基于ToF 技术的带电作业安全监测与预警系统

doi:10.11930/j.issn.1004-9649.201808168

中国电力 ›› 2020, Vol. 53 ›› Issue (2): 63-68.DOI: 10.11930/j.issn.1004-9649.201808168

基于ToF 技术的带电作业安全监测与预警系统

李稳^1,2,3, 顾苏¹, 汪志刚^1,2,3, 周晨梦⁴, 毛盾^1,2,3, 郑立⁵

1. 国网湖南省电力有限公司输电检修分公司, 湖南衡阳 421000;
2. 智能带电作业技术及装备(机器人)湖南省重点实验室, 湖南长沙 410018;
3. 带电巡检与智能作业技术国网公司实验室, 湖南长沙 410007;
4. 国网湖北省电力有限公司直流运检公司, 湖北宜昌 410004;
5. 国网湖南省电力有限公司, 湖南长沙 410100

收稿日期:2018-08-30 修回日期:2019-03-01 出版日期:2020-02-05 发布日期:2020-02-05
作者简介:李稳(1990-),男,工程师,从事高电压技术、带电作业技术等方面的工作,E-mail:416272905@qq.com
基金资助:
国网湖南省电力有限公司科技项目（5216A015003H）

The Safety Monitoring and Warning System for Live Working Based on ToF Technology

LI Wen^1,2,3, GU Su¹, WANG Zhigang^1,2,3, ZHOU Chenmeng⁴, MAO Dun^1,2,3, ZHENG Li⁵

1. Transmission Maintenance Company, Hunan Electric Power Co., Ltd. of SGCC, Hengyang 421000, China;
2. Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment (Robot), Changsha 410018, China;
3. State Grid Co. Laboratory of Live-working Inspection and Intelligent Operation Technology, Changsha 410007,China;
4. State Grid Hubei Electric Power Company DC Inspection Company, Yichang 410004, China;
5. State Grid Hunan Electric Power Company, Changsha 410100, China

Received:2018-08-30 Revised:2019-03-01 Online:2020-02-05 Published:2020-02-05
Supported by:
This work is supported by Science and Technology Project of State Grid Hunan Electric Power Co., Ltd. (No. 5216A015003H)

摘要/Abstract

摘要： 针对目前国内带电作业中安全监控及预警手段和方法缺乏的现状，提出一种基于ToF（time of flight，飞行时间）技术的带电作业实时安全监测与预警系统。采用ToF摄像机实时对工作人员周围的空间进行三维重建，获取工作人员附近物体的坐标信息，进一步检测工作人员与身边物体的距离信息，当工作人员与导线等带电体的距离超过设定值时便会触发报警系统提醒操作人员。试验结果表明：该系统能实时、准确地监测距离，可靠地对危险情况进行提示与报警。

关键词: 带电作业, ToF, 安全距离, 实时监测, 预警系统

Abstract: Aiming at the deficiency of security monitoring and early warning means and methods for live working in China, a ToF (Time of flight)-based real-time safety monitoring and warning system is proposed for live working. The ToF camera is used for real-time 3D reconstruction of the space around working staff, and to obtain the coordinate information of topographic features surrounding the staff for further testing the distance information of staff and nearby objects, and when the distance between the staff and the charged body such as wires exceeds the set value, the alarm system will be triggered to remind the operators. The testing results show that the system can accurately monitor the distances in real time and provide reliably alarms about the dangerous situations.

Key words: live working, time of flight (ToF), safety distance, real-time monitoring, warning system

李稳, 顾苏, 汪志刚, 周晨梦, 毛盾, 郑立. 基于ToF 技术的带电作业安全监测与预警系统[J]. 中国电力, 2020, 53(2): 63-68.

LI Wen, GU Su, WANG Zhigang, ZHOU Chenmeng, MAO Dun, ZHENG Li. The Safety Monitoring and Warning System for Live Working Based on ToF Technology[J]. Electric Power, 2020, 53(2): 63-68.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: https://www.electricpower.com.cn/CN/10.11930/j.issn.1004-9649.201808168

https://www.electricpower.com.cn/CN/Y2020/V53/I2/63

参考文献

[1] 丁玉剑, 孙辉, 李军, 等. ±400 kV青藏联网直流输电线路带电作业安全距离[J]. 电网技术, 2014, 38(10):2894-2899 DING Yujian, SUN Hui, LI Jun, et al. Safety distance for live working on ±400 kV DC transmission line interconnecting Qinghai Power Grid with Tibet Power Grid[J]. Power System Technology, 2014, 38(10):2894-2899
[2] 刘洪正, 刘凯, 孟海磊, 等. 660 KV直流同塔双回输电线路带电作业试验研究[J]. 高电压技术, 2011, 37(12):2997-3005 LIU Hongzheng, LIU Kai, MENG Hailei, et al. Experimental research of live working on 660 kV double circuit DC transmission line on the same tower[J]. High Voltage Engineering, 2011, 37(12):2997-3005
[3] 王炳强, 岳嵩, 吴元香, 等. 高海拔地区220 kV输电线路带电作业安全距离技术研究[J]. 电力系统保护与控制, 2017, 45(24):158-162 WANG Bingqiang, YUE Song, WU Yuanxiang, et al. Research on security distance of live working on 220 kV transmission line at high altitudes[J]. Power System Protection and Control, 2017, 45(24):158-162
[4] 王豫宁, 魏霞, 刘波, 等. 调度数据网厂站侧网络监测装置设计[J]. 电力系统保护与控制, 2019, 47(13):133-140 WANG Yuning, WEI Xia, LIU Bo, et al. Design of network monitoring device for power dispatching data network at power station[J]. Power System Protection and Control, 2019, 47(13):133-140
[5] 顾值彬, 杨鹏飞, 彭春荣, 等. MEMS结构的带电作业电场测量预警系统[J]. 传感器与微系统, 2017, 36(4):111-113,120 GU Zhibin, YANG Pengfei, PENG Chunrong, et al. Electric field measurement safety warning system of live working based on MEMS structure[J]. Transducer and Microsystem Technologies, 2017, 36(4):111-113,120
[6] 刘聪汉. 工频电场测量方法及安全警示系统设计研究[D]. 重庆:重庆大学, 2012. LIU Conghan. Research on measurement method and safety warning system design of power frequency electric field[D]. Chongqing:Chongqing University, 2012.
[7] 罗远, 贺岩, 胡善江. 基于声光扫描的三维视频激光雷达技术[J]. 中国激光, 2014, 41(8):27-33 LUO Yuan, HE Yan, HU Shanjiang. Three dimensional video imaging lidar system based on acousto-optic laser scanning[J]. Chinese Journal of Lasers, 2014, 41(8):27-33
[8] BEDER C, BARTCZAK B, KOCH R. A comparison of PMD-cameras and stereo-vision for the task of surface reconstruction using patchlets[C]//2007 IEEE Conference on Computer Vision and Pattern Recognition, June 17&-22, 2007. Minneapolis, 2007:2692-2699.
[9] CHIABRANDO F, CHIABRANDO R, PIATTI D, et al. Sensors for 3d imaging:metric evaluation and calibration of a CCD/CMOS time-of-flight camera[J]. Sensors, 2009, 9(12):10080-10096.
[10] 潘华东. 飞行时间法无扫描三维成像摄像机的机理和特性研究[D]. 杭州:浙江大学, 2010. PAN Huadong. Research on the mechanism and characteristics of time-of-flight non-scanning 3D imaging camera[D]. Hangzhou:Zhejiang University, 2010.
[11] BIANCHI L, GATTI R, LOMBARDI L, et al. Tracking without background model for time-of-flight cameras[C]//Proceedings of the 3rd Pacific-Rim Symposium on Image and Video Technology (PSIVT). Tokyo, 2009:726&-737.
[12] ACHARYA S, TRACEY C, RAFII A. System design of time-of-flight range camera for car park assistant backup application[C]//Proceedings of the IEEE CVPR Workshops. Anchorage, 2008:1552&-1557.
[13] 陈超. 基于ToF摄像机的三维点云地图构建研究[D]. 哈尔滨:哈尔滨工业大学, 2013. CHEN Chao. Research on of 3D point cloud map-building based on ToF camera[D]. Harbin:Harbin Institute of Technology, 2013.
[14] 胡毅, 王力农, 邵瑰伟, 等. 紧凑型输电线路带电作业方式及安全防护[J]. 电网技术, 2007, 31(23):6-10 HU Yi, WANG Linong, SHAO Guiwei, et al. Live working ways for compact transmission lines and relevant safety protection[J]. Power System Technology, 2007, 31(23):6-10
[15] 刘凯,胡毅,肖宾,等.1000 kV交流紧凑型输电线路带电作业安全距离试验分析[J].高电压技术,2011, 37(8):1857-1861. LIU Kai, HU Yi, XIAO Bin, et al. Experimental analysis of live working safety distance on 1000 kV AC compact transmission line[J]. High Voltage Engineering, 2011, 37(8):1857-1861.
[16] 丁津津. ToF三维摄像机的误差分析及补偿方法研究[D]. 合肥:合肥工业大学, 2011. DING Jinjin. Error analysis and compensation research of the ToF 3D camera[D]. Hefei:Hefei University of Technology, 2011.
[17] 雷兴列, 李宇泽, 彭勇, 等. 复合绝缘子导通性缺陷对带电作业安全距离影响[J]. 中国电力, 2019, 52(6):134-139 LEI Xinglie, LI Yuze, PENG Yong, et al. Influence of conductivity defects of composite insulators on live-line working approach distance[J]. Electric Power, 2019, 52(6):134-139

基于ToF 技术的带电作业安全监测与预警系统

The Safety Monitoring and Warning System for Live Working Based on ToF Technology

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

[1]	余光凯, 刘庭, 朱凯, 聂霖, 梁家凯. 特高压带电作业绝缘工具操作冲击放电特性及试验电极优化[J]. 中国电力, 2022, 55(8): 143-150.
[2]	马爱清, 王洁, 毕永翔. 500 kV交流线路对并行±800 kV直流线路带电作业人员安全防护的影响[J]. 中国电力, 2022, 55(6): 128-136.
[3]	雷兴列, 程登峰, 操松元, 彭勇, 夏令志. ±1100 kV接地极线路带电作业绝缘工具最小有效绝缘长度[J]. 中国电力, 2022, 55(4): 117-122.
[4]	朱凯, 方玉群, 余光凯. 特高压带电作业绝缘工器具试验电压优化及安全裕度[J]. 中国电力, 2021, 54(7): 132-140.
[5]	张敏, 方健, 王红斌, 罗林欢, 郝方舟, 杨帆, 林翔. 多功能配电房状态监测传感器的设计[J]. 中国电力, 2021, 54(2): 36-43.
[6]	雷兴列, 李宇泽, 彭勇, 方玉群, 潜力群. 复合绝缘子导通性缺陷对带电作业安全距离影响[J]. 中国电力, 2019, 52(6): 134-139.
[7]	和彦淼, 李玉杰, 李志兵, 高山, 杨景刚, 李洪涛, 杨蓬. 基于铂电阻的高压隔离开关无源无线测温系统[J]. 中国电力, 2019, 52(5): 83-88,163.
[8]	雷兴列, 彭勇, 肖宾, 刘庭, 刘凯, 张准. 交流特高压复合横担对带电作业安全影响[J]. 中国电力, 2019, 52(12): 54-61.
[9]	黄雄峰, 肖粲然, 张宇娇. 临近带电体作业设备报警装置研制[J]. 中国电力, 2018, 51(4): 1-6,14.
[10]	唐盼，雷兴列，刘凯，刘庭，肖宾，彭勇，苏梓铭，吴田. 特高压钢管塔线路带电作业间隙放电特性研究[J]. 中国电力, 2016, 49(3): 72-75.
[11]	雷冬云，石凯，牛捷，任承贤，邹德华，梅文建，曾文远. ±800 kV特高压直流输电线路引流板发热带电处置方法[J]. 中国电力, 2015, 48(7): 31-34.
[12]	胡霁，邵瑰玮，蔡焕青，付晶，文志科，万丽芬. 变电站设备热力带电除冰技术研究[J]. 中国电力, 2015, 48(6): 80-85.
[13]	方雅琪，彭勇，苏梓铭，唐盼，刘凯，吴田，王力农. 特高压紧凑型线路带电作业人员体表电场仿真计算[J]. 中国电力, 2015, 48(10): 77-83.
[14]	向文祥，肖宾，邬正荣. 特高压带电作业用软质绝缘拉棒的研制[J]. 中国电力, 2014, 47(5): 78-82.
[15]	郑俊杰, 邹建明, 姜锋, 喻剑辉, 韩军杰, 何小新, 徐和璋. 220 kV变电站绝缘子带电干冰清洗车载系统[J]. 中国电力, 2014, 47(4): 118-122.

模态框（Modal）标题

基于ToF 技术的带电作业安全监测与预警系统

The Safety Monitoring and Warning System for Live Working Based on ToF Technology

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics