摘要
针对高压带电作业过程中人工实施安全监测难的问题,提出了1种基于飞行时间(time of flight,ToF)深度相机的高压带电作业实时安全监测及预警方法。在对高压输电线路带电作业方式和典型工况分析基础上,基于带电作业安全距离对带电作业人员的安全作业空间进行了划分,利用ToF深度相机对带电作业安全距离进行实时检测,采用安全作业空间边界越界和入侵检测实现安全预警;同时对影响安全监测的绝缘绳索进行甄别和排除,提高了该方法对野外复杂环境的适用性和准确性。在现场试验时,杆塔上的观察人员与系统同时进行安全监控,系统进行了12次报警,而观测人员仅进行了5次报警提示,其他7次报警是由于作业人员足部仅触及报警线边缘,精度要求高,故观测人员没能及时报警。通过现场试验验证了基于ToF深度相机的高压带电作业实时安全监测系统的准确性和可靠性,与人工监测相比,系统可大幅提高带电作业安全监测的有效性,能有效预防带电作业人身伤害事故的发生。
To solve the problem that it is difficult to manually inspect the safety of the operators during the process of high voltage live working,a method for inspecting and warning based on time of flight(ToF)camera is proposed.Based on the analysis of methods and typical working situations of live working on high voltage transmission lines,the safety working space of the operators is divided based on the minimum approach distance.The real time safety inspection is implemented with the use of ToF depth camera.The examination of crossing boundary of the safety working space and invasion are used to implement the safety warning.Meanwhile,the insulating ropes which influence the safety inspection are identified and excluded,which improve the accuracy and applicability of the proposed method in the complex field environment.In the field test,an observer on the tower and the system simultaneously implement the safety monitoring.The system has twelve alarms,while the observer has only five alarms.The other seven alarms are due to the fact that the foot of the operator only touched the edge of the alarm line,which requires high accuracy,so the observer failed to alarm in time.The accuracy and reliability of the proposed system of live working safety inspection for high voltage transmission lines based on ToF camera are verified by field tests.By contrast with the manual inspection,the system can improve validity of safety inspection and prevent the occurrence of casualties.
作者
邹德华
严宇
王伟
何芷航
阮华平
ZOU Dehua;YAN Yu;WANG Wei;HE Zhihang;RUAN Huaping(Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment(Robot),Changsha 410100,China;Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory,Changsha 410100,China;College of Power and Mechanical Engineering,Wuhan University,Wuhan 430072,China)
出处
《高电压技术》
EI
CAS
CSCD
北大核心
2020年第7期2570-2577,共8页
High Voltage Engineering
基金
智能带电作业技术及装备(机器人)湖南省重点实验室开放课题(2017KZD2001,2019KZD1003)
湖南省智能制造机器人创新平台项目(2017XK2102)。
关键词
高压输电线路
带电作业
安全距离
ToF深度相机
安全监测
3维点云数据处理
high voltage transmission line
live working
minimum approach distance
ToF depth camera
safety inspection
3D point cloud processing
