station coordinates information to monitoring client together in real time by data-link；Monitoring client receives
The carrier phase of GPS satellite and the carrier phase from GPS reference station, and form time-differenced phase observation value and handled in real time,
The carrier phase that GPS reference station acquires is carried out difference is asked to resolve coordinate.
Virtual fence definition module is based on GIS-Geographic Information System and creates virtual fence., the system also includes display module,
For virtual fence information and monitoring client dynamic location information to be carried out real-time display.
Virtual fence is created based on GIS-Geographic Information System, is specifically included：GIS data information is obtained, is drawn existing
Field virtual fence, and boundary coordinate is uploaded into database, based on GIS data information and live boundary coordinate information
Generate virtual fence.
Further, judge whether the boundary beyond virtual fence specifically includes monitoring client dynamic position：
When virtual fence is the closed figures surrounded by parallel edges, the corresponding straight line side of closed figures each edge is found out
Journey；Using the corresponding coordinate of monitoring client dynamic position and the corresponding linear equation of closed figures each edge, judge when monitoring
When end dynamic position is between arbitrary two parallel edges, then monitoring client dynamic position is located at the closed figures that parallel edges surrounds
It is interior, do not cross the border；Otherwise it is located at outside the closed figures that parallel edges surrounds, crosses the border；
When virtual fence is the closed figures surrounded by curve, draw 2 directions from the corresponding point P of monitoring client dynamic position
Opposite ray calculates 2 rays and passes through the number intersected with its boundary when closed figures；If two obtained numbers are strange
Number, then point P is in closed figures；When ray and boundary are tangent, after judging point in closed figures for the first time, by each ray
Along the both direction to form an angle with its former direction, injection line judges again, when judging result is odd number twice, that is, determines
Point is in closed figures；If judging result is different twice, increases each ray and continue to judge along the angle with its former direction, directly
It is vertical with initial ray to ray；
When virtual fence be non-closed figure when, the corresponding point P and Q of monitoring client dynamic position, judge 2 points of P, Q whether position
It is specially in the homonymy of non-closed curve：By 2 lines of P, Q, the number that the line segment intersects with non-closed figure is calculated, if
The number arrived is even number, then 2 points in non-closed figure the same side, and even P points do not cross the border, then Q points also do not cross the border, and vice versa；
When line segment and non-closed contact of a curve, after judging to complete once, crosses P and 2 points of Q makees two with certain curvature
Arc segment judges the intersection number of two camber lines and curve, when judging result is even number twice, it is determined that 2 points same in curve
Side；If judging result is different twice, increases curvature and continue to judge, until radius of curvature is the half of line segment length.
One or more technical solution provided by the present application, has at least the following technical effects or advantages：
The present invention can be realized by GIS GIS-Geographic Information System draws virtual fence in host side, and obtains fence boundary point
The technique effect of coordinate；Mobile monitor end is positioned in real time by the realization of GPS-RTK high-precision location techniques, and obtains monitoring client
The technique effect of position coordinates；By the judgement system of crossing the border of real-time processing module, by fence boundary coordinate and monitoring end position
Coordinate is calculated and compared, and realizes the technique effect for judging whether monitoring client is in virtual fence；By alarm module and show
Show that module realizes the technique effect for behavior warning of crossing the border to monitoring client.
Description of the drawings
Attached drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention；
Fig. 1 is point and parallel lines position judgment schematic diagram；
Fig. 2 is that ray method judges schematic diagram；
Fig. 3 is line determining method；
Fig. 4 is overall system architecture schematic diagram；
Fig. 5 is ectonexine boundary setting schematic diagram；
Fig. 6 is movement cylinder schematic diagram；
Fig. 7 is the dynamic circle schematic diagram of plane；
Fig. 8 a-b are that internal layer crosses the border and judges schematic diagram；
Fig. 9 is that outer layer crosses the border and judges schematic diagram；
Figure 10 is virtual fence early warning system hardware architecture diagram；
Figure 11 is GPS movement station structural schematic diagrams；
Figure 12 is GPS reference station structural schematic diagram；
Figure 13 is task processing flow schematic diagram.
Specific implementation mode
The present invention provides a kind of virtual fence early warning systems for line maintenance security protection, solve existing pre-
The deficiency of alert system, realizes accurate positioning, alarms accurately and timely, the higher technique effect of security of system.
To better understand the objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and specific real
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting mutually, the application's
Feature in embodiment and embodiment can be combined with each other.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
Implemented with being different from the other modes being described herein in range using other, therefore, protection scope of the present invention is not by under
The limitation of specific embodiment disclosed in face.
The application is completed in server end to the self-defined of virtual fence using generalized information system.GIS is hard, soft in computer
Under part system is supported, the related geographic distribution data in earth surface layer (including atmosphere) space all or in part is adopted
Collection, storage, management, technological system operation, analyzed, be shown and described.It can analyze spatial information and be handled (letter
For it, be to carry out the event of phenomenon present on the earth and generation at figure and analysis), this unique visualization of map
Effect and geography-analysis function are integrated with general database manipulation (such as inquiry and statistical analysis etc.).
The application realizes that the theoretical foundation of high accuracy positioning is RTK technologies.The principle of differential technique is smart known to one
True coordinate fixed point places a stage fiducial station GPS receiver and receives GPS satellite signal and calculate the error of system, then by error
Corrected parameter is sent to the station GPS receiver for measuring unknown point coordinates and eliminates the point tolerance, to make movement station
The precision of GPS positioning numerical value greatly improves.
Carrier phase difference technology is also known as RTK technologies (real time kinematic), is built upon processing two in real time
On the basis of the carrier phase of a survey station.It can provide the three-dimensional coordinate of observation point in real time, and reach the high-precision of Centimeter Level.With
Pseudo range difference principle is identical, its carrier observations amount and station coordinates information are sent to use together in real time by data-link by base station
Family station.Subscriber station receives carrier phase and the carrier phase from base station of GPS satellite, and form time-differenced phase observation value into
Row processing in real time, can provide the positioning result of Centimeter Level in real time.The method for realizing Psudo-carrier phase DGPS is divided into two classes：It corrects
Method and calculus of finite differences.The former is identical as pseudo range difference, and carrier phase correction amount is sent to subscriber station by base station, to correct its carrier wave
Then phase solves coordinate.The carrier phase that base station acquires is sent to subscriber board and carries out that difference is asked to resolve coordinate by the latter.The former
Subject to RTK technologies, the latter be real RTK technologies.
The key point of the application is to design accuracy is high, processing speed is crossed the border faster judgement system.
Point whether the judgement in closed figures：
(1) closed figures surrounded by parallel edges
When closed figures are surrounded by parallel edges, such as rectangle, regular hexagon, it can be used and the coordinate of point is substituted into parallel lines
Equation, judge a little whether the method between parallel lines.
As plane is divided into Ω by Fig. 1, parallel lines L1, L21、Ω2、Ω3Three regions.Postulated point P (X, Y), L1:ax+by+
c1=0, L2:ax+by+c2=0, it is easy to prove, point P is between parallel lines, i.e. Ω2(boundary, which is free of, in region) is equivalent to Δ
=(aX+bY+c1)(aX+bY+c2) ＜ 0.Therefore, for the closed figures surrounded by parallel edges, only need to by straight line 2 points first find out
The linear equation of each edge judges the Δ of each pair of parallel edgesi＜ 0, i=1,2,3,4..., you can prove a little in each pair of parallel edges
Between, namely point is in the closed figures surrounded by parallel edges.
(2) general closed figures
Judge that method of the point in closed figures uses ray method.As shown in Fig. 2, this method first draws 2 direction phases from point P
Anti- ray calculates 2 rays and passes through the number intersected with its boundary when closed figures.If two obtained numbers are all strange
Number, then point is in closed figures.
In view of the ray just tangent special circumstances with boundary, after judging point in closed figures for the first time, by each item
Ray is along the both direction injection line judgement again with its former direction at certain small angle, when judging result is odd number twice,
It can determine a little in closed figures；If judging result is different twice, increases angle and continue to judge, until ray and initial ray
Vertically.
2. 2 points of judgements in non-closed curve homonymy
Judge that the method for the homonymy that be located at non-closed curve uses line method at 2 points.As shown in figure 3, by arbitrary near curve
2 lines, calculate the number of the line segment and curve intersection.If obtained number is even number, 2 points in curve the same side.
In view of line segment just crosses at 2 points with certain Chinese yeast with the special circumstances of contact of a curve after judging to complete once
Rate makees two arc segments, the intersection number of two camber lines and curve is judged, when judging result is even number twice, you can determine two
Point is in curve homonymy；If judging result is different twice, increases curvature and continue to judge, until radius of curvature is the one of line segment length
Half.
Two, system overshoot judges
1. technique effect
Fig. 4 is system schematic.This system can be realized by GIS GIS-Geographic Information System draws virtual fence in host side,
And obtain the technique effect of fence boundary point coordinates；It is realized by GPS-RTK high-precision location techniques real-time to mobile monitor end
Positioning, and obtain the technique effect of monitoring client position coordinates；By the judgement system of crossing the border of real-time processing module, by fence boundary
Coordinate is calculated and compared with monitoring client position coordinates, realizes the technique effect for judging whether monitoring client is in virtual fence；
The technique effect for behavior warning of crossing the border to monitoring client is realized by alarm module and display module.
2. ectonexine boundary is arranged
As shown in figure 5, dotted border is the boundary of danger zone and safety zone, referred to as outer boundary is one and non-closes
Curved surface is closed, is drawn according to live live zone；For the safe distance for retaining certain, it is being more than 1 meter with outer boundary minimum range
In region, a more regular closed surface is drawn as warning boundary, i.e. solid border, referred to as inner boundary；Solid box
It is then inside normal operation region.When service personnel walks out the enclosed curved surface of inner boundary, mobile monitor end equipment sends out alarm；When
When service personnel crosses outer boundary, equipment sends out high frequency alarm and transmits warning message to server end.
3. judgement of crossing the border
Judgement of crossing the border is carried out, the activity for simulating service personnel according to the coordinate motion of the mobile terminals GPS is first had to.It will move
Monitoring device is made as that the wearable device of service personnel's loins can be carried on, then centered on equipment anchor point, the behaviour area of people
Domain is 1 meter, in a height of 2 meters of cylinder in a radius, as shown in Figure 6.
Since service personnel can only move within the scope of cross arm of tower in actual conditions, it is substantially in a plane, because
The intersection of this desirable level horizontal plane of monitoring client and inside and outside layer boundary surface is as new inside and outside layer boundary, by motor column
Body judgement of crossing the border is reduced to the dynamic circle of plane and crosses the border judgement, such as Fig. 7.
(1) internal layer crosses the border judgement
Inner boundary is closed figures, and is 1 meter with the minimum range of outer boundary, therefore dynamic circle can be considered as to dynamic point,
According to judgement principle of the aforementioned point in closed figures, judge whether monitoring client coordinate points cross the border.
If the moving coordinates of monitoring client positioning are (X, Y, Z), it is Z that height is read from the fence information of inner boundary curved surface
Plane on closed curve as inner boundary.
If inner boundary is the closed curve ABCD surrounded by parallel edges shown in Fig. 8 (a), judgement of crossing the border is to judge to move point
Whether in the rectangle surrounded by vertex.
Straight line AB, BC, CD, DA equation can be acquired by tetra- point coordinates of A, B, C, D, then work as ΔAB-CD＜ 0 and ΔBC-DAWhen ＜ 0,
Monitoring client is in area of safety operaton；Otherwise it is judged as that internal layer crosses the border.
If inner boundary is closed curve shown in Fig. 8 (b), crosses the border and judge to be to judge whether dynamic point is being surrounded by curve
In closed figures.
It, can be by horizontal line l to improve calculating speed1:It chooses two rays and is judged in the directions y=Y.If in coordinate y=Y
Boundary point in, x ＜ X, x ＞ X the number of point be odd number, then monitoring client is in area of safety operaton；Otherwise in being judged as
Layer crosses the border.It, can be for each boundary point (x if you need to improve accuracy of judgement degreei, Y), i=1,2,3,4... chooses its adjacent boundary
Point (xi-1,yi-1),(xi+1,yi+1),xi-1＜ xi＜ xi+1, judge whether to meet yi-1＜ yi＜ yi+1Or yi-1＞ yi＞ yi+1.If every
The consecutive points of a crosspoint are satisfied by inequality, and intersection point number is odd number, then monitoring client is otherwise interior in area of safety operaton
Layer crosses the border.
(2) outer layer crosses the border judgement
According to on-site actual situations, outer boundary is non-close curved surface, since curved surface extends in space, in 2 meters of height
The concave-convex variation of curved surface can be ignored.Therefore, the plane that height is Z can be read from the fence information of outer boundary curved surface
On curve as outer boundary, whether 2 points of the moment before and after monitoring client are sentenced in curve homonymy using aforementioned line method
It is disconnected, and distance of the current time away from direction of motion boundary line is calculated, to ensure entire dynamic circle in safety zone.
As shown in figure 9, using t-1 moment monitoring point P' as starting point, crosses t moment monitoring point P and draw a ray l2.Due to point
P', point P are the location point at former and later two moment of monitoring point, and give tacit consent to point P' and be in safety zone.Therefore judged according to line method,
When line segment PP' and outer boundary curve are without intersection point, monitoring client is in safety zone, and otherwise outer layer crosses the border.
To ensure the safety of service personnel's scope of activities, i.e., the dynamic circle and outer layer for being 1 meter as the center of circle, radius using monitoring point
The minimum range of boundary curve is more than 0.It, can be by dynamic circle and boundary curve most narrow spacing for convenience of judging since curve is more smooth
It is carried out with the distance of boundary curve intersection point Q from monitoring point same level intersection point (x, Y), vertical intersection point (X, y), ray P'P is replaced by
Judge.When monitoring point is all higher than 1 meter with above-mentioned 3 points distance, monitoring client zone of action is in safety zone.
By Fig. 3 system frameworks it is found that whole system is by GPRS communication modules, host server end and mobile monitor end structure
At realizing that mobile monitor end positions in real time using GPS, utilize GPRS to realize logical between GPS movement stations and GPS reference station
Letter.System core technology is GPS-RTK location technologies, creates virtual fence, i.e. area of safety operaton side in server end first
Boundary, and fence information is passed to display interface together with monitoring client location information.Server end is by receiving GPS positioning in real time more
New monitoring client location information, and it is compared with fence information and whether is occurred to judge to cross the border.It initiates to alarm if generation of crossing the border
Request is then transmitted alarm command to monitoring end equipment, and is fed back to server end after alarming successfully.
Hardware is set in conjunction with the actual conditions at power transmission lines overhauling scene according to above system frame
Meter, structure diagram are as shown in Figure 4.System hardware structure can be divided into monitoring client, server end two large divisions, and monitoring client is by GPS
Movement station and alarm module are constituted, and server end is by GPS reference station, virtual fence definition module, real-time processing module, display mould
Block and communication module are constituted.The course of work of system is：Virtual fence is created according to maintenance section field condition first, while will be enclosed
Column information is transmitted in real-time processing module and display module；Then removable monitoring client is carried by service personnel and enters workspace
GPS positioning is opened in domain；Then activation system real-time processing module, the high precision position for being passed monitoring client back in real time using RTK technologies
Confidence breath is compared with fence information, and is transmitted to display module.When service personnel enters the fence i.e. live zone of exterior domain,
Alarm command is sent by server end, alert after monitoring client response makes service personnel timely leave charging zone,
To avoid the generation of service personnel's electric shock casualty accident.
Virtual fence creating unit includes：The pertinent literature of generalized information system data processing is consulted, GIS data data is collected, is
The space coordinate data collection at scene when creating virtual fence.Due to the difference of different Overhaul site live zones distribution, in system
It needs to determine maintenance section charging zone before starting positioning.Live live zone can be obtained according to modes such as related regulation, unmanned plane measurement
Distribution situation.Live virtual fence is drawn, and boundary coordinate is uploaded into database.
Dotted border is the boundary of danger zone and safety zone, referred to as outer boundary, is a non-closed curved surface, according to
It draws live live zone；It is drawn in the region with outer boundary minimum range more than 1 meter for the safe distance for retaining certain
One more regular closed surface is as warning boundary, i.e. solid border, referred to as inner boundary；It is then normal work in solid box
Make region.When service personnel walks out the enclosed curved surface of inner boundary, mobile monitor end equipment sends out alarm；When service personnel crosses
When outer boundary, equipment sends out high frequency alarm and transmits warning message to server end.
GPS-RTK positioning units：GPS-RTK positioning is to utilize carrier phase real time dynamic differential technology, in measurement point
Obtain the localization method of high accuracy positioning result in real time.Specific implementation is：GPS reference station is set up on a known survey station
Receiver and communication station are continuously tracked all visible satellites, and send differential correcting data to movement station by antenna.It is mobile
The differential correcting data received are carried out inter-process by receiver of standing, you can obtain the high precision position information of movement station.
Fig. 6, Fig. 7 are respectively the work structuring figure of movement station, base station in virtual fence early warning system positioning unit.GPS
Base station collects navigation satellite signal using reference receiver and GPS antenna, and is sent out after positioning to movement station by GPRS
Send differential correcting data；GPS movement stations part receives navigation satellite signal using mobile station receiver and GPS antenna, using logical
Letter antenna receives the correction data that base station is sent, and the high accuracy positioning result of Centimeter Level is obtained by calculation processing.It will pass through
Each mobile monitor end location information that Difference Calculation obtains uploads to host server by GPRS network, and is converted to three-dimensional seat
Mark is used for the processing and display of next step coordinate information.
When Overhaul site environment is open, communication conditions are preferable, can nearby (<GPS benchmark 40km) are installed in substation
It stands, is communicated with GPRS with base station by movement station, base station and master control platform are realized with serial communication and positioned, or carry GPS benchmark
It stands and is installed in scene together, serial communication is all made of between movement station and base station, between movement station and master control platform.When on-scene communication shape
When condition is poor, GPS reference edges can be carried and mobile PC end is installed in scene together, passed with GPRS or number by movement station and base station
Station telecommunication, base station and the ends PC are realized with serial communication and are positioned, to ensure the real-time of location information.
Processing and control unit in real time：Processing in real time and control unit include mainly system initialization, fence information and determine
Reception and display, judgement of crossing the border, the generation of alarm command of position information etc..System task process flow is as shown in figure 8, at the beginning of system
After beginningization, program enters the fence information and location information to be received such as cycle.It is fixed when receiving fence information and first
When the information of position, starts internal layer and cross the border judgement.If not crossing the border, location information is received again after the delay of 0.5s；If crossing the border, to
Monitoring client sends alarm command, and starts outer layer and cross the border judgement.When monitoring client is positioned across dangerous boundary, sent to monitoring client
High frequency alarm command, while sending out alert notification to server end.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (6)
1. a kind of virtual fence early warning system for line maintenance security protection, which is characterized in that the system comprises：
Monitoring client and server end, monitoring client include：GPS movement stations, alarm module, first communication module；Server end includes：
Virtual fence definition module, GPS reference station, real-time processing module, second communication module；Wherein, virtual fence definition module is used
In establishing virtual fence；Based on the location information that GPS movement stations and GPS reference station obtain, using the real-time dynamic of GPS carrier phase
Differential pair monitoring client is monitored, and obtains monitoring client dynamic location information, and real-time processing module is by monitoring client dynamic location information
It is compared judgement with the boundary information of virtual fence, when monitoring client dynamic position exceeds the boundary of virtual fence, is then sent out
Alarm command is transmitted to first communication module by second communication module, is then transmit to alarm module and alarms.
2. the virtual fence early warning system according to claim 1 for line maintenance security protection, which is characterized in that adopt
Monitoring client is monitored with GPS carrier phase real time dynamic differential, is specifically included：It is real-time by data-link by GPS reference station
Send its carrier observations amount and station coordinates information to monitoring client together；Monitoring client receive GPS satellite carrier phase with come from
The carrier phase of GPS reference station, and form time-differenced phase observation value and handled in real time, the carrier wave phase that GPS reference station is acquired
Position carries out that difference is asked to resolve coordinate.
3. the virtual fence early warning system according to claim 1 for line maintenance security protection, which is characterized in that empty
Quasi- fence definition module is based on GIS-Geographic Information System and creates virtual fence.
4. the virtual fence early warning system according to claim 1 for line maintenance security protection, which is characterized in that institute
The system of stating further includes display module, for virtual fence information and monitoring client dynamic location information to be carried out real-time display.
5. the virtual fence early warning system according to claim 3 for line maintenance security protection, which is characterized in that base
Virtual fence is created in GIS-Geographic Information System, is specifically included：GIS data information is obtained, the scene of drafting is virtually enclosed
Column, and boundary coordinate is uploaded into database, it is generated based on GIS data information and live boundary coordinate information virtual
Fence.
6. the virtual fence early warning system according to claim 1 for line maintenance security protection, which is characterized in that sentence
Whether the boundary beyond virtual fence specifically includes disconnected monitoring client dynamic position：
When virtual fence is the closed figures surrounded by parallel edges, the corresponding linear equation of closed figures each edge is found out；Profit
With the corresponding coordinate of monitoring client dynamic position and the corresponding linear equation of closed figures each edge, judge when monitoring client is dynamic
When state position is between arbitrary two parallel edges, then monitoring client dynamic position is located in the closed figures that parallel edges surrounds, and does not have
Have and crosses the border；Otherwise it is located at outside the closed figures that parallel edges surrounds, crosses the border；
When virtual fence is the closed figures surrounded by curve, it is opposite to draw 2 directions from the corresponding point P of monitoring client dynamic position
Ray, calculate 2 rays and pass through the number intersected with its boundary when closed figures；If two obtained numbers are odd number,
Point P is in closed figures；When ray and boundary are tangent, after judging point in closed figures for the first time, will each ray edge with
Injection line judges the both direction that its former direction forms an angle again, when judging result is odd number twice, that is, determines that point exists
In closed figures；If judging result is different twice, increases each ray and continue to judge along the angle with its former direction, until penetrating
Line is vertical with initial ray；
When virtual fence is non-closed figure, it is non-to judge whether 2 points of P, Q is located at by the corresponding point P and Q of monitoring client dynamic position
The homonymy of closed curve is specially：By 2 lines of P, Q, the number that the line segment intersects with non-closed figure is calculated, if obtain
Number is even number, then 2 points in non-closed figure the same side, and even P points do not cross the border, then Q points also do not cross the border, and vice versa；
When line segment and non-closed contact of a curve, after judging to complete once, crosses P and 2 points of Q makees two camber lines with certain curvature
Section, judges the intersection number of two camber lines and curve, when judging result is even number twice, it is determined that in curve homonymy at 2 points；
If judging result is different twice, increases curvature and continue to judge, until radius of curvature is the half of line segment length.
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| CN113126135A (en) * | 2021-04-01 | 2021-07-16 | 江苏省送变电有限公司 | Method for personnel tracking and illegal operation detection in transformer substation construction |
| CN113093810A (en) * | 2021-04-13 | 2021-07-09 | 北京微纳星空科技有限公司 | Fence out-of-bound alarm method, system and device, unmanned aerial vehicle and storage medium |
| CN113375614A (en) * | 2021-06-29 | 2021-09-10 | 北京微纳星空科技有限公司 | Unmanned equipment monitoring method and device, electronic equipment and storage medium |
| CN114299680A (en) * | 2022-02-15 | 2022-04-08 | 广东电网有限责任公司 | GIS-based electric power field operation safety monitoring method and system |
| CN114460610A (en) * | 2022-04-13 | 2022-05-10 | 深圳市乐凡信息科技有限公司 | Data processing method, system and equipment for electronic fence and storage medium |
| CN115407378A (en) * | 2022-11-02 | 2022-11-29 | 深圳市沃达孚科技有限公司 | High-voltage electric field operation risk early warning method and device based on RTK high-precision positioning |
| CN115469345A (en) * | 2022-11-02 | 2022-12-13 | 深圳市沃达孚科技有限公司 | High-voltage electric field operation risk early warning equipment based on RTK high accuracy positioning |
| CN115407378B (en) * | 2022-11-02 | 2023-03-24 | 深圳市沃达孚科技有限公司 | High-voltage electric field operation risk early warning method and device based on RTK high-precision positioning |
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