阅读说明：本技术 一种带电作业人员安全距离监测方法及系统 (Live working personnel safety distance monitoring method and system ) 是由 郭昊 李勇 汪志刚 杨琪 杨开平 乔明明 陈明捷 张森林 彭沙沙 于 2021-08-16 设计创作，主要内容包括：本发明公开了一种带电作业人员安全距离监测方法,包括采集现场环境数据；根据现场环境数据勾绘三维电子围栏；建立人体模型,并对人体模型进行数据解算定位；结合人体模型和三维电子围栏进行安全距离监测,并进行预警。本发明还公开了一种基于所述带电作业人员安全距离监测方法的系统。本发明能够在高空带电的情况下,对作业人员的安全距离进行有效监测；对带电检修的过程进行预警,提高了作业人员的安全性,同时监测高效,节省人力资源和成本。(The invention discloses a method for monitoring the safety distance of live working personnel, which comprises the steps of collecting field environment data; drawing a three-dimensional electronic fence according to the field environment data; establishing a human body model, and carrying out data resolving and positioning on the human body model; and (4) monitoring the safety distance by combining the human body model and the three-dimensional electronic fence, and early warning. The invention also discloses a system based on the method for monitoring the safety distance of the live working personnel. The invention can effectively monitor the safe distance of the operating personnel under the condition of high-altitude electrification; the process of overhauling with electricity is warned, the safety of operators is improved, the monitoring is efficient, and the human resources and the cost are saved.)

1. A method for monitoring the safety distance of live working personnel is characterized by comprising the following steps:

s1, collecting field environment data;

s2, delineating the three-dimensional electronic fence according to the field environment data;

s3, establishing a human body model, and carrying out data resolving and positioning on the human body model;

and S4, monitoring the safety distance by combining the human body model and the three-dimensional electronic fence, and early warning.

2. The live working worker safety distance monitoring method according to claim 1, wherein the step S1 includes performing point cloud data collection on the site environment to obtain a three-dimensional model and position data of the site environment; and for the obtained three-dimensional vector line models of the line body, the channel and the important spanning object, establishing three-dimensional models of the power transmission line corridor tower assembly and the spanning object through an attribute-based line rotation technology, a model library retrieval technology and a high-precision texture generation technology.

3. The live working worker safety distance monitoring method according to claim 2, wherein the step S2 is specifically to import a three-dimensional model of the field environment as a base map, and to draw a three-dimensional electronic fence on the three-dimensional model of the field environment by using a drawing tool.

4. The method for monitoring the safety distance of the live working personnel according to claim 3, wherein the step S3 comprises the following steps:

A1. calculating the position information of the important part of the human body and the position information of the three-dimensional electronic fence in real time, and judging whether a fixed solution exists in the positioning process;

A2. if a fixed solution exists, judging the position of the fixed solution;

A3. and if more than one fixed solution exists, judging the resolving state of the head antenna.

5. The method according to claim 4, wherein the step A1 specifically comprises determining the number of fixed solutions if any; if no fixed solution exists, the point of the head is a floating solution at the moment, the positioning point of the head is taken as a starting point, the point obtained after the distance is downwards preset is taken as a sphere center, a sphere is drawn, and a preset radius is set.

6. The method for monitoring the safety distance of the live working personnel according to claim 4, wherein the step A2 specifically comprises the following steps:

B1. when the resolving state of the head antenna is a fixed solution, drawing a sphere by taking a positioning point of the head antenna as a starting point and a point with a downward preset distance as a sphere center, and setting a preset radius;

B2. when the antenna of the foot part has a fixed solution, drawing a sphere by taking the positioning point of the antenna of the foot part as a starting point and taking a point obtained after upward presetting of a distance as a sphere center, and setting a preset radius;

B3. when the antenna of the hand has a fixed solution, the positioning point of the antenna of the hand is taken as the center of the sphere to draw the sphere, and a preset radius is set.

7. The method for monitoring the safety distance of the live working personnel according to claim 4, wherein the step A3 specifically comprises the following steps:

C1. when the head antenna resolving state is a fixed solution:

drawing a sphere by taking the positioning point of the head antenna as a starting point and taking a point obtained after a distance is preset downwards as a sphere center, wherein the radius of the sphere is the distance L from the sphere center to the farthest positioning point; if the distance L exceeds the preset radius, taking the preset radius as the radius of the sphere;

C2. and when the resolving state of the head antenna is not fixed, drawing a sphere according to a multi-fixation solution positioning method.

8. The live working worker safety distance monitoring method according to claim 7, wherein the multi-fixation de-positioning method comprises the steps of:

D1. if the two fixed solutions are feet, drawing a sphere by taking the centers of the positioning points of the two foot antennas as starting points and the point obtained after the distance is preset upwards as the sphere center, wherein the radius of the sphere is the distance L from the sphere center to the farthest positioning point; if the distance L exceeds the preset radius, taking the preset radius as the radius of the sphere;

D2. if the two fixed solutions are hands, drawing a sphere by taking the midpoint of the positioning points of the two hand antennas as the sphere center, wherein the radius of the sphere is the distance L from the sphere center to the farthest positioning point; if the distance L exceeds the preset radius, taking the preset radius as the radius of the sphere;

D3. if two foot antenna positioning points and two hand antenna positioning points exist at the same time as fixing points, drawing a sphere by adopting a step D1;

D4. if the head does not exist, the two fixed solutions are feet or the two fixed solutions are hands, the middle points of all the positioning points are used as the sphere centers, a sphere is drawn, and a preset radius is set.

9. A system based on the method for monitoring the safety distance of the live working personnel according to any one of claims 1 to 8 is characterized by comprising a safety distance monitoring device, a CORS station differential data resolving device and a user application device; the safety distance monitoring device comprises a live working personnel safety distance monitoring method and is used for monitoring the safety distance of the live working personnel in real time; the CORS station differential data resolving device is used for collecting positioning data and transmitting the positioning data to the safe distance monitoring device; the CORS station differential data resolving device comprises a reference station network, a data processing center, a data transmission module and a data broadcasting module; the data processing center is connected with the reference station network and the user application device through a data transmission module, and the data broadcasting module is respectively connected with the safe distance monitoring device and the data processing center; the reference station network comprises uniformly distributed reference stations and is used for collecting satellite observation data and transmitting the satellite observation data to the data processing center; the data processing center is used for receiving data of the reference station network, processing the data, forming multi-reference-station differential positioning user data and distributing the multi-reference-station differential positioning user data to users; the data transmission module comprises data transmission hardware equipment and a software control module; the data broadcasting module is connected with the data processing center and broadcasts navigation and positioning data; the user application device is used for receiving data and monitoring in real time.

10. The system of claim 9, wherein the network of reference stations further comprises a tamper-resistant device, the tamper-resistant device being connected to the data processing center; the anti-interference device adopts a helical antenna with a large receiving angle; meanwhile, the helical antenna with a large receiving angle is made of a high-dielectric structural material; the helical antenna with large receiving angle adopts a balun circuit balanced design.

Technical Field

The invention belongs to the field of power grid safety monitoring, and particularly relates to a method and a system for monitoring the safety distance of live working personnel.

Background

The current power grid is increasingly complex and extensive, and needs to be checked or maintained during the working process of the power grid. Live working is an important technical means for ensuring safe and stable operation of a power grid, and is a special high-altitude high-risk work. The conventional live working and equipment have problems in practical use, including: the technical means of safety protection is insufficient; the intelligent device and the remote control device are lacked; the labor intensity of the personnel is high, and the like. Therefore, the prior art cannot meet the actual requirements of intellectualization, informatization, visualization and interaction of the current live overhaul safety protection; the existing active safety protection technical means based on real-time informatization and intellectualized safety monitoring and early warning, field operation management and control and remote section increasing command in the field operation process under the image of the hot-line work complex field environment and strong electromagnetic field factors cannot sufficiently support the hot-line work safety guarantee work. For example, under the high-altitude electrified environment, no effective monitoring means is provided for the safe distance of the operating personnel, the current stage can only depend on experience judgment, the safe distance is difficult to accurately control, and great safety risk exists.

Disclosure of Invention

The invention aims to provide a method for monitoring the safe distance of a live operator, which monitors the safe distance of the live operator in real time by modeling the posture of a human body in real time; the second purpose of the present invention is to provide a system based on the method for monitoring the safety distance of the live working personnel, which ensures the safety of the live working personnel.

The invention provides a method for monitoring the safety distance of live working personnel, which comprises the following steps:

s1, collecting field environment data;

s2, delineating the three-dimensional electronic fence according to the field environment data;

s3, establishing a human body model, and carrying out data resolving and positioning on the human body model;

and S4, monitoring the safety distance by combining the human body model and the three-dimensional electronic fence, and early warning.

The step S1 includes collecting point cloud data of the site environment to obtain a three-dimensional model and position data of the site environment; and for the obtained three-dimensional vector line models of the line body, the channel and the important spanning object, establishing three-dimensional models of the transmission line corridor tower assembly and the spanning object through an attribute-based line rotation technology, a model library retrieval technology and a high-precision texture generation technology.

The step S2 is specifically to import the three-dimensional model of the field environment into the base map, and draw the three-dimensional electronic fence on the three-dimensional model of the field environment by using a drawing tool.

In step S3, the method for positioning the human body model includes the following steps:

A1. the position information of the important part of the human body is solved in real time with the position information of the three-dimensional electronic fence, and whether a fixed solution exists in the positioning process is judged;

A2. if a fixed solution exists, judging the position of the fixed solution;

A3. and if more than one fixed solution exists, judging the resolving state of the head antenna.

The step a1 specifically includes determining the number of the fixed solutions if the fixed solutions exist; if no fixed solution exists, the point of the head is a floating solution at the moment, the point of the head is taken as a starting point, the point obtained after the distance is preset downwards is taken as a sphere center, the sphere is drawn, and the preset radius is set.

The step a2 specifically includes the following steps:

B1. when the resolving state of the head antenna is a fixed solution, drawing a sphere by taking a positioning point of the head antenna as a starting point and a point with a downward preset distance as a sphere center, and setting a preset radius;

B2. when the antenna of the foot part has a fixed solution, drawing a sphere by taking the positioning point of the antenna of the foot part as a starting point and taking a point obtained after upward presetting of a distance as a sphere center, and setting a preset radius;

B3. when the antenna of the hand has a fixed solution, the positioning point of the antenna of the hand is taken as the center of the sphere to draw the sphere, and the preset radius is set.

The step a3 specifically includes the following steps:

C1. when the head antenna resolving state is a fixed solution:

drawing a sphere by taking the positioning point of the head antenna as a starting point and taking a point obtained after a distance is preset downwards as a sphere center, wherein the radius of the sphere is the distance L from the sphere center to the farthest positioning point; if the distance L exceeds the preset radius, taking the preset radius as the radius of the sphere;

C2. and when the resolving state of the head antenna is not fixed, drawing a sphere according to a multi-fixation solution positioning method.

The multi-fixation solution positioning method comprises the following steps:

D1. if the two fixed solutions are feet, drawing a sphere by taking the centers of the positioning points of the two foot antennas as starting points and the point obtained after the distance is preset upwards as the sphere center, wherein the radius of the sphere is the distance L from the sphere center to the farthest positioning point; if the distance L exceeds the preset radius, taking the preset radius as the radius of the sphere;

D2. if the two fixed solutions are hands, drawing a sphere by taking the midpoint of the positioning points of the two hand antennas as the sphere center, wherein the radius of the sphere is the distance L from the sphere center to the farthest positioning point; if the distance L exceeds the preset radius, taking the preset radius as the radius of the sphere;

D3. if two foot antenna positioning points and two hand antenna positioning points exist at the same time as fixing points, drawing a sphere by adopting the step D1;

D4. if the head does not exist, the two fixed solutions are feet or the two fixed solutions are hands, the middle points of all the fixed points are used as the sphere centers, a sphere is drawn, and a preset radius is set.

The invention also discloses a system based on the live working personnel safety monitoring method, which comprises a safety distance monitoring device, a CORS station differential data resolving device and a user application device; the safety distance monitoring device adopts a live working personnel safety distance monitoring method and is used for monitoring the safety distance of the live working personnel in real time; the CORS station differential data resolving device is used for collecting positioning data and transmitting the positioning data to the safe distance monitoring device; the CORS station differential data resolving device comprises a reference station network, a data processing center, a data transmission module and a data broadcasting module; the data processing center is connected with the reference station network and the user application device through a data transmission module, and the data broadcasting module is respectively connected with the safe distance monitoring device and the data processing center; the reference station network comprises uniformly distributed reference stations and is used for collecting satellite observation data and transmitting the satellite observation data to the data processing center; the data processing center is used for receiving data of the reference station network, processing the data, forming multi-reference-station differential positioning user data and distributing the multi-reference-station differential positioning user data to users; the data transmission module comprises data transmission hardware equipment and a software control module; the data broadcasting module is connected with the data processing center and broadcasts navigation and positioning data; the user application device is used for receiving data and monitoring in real time.

The reference station network also comprises an anti-interference device, and the anti-interference device is connected with the data processing center; the anti-interference device adopts a helical antenna with a large receiving angle; meanwhile, the helical antenna with a large receiving angle is made of a high-dielectric material; the helical antenna with large receiving angle adopts a balun circuit balanced design.

The method and the system for monitoring the safe distance of the live working personnel can effectively monitor the safe distance of the working personnel under the condition of high-altitude live working; the process of overhauling with electricity is warned in advance, the safety of operating personnel is improved, the monitoring is efficient, and the human resources and the cost are saved.

Drawings

FIG. 1 is a schematic flow diagram of the process of the present invention.

FIG. 2 is a schematic representation of the body part position for the method of the present invention.

FIG. 3 is a schematic diagram of the system of the present invention.

Fig. 4 is a schematic diagram of differential data pushing of a CORS station according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of a work flow of the CORS system according to an embodiment of the present invention.

Fig. 6 is a schematic diagram of an actual electric tower environment according to an embodiment of the present invention.

Fig. 7a is a schematic diagram of an electrolytic state of a network far from an electromagnetic field environment according to an embodiment of the present invention, fig. 7b is a schematic diagram of an electrolytic state of a network strong electromagnetic field environment according to an embodiment of the present invention, fig. 7c is a schematic diagram of a differential delay of a network far from an electromagnetic field environment according to an embodiment of the present invention, and fig. 7d is a schematic diagram of a differential delay of a network strong electromagnetic field environment according to an embodiment of the present invention.

Fig. 8a is a schematic diagram illustrating positioning accuracy of a satellite away from an electromagnetic field according to an embodiment of the present invention, and fig. 8b is a schematic diagram illustrating positioning accuracy of a satellite within a strong electromagnetic field according to an embodiment of the present invention.

Fig. 9a is a schematic diagram of an RTK remote electromagnetic field solution state according to an embodiment of the present invention, and fig. 9b is a schematic diagram of an RTK strong electromagnetic field solution state according to an embodiment of the present invention.

Fig. 10 is a schematic view of a three-dimensional electronic fence according to an embodiment of the invention.

Detailed Description

FIG. 1 is a schematic flow chart of the method of the present invention: the invention provides a method for monitoring the safety distance of live working personnel, which comprises the following steps:

s1, collecting field environment data;

step S1 includes point cloud data collection of the site environment, and obtaining a three-dimensional model and position data of the site environment; in the embodiment, a laser radar point cloud data acquisition system is carried by an unmanned aerial vehicle, and a multi-lens oblique photography sensor is adopted to acquire towers and lines in a field environment; for the three-dimensional vector line models of the line body, the channel, the important span object and the like which are automatically/semi-automatically obtained, high-precision three-dimensional models of components (towers, insulators, ground wires, spacing rods and the like) of the power transmission line corridor pole tower, the important span object and the like can be established through a line rotation technology, a model library calling technology and a high-precision texture generation technology based on attributes.

S2, delineating the three-dimensional electronic fence according to the field environment data;

step S2 is specifically that the three-dimensional model of the site environment is imported into a base map, and a drawing tool is adopted to draw a three-dimensional electronic fence on the three-dimensional model of the site environment; the three-dimensional electronic fence is virtual, but has precise elevation geographical location information.

S3, positioning the human body model;

FIG. 2 is a schematic illustration of a body part location for the method of the present invention; the method for positioning the human body model comprises the following steps:

A1. the three-dimensional electronic fence is solved in real time in the maintenance operation management and control device, and when live-line workers work, the position information of important parts of the human body can be solved with the position information of the three-dimensional electronic fence in real time, so that whether the workers are in a safety area or not is judged. Judging whether a fixed solution exists in the positioning process; if the fixed solutions exist, judging the number of the fixed solutions; if there is no fixed solution, and the point of the head is a floating solution at this time, the sphere is drawn by using the positioning point of the head as a starting point and a point obtained after 0.6m downward along the gravity direction as a sphere center, and the method specifically includes:

O(x,y,z)＝T(x₁,y₁,z₁-0.6),r＝1

wherein O (x, y, z) represents a sphere center coordinate; t (x)₁,y₁,z₁-0.6) represents the anchor point coordinates of the head antenna down by 0.6 m; r representsA radius;

A2. if a fixed solution exists, judging the position of the fixed solution:

B1. when the solution state of the head antenna is a fixed solution, a sphere with a radius of 1m is drawn by using the positioning point of the head antenna as a starting point and a point obtained after the head antenna is downward 0.6m along the gravity direction as a sphere center, and the method specifically comprises the following steps:

O(x,y,z)＝T(x₁,y₁,z₁-0.6),r＝1

wherein O (x, y, z) represents a sphere center coordinate; t (x)₁,y₁,z₁-0.6) represents the anchor point coordinates of the head antenna down by 0.6 m; r represents a radius;

B2. when the antenna of the foot has a fixed solution, drawing a ball with a radius of 1m by taking the upward 0.6m of the positioning point of the antenna of the foot as the center of the ball along the gravity direction, specifically comprising:

O(x,y,z)＝J(x₂,y₂,z₂+0.6),r＝1

wherein O (x, y, z) represents a sphere center coordinate; j (x)₂,y₂,z₂+0.6) represents that the locating point coordinate of the foot antenna is 0.6m upwards; r represents a radius;

B3. when the antenna of the hand has a fixed solution, the positioning point of the antenna of the hand is used as the center of the sphere to make a sphere with the radius of 1m, and the method specifically comprises the following steps:

O(x,y,z)＝S(x₃,y₃,z₃),r＝1

wherein O (x, y, z) represents a sphere center coordinate; s (x)₃,y₃,z₃) Representing the coordinates of the positioning point of the hand antenna; r represents a radius.

A3. If more than one fixed solution exists, judging the resolving state of the head antenna:

C1. when the head antenna resolving state is a fixed solution:

drawing a sphere by taking a positioning point of the head antenna as a starting point and taking a point obtained after the positioning point is downward 0.6m along the gravity direction as a sphere center, wherein the radius of the sphere is the distance L from the sphere center to the farthest positioning point; if the distance L exceeds 1m, taking 1m as the radius of the sphere specifically includes:

O(x,y,z)＝T(x₁,y₁,z₁-0.6),

wherein O (x, y, z) represents a sphere center coordinate; t (x)₁,y₁,z₁-0.6) represents the anchor point coordinates of the head antenna down by 0.6 m; r represents a radius;

C2. when the head antenna solution state is not fixed:

if the two fixed solutions are feet, drawing a sphere by taking the centers of the positioning points of the two foot antennas as starting points and a point which is 0.6m away upwards along the gravity direction as the sphere center, wherein the radius of the sphere is the distance L from the sphere center to the farthest positioning point; if the distance L exceeds 1m, taking 1m as the radius of the sphere specifically includes:

O(x,y,z)＝[(X_RJ+X_LJ)/2,(Y_RJ+Y_LJ)/2,(Z_RJ+Z_LJ)/2+0.6],

wherein O (x, y, z) represents a sphere center coordinate; (X)_RJ,Y_RJ,Z_RJ) Coordinates representing a positioning point of the right-foot antenna; (X)_LJ,Y_LJ,Z_LJ) Representing coordinates of a locating point of the left-foot antenna; r represents a radius;

if the two positioning points are hands, drawing a sphere by taking the midpoint of the two hand antenna positioning points as a sphere center, wherein the radius of the sphere is the distance L from the sphere center to the farthest positioning point; if the distance L exceeds 1m, taking 1m as the radius of the sphere specifically includes:

O(x,y,z)＝[(X_RS+X_LS)/2,(Y_RS+Y_LS)/2,(Z_RS+Z_LS)/2],

wherein O (x, y, z) represents a sphere center coordinate; (X)_RS,Y_RS,Z_RS) Coordinates representing a positioning point of the right-foot antenna; (X)_LS,Y_LS,Z_LS) Watch (A)Showing the coordinates of the positioning point of the left-foot antenna; r represents a radius;

if two foot antenna positioning points and two hand antenna positioning points are fixed points, adopting the foot antenna positioning points;

if the head does not exist, the two fixed solutions are feet or the two fixed solutions are hands, the middle points of all the positioning points are used as the sphere centers, a sphere is drawn, and the preset radius is set to be 1 m.

And S4, monitoring the safety distance by combining the human body model and the three-dimensional electronic fence, and early warning.

Fig. 3 is a schematic structural diagram of the system of the present invention. The invention also discloses a system based on the method for monitoring the safety distance of the live working personnel, which comprises a safety distance monitoring device, a CORS station differential data resolving device and a user application device; the safety distance monitoring device comprises a live working personnel safety distance monitoring method and is used for monitoring the safety distance of the live working personnel in real time; and the CORS station differential data resolving device is used for collecting positioning data and transmitting the positioning data to the safe distance monitoring device. The CORS station differential data resolving device comprises a reference station network, a data processing center, a data transmission module and a data broadcasting module; the data processing center is connected with the reference station network and the user application device through a data transmission module, and the data broadcasting module is respectively connected with the safe distance monitoring device and the data processing center; the reference station network comprises uniformly distributed reference stations and is used for collecting satellite observation data and transmitting the satellite observation data to the data processing center; the data processing center is used for receiving data of the reference station network, forming multi-reference station differential positioning user data and distributing the multi-reference station differential positioning user data to users; the data transmission module comprises data transmission hardware equipment and a software control module, wherein the data transmission hardware equipment adopts an optical fiber special line and is used for sending the data of the reference station network; the data broadcasting module is connected with the data processing center and broadcasts navigation and positioning data through a UHF radio station, the Internet and the like, wherein the Internet comprises a mobile network, a broadband network and the like; the user application device comprises a user information receiving system, a network type RTK positioning system, a post and quick precision positioning system, an autonomous navigation system and a monitoring positioning system.

The reference station network comprises an anti-interference device, and the anti-interference device is connected with the data processing center and keeps signals stable; the anti-interference device adopts the spiral antenna with a large receiving angle, the spiral antenna with the large receiving angle has stronger satellite searching capability, and is commonly used in scenes with higher requirement on positioning accuracy or complex and severe environment, and the spiral antenna with the large receiving angle has stronger polarization rate; meanwhile, the helical antenna with the large receiving angle is made of a high-dielectric structural material, so that the near field range of the helical antenna with the large receiving angle is very small and the disorder is not easy to occur; the spiral antenna with a large receiving angle adopts a balun circuit balance design, can effectively isolate the influence of external electromagnetic noise signals, and achieves the purpose of resisting strong electric field interference.

Fig. 4 is a schematic diagram of differential data pushing of a CORS station according to an embodiment of the present invention. In the embodiment, in order to achieve a high-precision expected target, the CORS station differential data calculating device is provided with a module capable of receiving CORS station differential data and performing combined calculation on high-precision position information; the selection of the CORS station comprises:

and acquiring differential data through the social CORS base station, and acquiring the pushed CORS data through a 4G public network card of the safe distance monitoring device. The differential data is obtained by an internal CORS station covering the whole province, which is expected to be built in 2020 by the national network of Hunan province, and a special network card is arranged in the safe distance monitoring device in such a way. Meanwhile, the interaction between the safety distance monitoring device and subsequent overhaul and background data cannot adopt different 4G networks, and communication is blocked, so that the 4G module of the safety early warning monitoring device is only used for acquiring differential data, the data interaction between the safety early warning monitoring device and the overhaul operation management and control device is carried out in a radio station mode, and the interaction between the subsequent overhaul and the background data cannot be influenced.

Fig. 5 is a schematic diagram of a work flow of a CORS system according to an embodiment of the present invention. The CORS system is based on a global satellite navigation positioning technology, a GNSS reference station is established according to a certain distance in a region according to requirements, a network is formed by the reference stations and a data center through a computer, a data communication technology and an internet technology, the GNSS reference station data are transmitted to the data center in real time, data processing software is used for processing, RTK GNSS original data of different types and correction data of various types are automatically issued to a user, and the like. The user can carry out quasi-real-time, real-time and quick positioning, post positioning or navigation positioning only by one receiver.

The network type RTK positioning system adopts an RTK technology, which is formed in the 90 s of the 20 th century and mainly comprises a conventional RTK technology and a network RTK technology. The conventional RTK technology has the precision reaching cm level when the distance between the mobile station and the reference station is less than 30 km; at distances greater than 30km, the measurement accuracy decays very quickly, usually only to the order of dm. The network RITK consists of a reference station network, a data center, a data communication link and a mobile station. The reference station is provided with a double-frequency full-wavelength GNSS receiver, coordinates of the reference station are accurately known, continuous observation is carried out according to a specified sampling rate, and the coordinates are transmitted back to the data center through a data communication link; the data center calculates error correction information based on the approximate coordinates sent by the rover station and then broadcasts the correction information to the rover station. The network RTK technology has the advantages that a user does not need to establish a reference station, the distance between the user and the reference station can be enlarged to hundreds of kilometers, error sources are reduced, and the reliability and the precision of corrected information are greatly improved.

The positioning system adopts a big dipper high accuracy positioning terminal, and centimeter-level positioning accuracy can be achieved in open environment. The small and exquisite appearance, it is strong to receive satellite signal ability, is furnished with helical antenna, can be to a certain extent anti-electromagnetic interference, can regard as the back main terminal in the design to use. In the subsequent development process, integration of a plurality of positioning main boards and a power supply system is required.

In order to verify the communication capability of the device in a high electric field and strong magnetic field environment, the strength and error condition of satellite signals and the network delay condition, corresponding tests are carried out in an actual electric tower environment. The test results were as follows:

fig. 6 is a schematic diagram of an actual electric tower environment according to an embodiment of the present invention. In this embodiment, the field environment of the tower 71 # of the 500kV guxing I line of the shoal in Hunan is adopted to verify the transmission and reception conditions of the 4G signal, the Bluetooth signal, the radio station signal and the satellite signal in the high-voltage strong electric field.

(1) Analyzing by Bluetooth; table 1 shows a schematic diagram of the continuity of the sampling point in the environment where the bluetooth is far away from the electromagnetic field in the embodiment of the present invention, and table 2 shows the continuity of the sampling point in the environment where the bluetooth is in a strong electromagnetic field in the embodiment of the present invention, which indicates that the bluetooth sampling point is not affected by time; the frequency of sampling point recording data is always 1 s/time, and is consistent with the sampling point frequency set by the handbook. Therefore, in an environment far away from an electromagnetic field and a strong electromagnetic field, the Bluetooth connection between the equipment and the handbook is not disconnected, namely the strong electromagnetic field cannot interfere with the Bluetooth signal transmission.

(2)4G network signal analysis; fig. 7a is a schematic diagram of an electrolytic state of a network far from an electromagnetic field environment according to an embodiment of the present invention, fig. 7b is a schematic diagram of an electrolytic state of a network strong electromagnetic field environment according to an embodiment of the present invention, fig. 7c is a schematic diagram of a differential delay of a network far from an electromagnetic field environment according to an embodiment of the present invention, and fig. 7d is a schematic diagram of a differential delay of a network strong electromagnetic field environment according to an embodiment of the present invention.

Analyzing the solution state of the equipment in an environment far from an electromagnetic field and a strong electromagnetic field: the vertical axis 10 in fig. 7a and 7b represents the fixed solution, 8 the floating solution, 6 the difference solution; the horizontal axes in fig. 7a and 7b respectively represent the number of points, and the series 1 represents the change curve of the solution state; it can be seen from fig. 7a and 7b that the electrolysis state is substantially stabilized in the stationary electrolysis under two environments, and the poor electrolysis occurs in few points due to the wind force on the electric tower of the equipment under the strong electromagnetic field environment. The overall solution state is very good.

Analyzing the differential delay of the equipment in the environment far from the electromagnetic field and the strong electromagnetic field: the vertical axis 1 in fig. 7c and 7d indicates that the difference effect is best and the positioning delay is lowest; FIG. 7c shows the differential delay in s on the vertical axis and the number of points on the horizontal axis, where the series 1 shows the variation curve of the differential delay when the device is far away from the electromagnetic field; FIG. 7d shows the differential delay in s on the vertical axis, and the number of points on the horizontal axis, where the series 1 shows the differential delay variation curve of the device under the strong electromagnetic field environment; it can be seen from fig. 7c and 7d that the differential delay in the two environments is normal except that there are some points where the differential delay is slightly high.

Therefore, the strong electromagnetic field environment does not affect the 4G network signal transmission of the device.

TABLE 1

TABLE 2

(3) Satellite signal analysis: fig. 8a is a schematic diagram illustrating a satellite distance electromagnetic field positioning accuracy compliance according to an embodiment of the present invention, and fig. 8b is a schematic diagram illustrating a satellite strong electromagnetic field positioning accuracy compliance according to an embodiment of the present invention. The vertical axes in fig. 8a and 8b each indicate the positioning accuracy in m, and the horizontal axes in fig. 8a and 8b each indicate the number of dots. FIG. 8a shows that the positioning accuracy is around 5cm under the open environment normally far away from the electromagnetic field; fig. 8b shows that the positioning floating is large in strong electromagnetic field environment, because the equipment is hung to the electric tower through a rope and cannot be kept in a stable state, the test site is influenced by wind power, the equipment is in a continuous shaking state, and under the condition, the positioning precision can be kept at about 20 cm.

(4) RTK radio station signal analysis: fig. 9a is a schematic diagram of an RTK remote electromagnetic field solution state according to an embodiment of the present invention, and fig. 9b is a schematic diagram of an RTK strong electromagnetic field solution state according to an embodiment of the present invention. The vertical axes of fig. 9a and 9b both represent the solution state of the device, 10 the fixed solution, 8 the floating solution; the horizontal axes in fig. 9a and 9b each represent the number of dots. From the two device solution states in fig. 9a and fig. 9b, it can be seen that the radio station data transmission hinge is stable, and the ground mobile station can receive data transmitted by the reference station in a strong electric field in real time.

In the present embodiment, the three-dimensional electronic fence in step S2 is created as follows: on the basis of data acquisition of the power transmission line by the three-dimensional laser technology, three-dimensional modeling and calibration of the power transmission line and a tower are completed; the electronic fence does not need to be provided with hardware equipment on site, and managers can directly draw the virtual space electronic fence on a system background or on a power transmission line and a tower as required through a maintenance operation management and control device. The platform supports the establishment of a three-dimensional model with a regular shape, supports the manual drawing of a fence with a regular shape, and can meet the use requirement of a three-dimensional electronic fence under the conventional condition. The system background is added with an in-out fence alarm, the alarm can be realized through the triggering action in the three-dimensional space, and the prompt is performed in a manner of synchronously highlighting at the platform end.

Fig. 10 is a schematic view of a three-dimensional electronic fence according to an embodiment of the invention. And drawing the irregular three-dimensional electronic space fence as required. The three-dimensional electronic fence is an editable fence, the shape of the fence is changed by dragging a fence point in real time, and the position judgment of the point to a polyhedron is obtained by judging the position of the point in real time. The three-dimensional electronic fence draws a virtual geographic boundary on a three-dimensional map, configures an alarm rule, and if the alarm rule is triggered by a monitored object (walking out of or into the geographic fence), the platform and the mobile terminal both receive corresponding alarm notifications, so that the effect of monitoring the safety of personnel and vehicles is achieved. The function can be widely applied to industries such as construction site operation, railway inspection, power grid inspection, traffic inspection and the like. The platform provides various fence templates such as polyhedrons, columns and spheres, and helps a user to define the range of the electronic fence in a scene. The method can be widely applied to the fields of construction site operation, railway inspection, power grid inspection, traffic early warning and the like.