CN-122024421-A - Live working minimum distance alarm method, device, equipment and medium

CN122024421ACN 122024421 ACN122024421 ACN 122024421ACN-122024421-A

Abstract

The invention relates to a live working minimum distance alarming method, a device, equipment and a medium, wherein the method comprises the steps of obtaining a space transformation relation between a double RGB-D camera and a laser radar and establishing a corresponding unified coordinate system; the method comprises the steps of obtaining camera acquisition data through double RGB-D cameras, generating a three-dimensional area of key points of a human body according to the camera acquisition data in a unified coordinate system, identifying personal protective equipment of an operator based on the camera acquisition data, determining an alarm target area from the three-dimensional area of the key points of the human body according to the identification result of the personal protective equipment, obtaining point cloud data through a laser radar, generating a radar electronic fence corresponding to an electrified body according to the point cloud data, updating the radar electronic fence based on the camera acquisition data, calculating the minimum three-dimensional distance between the alarm target area and the updated radar electronic fence, and outputting a minimum distance alarm according to the minimum three-dimensional distance. The invention has the effect of improving the alarm reliability.

Inventors

WANG YUEPENG
Cui Weichen
MENG YIFEI
QIN SHUO
ZHOU PAN
XIN FENG
MA GUANGYAO
WANG ZHIYONG
FENG HAO
PENG XINLI
DI MEIHUA
DU BINGCHAO
SUN LIANG

Assignees

国网北京市电力公司
北京市京电博源供用电工程安装有限公司

Dates

Publication Date: 20260512
Application Date: 20260206

Claims (10)

1. A live working minimum distance warning method, the method comprising: acquiring a space transformation relation between the double RGB-D cameras and the laser radar, and establishing a corresponding unified coordinate system; Acquiring camera acquisition data through the double RGB-D cameras, and generating a three-dimensional region of key points of a human body according to the camera acquisition data under the unified coordinate system; Identifying personal protective equipment of an operator based on the camera acquisition data, and determining an alarm target area from the human body key point three-dimensional area according to the personal protective equipment identification result; Acquiring point cloud data through the laser radar, generating a radar electronic fence corresponding to an electrified body according to the point cloud data, and updating the radar electronic fence based on the camera acquisition data; And calculating the minimum three-dimensional distance between the alarm target area and the updated radar electronic fence, and outputting a minimum distance alarm according to the minimum three-dimensional distance.
2. The live working minimum distance warning method according to claim 1, wherein the obtaining the spatial transformation relationship between the dual RGB-D cameras and the lidar, and establishing the corresponding unified coordinate system, comprises: acquiring calibration data for representing the relative position relationship between the double RGB-D cameras and the laser radar; determining a spatial transformation relationship between the dual RGB-D camera coordinate system and the laser radar coordinate system based on the calibration data; and constructing the corresponding unified coordinate system based on the spatial transformation relation, and generating corresponding coordinate transformation parameters.
3. The live working minimum distance warning method according to claim 2, wherein the acquiring camera acquisition data by the dual RGB-D camera, generating a three-dimensional region of a human body key point according to the camera acquisition data in the unified coordinate system, comprises: Mapping the camera acquisition data to the unified coordinate system based on the coordinate conversion parameters to obtain the camera acquisition data in the unified coordinate system; extracting human body key points of an operator according to the camera acquisition data under the unified coordinate system to obtain human body key point information; Determining three-dimensional coordinates corresponding to the human body key point information according to the human body key point information and the camera acquisition data under a unified coordinate system to obtain a human body key point three-dimensional coordinate set; and constructing the three-dimensional region of the human body key points based on the three-dimensional coordinate set of the human body key points.
4. The live working minimum distance warning method according to claim 1, wherein the identifying personal protective equipment of a working person based on the camera acquisition data and determining a warning target area from the human body key point three-dimensional area according to a personal protective equipment identification result comprises: Identifying personal protective equipment of the operator based on the camera acquired data to obtain a personal protective equipment identification result; determining an insufficiently protected joint set according to the personal protective equipment identification result; And extracting a corresponding three-dimensional region from the three-dimensional region of the human body key point according to the joint set, and performing region combination to generate the alarm target region.
5. The live working minimum distance warning method according to claim 4, wherein the step of extracting the corresponding three-dimensional region from the three-dimensional region of the human body key point according to the joint set and performing region combination to generate the warning target region includes: determining a joint bone segment corresponding to each insufficiently protected joint based on the insufficiently protected joint set; Extracting three-dimensional areas corresponding to the joint bone segments from the three-dimensional areas of the key points of the human body aiming at the joint bone segments, and performing expansion treatment on the three-dimensional areas according to a preset space expansion rule to obtain joint bone segment expansion areas; performing region combination on each joint bone segment expansion region to generate the alarm target region; and synchronously updating the alarm target area according to the updating result of the three-dimensional area of the human body key point.
6. The live working minimum distance warning method according to claim 2, wherein the acquiring point cloud data by the laser radar, generating a radar electronic fence corresponding to a live body according to the point cloud data, and updating the radar electronic fence based on the camera acquisition data, comprises: Mapping the point cloud data to the unified coordinate system based on the coordinate conversion parameters to obtain the point cloud data in the unified coordinate system; extracting target point cloud data corresponding to the charged body from the point cloud data under a unified coordinate system, and generating the radar electronic fence based on the target point cloud data; And acquiring change information of the charged body based on the camera acquired data, and correcting the radar electronic fence according to the change information to obtain the updated radar electronic fence.
7. The live working minimum distance warning method according to claim 1, wherein the calculating the minimum three-dimensional distance between the warning target area and the updated radar electronic fence and outputting a minimum distance warning according to the minimum three-dimensional distance comprises: Carrying out nearest distance solving based on the alarm target area and the updated radar electronic fence to obtain the minimum three-dimensional distance; comparing the minimum three-dimensional distance with a preset safety threshold value, and generating an alarm judging result according to the comparison result; Outputting the minimum distance alarm according to the alarm judging result, and applying a preset alarm stabilization rule to the minimum distance alarm.
8. A live working minimum distance warning device, the device comprising: The coordinate building module is used for obtaining the space transformation relation between the double RGB-D cameras and the laser radar and building a corresponding unified coordinate system; the key area construction module is used for acquiring camera acquisition data through the double RGB-D cameras and generating a three-dimensional area of key points of a human body according to the camera acquisition data under the unified coordinate system; The protection judging module is used for identifying personal protective equipment of an operator based on the camera acquisition data and determining an alarm target area from the three-dimensional area of the key point of the human body according to the personal protective equipment identification result; The fence updating module is used for acquiring point cloud data through the laser radar, generating a radar electronic fence corresponding to the charged body according to the point cloud data, and updating the radar electronic fence based on the camera acquisition data; And the distance alarm module is used for calculating the minimum three-dimensional distance between the alarm target area and the updated radar electronic fence and outputting a minimum distance alarm according to the minimum three-dimensional distance.
9. An electronic device comprising a processor and a memory, the processor being configured to execute a computer program stored in the memory to implement the steps of the live working minimum distance warning method according to any one of claims 1 to 7.
10. A computer readable storage medium storing at least one instruction which when executed by a processor performs the steps of the live working minimum distance warning method according to any one of claims 1 to 7.

Description

Live working minimum distance alarm method, device, equipment and medium Technical Field The invention belongs to the technical field of live working safety protection, and particularly relates to a live working minimum distance alarming method, a device, equipment and a medium. Background At present, the relative position of the space between an operator and a live body in a live working scene is in a dynamic change state, and constraints such as personnel posture change, movement of a working carrier, on-site environment interference and the like exist in the working process, so that the real-time monitoring and alarming of a safe distance are required to keep stability and consistency under continuous working conditions. In the prior art, the live working safety distance monitoring generally takes the space positions of operators and live bodies as the judgment basis and outputs an alarm, is easily influenced by space positioning fluctuation and operation dynamic change in the actual working process, and causes jitter or misjudgment of a distance judgment result in a critical state, thereby influencing the reliability of the alarm. Disclosure of Invention The invention aims to provide a live working minimum distance alarm method, a live working minimum distance alarm device, live working minimum distance alarm equipment and a live working minimum distance medium, so as to solve the technical problem that the reliability of an alarm is affected due to the fact that the position judgment is adopted to drive the alarm under the dynamic change of the operation in the existing safety distance monitoring method. In order to achieve the above purpose, the present invention adopts the following technical scheme: The invention provides a live working minimum distance warning method, which comprises the following steps: acquiring a space transformation relation between the double RGB-D cameras and the laser radar, and establishing a corresponding unified coordinate system; Acquiring camera acquisition data through the double RGB-D cameras, and generating a three-dimensional region of key points of a human body according to the camera acquisition data under the unified coordinate system; Identifying personal protective equipment of an operator based on the camera acquisition data, and determining an alarm target area from the human body key point three-dimensional area according to the personal protective equipment identification result; Acquiring point cloud data through the laser radar, generating a radar electronic fence corresponding to an electrified body according to the point cloud data, and updating the radar electronic fence based on the camera acquisition data; And calculating the minimum three-dimensional distance between the alarm target area and the updated radar electronic fence, and outputting a minimum distance alarm according to the minimum three-dimensional distance. By adopting the technical scheme, the spatial transformation relation between the double RGB-D cameras and the laser radar is acquired, a unified coordinate system is established, camera acquisition data and point cloud data are constrained to be expressed and calculated under the same spatial reference, so that the consistency and comparability of subsequent spatial distance calculation are improved, a human body key point three-dimensional area is generated according to the camera acquisition data under the unified coordinate system, the gesture and key parts of an operator can be described in a three-dimensional mode, so that the spatial characterization capability of dynamic change of the operator is improved, personal protective equipment is identified based on the camera acquisition data, an alarm target area is determined from the human body key point three-dimensional area, the distance detection is focused on the spatial range corresponding to a risk part, so that the false alarm probability caused by participation calculation of non-key parts is reduced, radar electronic fences are generated according to the point cloud data, the camera acquisition data are updated, the spatial boundary of a charged body can keep fit along with scene change, the reliability and stability of minimum distance alarm are improved, the minimum three-dimensional distance between the alarm target area and the updated radar electronic fences are calculated, the minimum three-dimensional distance between the alarm target area and the updated radar electronic fences is output alarm, and the human body approach performance is judged, and the safety risk performance is quantized, so that the safety and the safety risk performance can be judged in time. The present invention may be further configured in an example to obtain a spatial transformation relationship between the dual RGB-D camera and the lidar, and establish a corresponding unified coordinate system, including: acquiring calibration data for representing the relative position relationship betw