Intelligent wearable ground electric leakage early warning device and method

Abstract

The invention discloses an intelligent wearable ground electric leakage early warning device and method. The method comprises the steps that an intelligent calculation module reconstructs left and right foot broken line walking tracks according to signals of an acceleration sensor and a geomagnetic sensor; performing electric field gradient analysis on the acquired left and right foot voltage difference signals and step voltage difference signals in combination with left and right foot broken line walking tracks; when the intelligent calculation module finds that the electric field changes suddenly, a signal is sent to the early warning output module, an alarm is given out through the early warning output module, and the position of the electric leakage power supply is output. According to the application, an alarm can be given and electric leakage position information can be output when obvious electric field sudden change is found, early warning identification of a high-risk area is realized, and personal safety is protected.

Description

Technical Field

[0001] This application relates to the technical field of leakage warning, and particularly to an intelligent wearable ground leakage warning device and method. Background Art

[0002] Currently, in scenarios such as working in a high-voltage environment, flood, earthquake relief, etc., it is impossible to accurately know the leakage location in high-risk areas, thus threatening the personal safety of relevant personnel. Most existing wearable leakage detection devices (such as wrist-type electric field detectors) can only sense the presence or absence of the surrounding electric field, are difficult to accurately give the leakage location coordinates, cannot form a continuous trajectory to guide personnel to avoid, and do not have the ability to dynamically locate the leakage source as people walk. In addition, some devices, such as traditional buried electrode type early warning devices, rely on environmental factors such as soil humidity and conductivity, have poor stability, and need to be pre-laid, making it difficult to be used in complex post-disaster sites. Moreover, most existing leakage detection devices are mainly based on single-point measurement, lacking a method to reconstruct the personnel position trajectory using motion sensing (such as acceleration, geomagnetism), and unable to combine the voltage difference with the personnel walking route for gradient analysis. Even if some solutions introduce machine learning or prediction algorithms, they are mostly for macro power grid fault warning and do not have the ability to analyze the electric field gradient of the "human-ground" interaction at the micro level. Summary of the Invention

[0003] In view of this, this application provides an intelligent wearable ground leakage warning device and method, which can detect and warn against a leakage environment harmful to the human body, and avoid electric shock injuries to the human body.

[0004] This application discloses an intelligent wearable ground leakage warning device, which is composed of a voltage detection part and an electric field tracking part; The voltage detection part consists of a left-foot voltage detection circuit installed on the upper surface of the left shoe, a left-foot positive electrode and a left-foot negative electrode located on the left sole, a right-foot voltage detection circuit installed on the upper surface of the right shoe, a right-foot positive electrode and a right-foot negative electrode located on the right sole, and a left-right foot step voltage difference detection circuit assembled on the belt; the left-foot voltage detection circuit is arranged between the left-foot positive electrode and the left-foot negative electrode; the right-foot voltage detection circuit is arranged between the right-foot positive electrode and the right-foot negative electrode; the left-right foot step voltage difference detection circuit is connected to the left-foot positive electrode and the right-foot positive electrode through signal connection lines; The electric field tracking part includes an acceleration sensor, a geomagnetic sensor, an intelligent calculation module, and a warning output module; the intelligent calculation module is respectively connected to the left-right foot step voltage difference detection circuit, the left-foot voltage detection circuit, the right-foot voltage detection circuit, the acceleration sensor, the geomagnetic sensor, and the warning output module.

[0005] Further, the electric field tracking part further includes a power supply module; The power supply module is respectively connected to the left - right foot step - voltage difference detection circuit, the left - foot voltage detection circuit, the right - foot voltage detection circuit, the intelligent calculation module, the acceleration sensor, the geomagnetic sensor, and the warning output module through power supply wires, and is used to supply power to the left - right foot step - voltage difference detection circuit, the left - foot voltage detection circuit, the right - foot voltage detection circuit, the intelligent calculation module, the acceleration sensor, the geomagnetic sensor, and the warning output module; The intelligent calculation module is respectively connected to the left - right foot step - voltage difference detection circuit, the left - foot voltage detection circuit, the right - foot voltage detection circuit, the acceleration sensor, the geomagnetic sensor, and the warning output module through signal connection lines.

[0006] This application also discloses an intelligent wearable ground leakage warning method, which is applicable to the above - mentioned intelligent wearable ground leakage warning device, and includes: Step 1: The intelligent calculation module reconstructs the left - right foot broken - line walking trajectory according to the signals of the acceleration sensor and the geomagnetic sensor; Step 2: Combine the left - foot voltage difference, the right - foot voltage difference, and the step - voltage difference signals for electric - field gradient analysis to obtain a two - dimensional electric - field vector; Step 3: Based on the left - right foot broken - line walking trajectory and the two - dimensional electric - field vector, obtain the position of the leakage power supply. When the intelligent calculation module detects an electric - field mutation, it sends a signal to the warning output module, and the warning output module issues an alarm and outputs the position of the leakage power supply.

[0007] Further, the Step 1 includes: Establish a rectangular coordinate system XOY, take the due - north direction as the positive direction of the Y - axis, take the due - east direction as the positive direction of the X - axis, and take the human body walking starting position = as the coordinate origin; Starting from the human body walking starting position = and going forward, the two - dimensional space coordinates of each subsequent step are , where , and are the abscissa and ordinate of the th step, and n is the total number of steps; Measure the maximum value and the minimum value of the acceleration within the step length of the th step through the acceleration sensor, and calculate the current step length through the following formula:

[0008] where represents the empirical calibration coefficient; The heading angle of the nth step is measured by a geomagnetic sensor . The heading angle refers to the angle between the direction of the step length and due north; based on the heading angle and the step length , the zigzag walking trajectories of the left and right feet are reconstructed, and the accumulative calculation is performed according to the direction and step length of each step:

[0009] When the left - foot voltage detection circuit measures that the left - foot voltage difference decreases and the acceleration sensor measures that the acceleration increases, it is determined that the left foot is stepping out; when the right - foot voltage detection circuit measures that the right - foot voltage difference decreases and the acceleration sensor measures that the acceleration increases, it is determined that the right foot is stepping out, thereby obtaining the relative positions of the left and right feet and constructing the zigzag walking trajectories of the left and right feet.

[0010] Furthermore, during walking, the heading of each step of the left shoe is perpendicular to the line connecting the positive and negative electrodes of the left foot, and the heading of each step of the right shoe is perpendicular to the line connecting the positive and negative electrodes of the right foot.

[0011] Furthermore, the step 2 includes: Step 21: According to the step - voltage difference detection circuit for the left and right feet, measure the step - voltage difference between the positive electrode of the left foot and the positive electrode of the right foot . Based on the step - voltage difference and the distance between the positive and negative electrodes of the left foot is , and the distance between the positive and negative electrodes of the right foot is , obtain the longitudinal component of the electric field ; Step 22: Obtain the longitudinal component of the electric field and the transverse component of the electric field , and obtain the two - dimensional electric - field vector through the electric - field gradient model.

[0012] Furthermore, the step 21 includes: The left - foot voltage detection circuit measures the voltage of the positive electrode of the left foot as and the voltage of the negative electrode of the left foot as . The voltage difference between the two is the left - foot voltage difference , which reflects the local transverse electric - field distribution of the left foot; the right - foot voltage detection circuit measures the voltage of the positive electrode of the right foot as and the voltage of the negative electrode of the right foot as . The voltage difference between the two is the right - foot voltage difference , which reflects the local transverse electric - field distribution of the right foot; When the stepping - out foot is the left foot, the calculation formula for the step - voltage difference is:

[0013] When the stepping foot is the right foot, the step voltage difference The calculation formula is:

[0014] The longitudinal component of the electric field is obtained through the following formula :

[0015] Wherein, is the step length; The said step 22 includes: When the stepping foot is the left foot, the transverse component of the electric field is expressed as:

[0016] When the stepping foot is the right foot, the transverse component of the electric field is expressed as:

[0017] Establish the following electric field gradient model, the two-dimensional electric field vector is expressed as the superposition of the longitudinal component of the electric field and the transverse component of the electric field : .

[0018] Furthermore, in the said step 3, according to the two-dimensional electric field vector and the two-dimensional space coordinates of each step , the position of the leakage power supply is obtained; The obtaining of the position of the leakage power supply according to the two-dimensional electric field vector and the two-dimensional space coordinates of each step includes: During the forward movement of the human body, multiple groups ( , , ) are measured, and multiple two-dimensional electric field vectors are calculated; Combined with the position coordinates , the position of the leakage power supply is calculated through the following formula , ):

[0019] Wherein, is the function to find the minimum value, is the modulus symbol; At each walking position coordinate , the least squares method is used for estimation , The estimated value of is:

[0020] Substitute back into the position calculation formula of the leakage power supply to eliminate and turn it into a function that only contains the independent variable . Solve the following formula through the gradient descent method, grid search or other optimization methods to obtain the position of the leakage power supply :

[0021] Furthermore, when using the gradient descent method, define the objective loss function as , take the partial derivatives of respectively, set the learning rate to , and iterate until the objective loss function converges to obtain the position of the leakage power supply . The objective loss function and the iterative update formula are:

[0022]

[0023]

[0024] Among them, is the derivative symbol; Or, When using the grid search method, in the search area D×D near the human body, divide the grid by sampling once every g, and there are a total of (D 2 / g 2 ) candidate positions of the leakage power supply . For each candidate position of the leakage power supply , calculate the function , and find the minimum value of to obtain the position of the leakage power supply . D is the length and width of the search area.

[0025] Furthermore, it also includes: When the leakage power supply is alternating current, the left foot voltage detection circuit measures the left foot voltage difference and takes the peak value of the modulus of the measured value. The right foot voltage difference takes the peak value of the modulus of the measured value.

[0026] Due to the adoption of the above technical solutions, the present application has the following advantages: 1. This application realizes high-precision leakage current positioning and real-time warning for wearable devices in complex environments. The advantages are that through the synchronous acquisition of positive and negative electrode pressure measurements on the left and right shoe soles and the step voltage difference, combined with the reconstruction of the broken-line walking trajectory using acceleration and geomagnetism, high-precision real-time positioning of the leakage power source on a two-dimensional plane is achieved. Based on the electric field gradient model and the least squares / gradient descent optimization algorithm, the leakage point coordinates can be continuously updated during the movement of the person. By combining the pace rhythm and the step voltage difference, a dynamic electric field gradient vector field is formed to realize the dynamic mapping of the leakage power source. This device does not require pre-laying electrodes or external large-scale equipment, is comfortable to wear and can be quickly deployed, making up for the deficiencies of the existing technology such as rough positioning, poor anti-interference ability, and bulky volume.

[0027] 2. This application can give an alarm and output the leakage location information when a significant electric field mutation is detected, realizing the early warning and identification of high-risk areas, avoiding the human body getting closer to the leakage location, and protecting personal safety. This method has important application significance in scenarios such as working in a strong electricity environment, flood and earthquake relief. Brief Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments recorded in the embodiments of this application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0029] Figure 1 It is a schematic diagram of the structure and composition of an intelligent wearable ground leakage warning device according to an embodiment of this application; Figure 2 It is a schematic diagram of signal transmission and power supply for each part of an intelligent wearable ground leakage warning device according to an embodiment of this application; Figure 3 It is a schematic diagram of trajectory reconstruction of an intelligent wearable ground leakage warning device according to an embodiment of this application; Figure 4 It is a schematic diagram of the flow of an intelligent wearable ground leakage warning method according to an embodiment of this application; Brief Description of the Drawings: 1 - Step voltage difference detection circuit for left and right feet, 11 - Left shoe, 110 - Left foot voltage detection circuit, 111 - Left foot positive electrode, 112 - Left foot negative electrode, 113 - Left shoe sole, 12 - Right shoe, 120 - Right foot voltage detection circuit, 121 - Right foot positive electrode, 122 - Right foot negative electrode, 123 - Right shoe sole, 2 - Belt, 3 - Intelligent computing module, 4 - Acceleration sensor, 5 - Geomagnetic sensor, 6 - Warning output module, 7 - Power supply module, 8 - Signal connection wire, 9 - Power supply wire. Detailed Description of the Embodiment

[0030] The present application will be further described in conjunction with the accompanying drawings and embodiments. The described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art shall fall within the scope of protection of the embodiments of the present application.

[0031] Referring to Figure 1 and Figure 2 , an embodiment of an intelligent wearable ground leakage warning device is provided in the present application, which is composed of a voltage detection part and an electric field tracking part; The voltage detection part consists of a left-foot voltage detection circuit 110 installed on the upper surface of the left shoe 11, a left-foot positive electrode 111 and a left-foot negative electrode 112 located on the left shoe sole 113, a right-foot voltage detection circuit 120 installed on the upper surface of the right shoe 12, a right-foot positive electrode 121 and a right-foot negative electrode 122 located on the right shoe sole 123, and a left-right foot step voltage difference detection circuit 1 assembled on the belt 2; the left-foot voltage detection circuit 110 is arranged between the left-foot positive electrode 111 and the left-foot negative electrode 112; the right-foot voltage detection circuit 120 is arranged between the right-foot positive electrode 121 and the right-foot negative electrode 122; the left-right foot step voltage difference detection circuit 1 is connected to the left-foot positive electrode 111 and the right-foot positive electrode 121 through a signal connection wire 8; The electric field tracking part includes an acceleration sensor 4, a geomagnetic sensor 5, an intelligent calculation module 3, and a warning output module 6; the intelligent calculation module 3 is respectively connected to the left-right foot step voltage difference detection circuit 1, the left-foot voltage detection circuit 110, the right-foot voltage detection circuit 120, the acceleration sensor 4, the geomagnetic sensor 5, and the warning output module 6.

[0032] Optionally, the electric field tracking part further includes a power supply module 7; The power supply module 7 is respectively connected to the left-right foot step voltage difference detection circuit 1, the left-foot voltage detection circuit 110, the right-foot voltage detection circuit 120, the intelligent calculation module 3, the acceleration sensor 4, the geomagnetic sensor 5, and the warning output module 6 through power supply wires, and is used to supply power to the left-right foot step voltage difference detection circuit 1, the left-foot voltage detection circuit 110, the right-foot voltage detection circuit 120, the intelligent calculation module 3, the acceleration sensor 4, the geomagnetic sensor 5, and the warning output module 6; The intelligent calculation module 3 is respectively connected to the left-right foot step voltage difference detection circuit 1, the left-foot voltage detection circuit 110, the right-foot voltage detection circuit 120, the acceleration sensor 4, the geomagnetic sensor 5, and the warning output module 6 through signal connection wires.

[0033] Referring to Figure 4 , an embodiment of an intelligent wearable ground leakage warning method is also disclosed in the present application, which is applicable to the intelligent wearable ground leakage warning device described in the above embodiment, and includes: Step 1: The intelligent computing module 3 reconstructs the left and right foot polyline walking trajectories according to the signals of the acceleration sensor 4 and the geomagnetic sensor 5; Step 2: Combine the left foot voltage difference, the right foot voltage difference and the step voltage difference signals to perform an electric field gradient analysis to obtain a two-dimensional electric field vector; Step 3: Based on the left and right foot polyline walking trajectories and the two-dimensional electric field vector, obtain the position of the leakage power supply. When the intelligent computing module 3 detects an electric field mutation, it sends a signal to the warning output module 6, issues an alarm through the warning output module 6, and outputs the position of the leakage power supply.

[0034] Optionally, the said Step 1 includes: Refer to Figure 3 , establish a rectangular coordinate system XOY, take the due north direction as the positive direction of the Y axis, take the due east direction as the positive direction of the X axis, and take the human body walking starting position = as the coordinate origin; Starting from the human body walking starting position = , the two-dimensional space coordinates of each subsequent step are , where , and are the abscissa and ordinate of the th step, and n is the total number of steps; Measure the maximum value of the acceleration within the step length of the th step and the minimum value through the acceleration sensor 4, and calculate the current step length through the following formula:

[0035] where represents the empirical calibration coefficient; Measure the heading angle of the th step through the geomagnetic sensor 5. The heading angle refers to the angle between the step direction and the due north, with the clockwise direction being positive and the range being 0 to 360°; Reconstruct the left and right foot polyline walking trajectories through the heading angle and the step length , and accumulate according to the direction and step length of each step:

[0036] When the left foot voltage detection circuit 110 measures that the left foot voltage difference decreases and the acceleration sensor 4 measures that the acceleration increases, it is judged that the left foot is stepped out; When the right foot voltage detection circuit 120 measures the right foot voltage difference When it decreases and the acceleration sensor 4 measures that the acceleration increases, it is determined that the step is the right foot, so as to obtain the relative positions of the left and right feet, and a broken-line walking trajectory of the left and right feet is constructed. The broken-line walking trajectory of the left and right feet is composed of the connection lines of the relative positions of the left and right feet.

[0037] Optionally, before walking with the device, calibration is required. The north is used as the Y-axis of the coordinate system, and the origin (0, 0) can be selected as the starting position. When walking, the heading of each step of the left shoe 11 is perpendicular to the connection line between the left positive electrode 111 and the left negative electrode 112 of the left foot (reference Figure 3 ), and the heading of each step of the right shoe 12 is perpendicular to the connection line between the right positive electrode 121 and the right negative electrode 122 of the right foot; each step can move forward, backward, or sideward at any angle.

[0038] Optionally, step 2 includes: Step 21: Detect the step voltage difference between the left positive electrode 111 and the right positive electrode 121 according to the step voltage difference detection circuit 1 of the left and right feet (reflecting the change of the longitudinal component of the electric field in the human body's forward direction ), according to the step voltage difference and the distance between the left positive electrode 111 and the left negative electrode 112 is , the distance between the right positive electrode 121 and the right negative electrode 122 is , to obtain the longitudinal component of the electric field ; Step 22: Obtain the longitudinal component of the electric field and the transverse component of the electric field , and obtain the two-dimensional electric field vector through the electric field gradient model.

[0039] Optionally, step 21 includes: The left-foot voltage detection circuit measures the voltage of the left positive electrode as and the voltage of the left negative electrode as , and the voltage difference between the two is the left-foot voltage difference , reflecting the local transverse electric field distribution of the left foot; the right-foot voltage detection circuit measures the voltage of the right positive electrode as and the voltage of the right negative electrode as , and the voltage difference between the two is the right-foot voltage difference , reflecting the local transverse electric field distribution of the right foot; when the stepped foot is the left foot, the step voltage difference The calculation formula is:

[0040] When the stepped foot is the right foot, the step voltage difference The calculation formula is:

[0041] The longitudinal component of the electric field is obtained through the following formula :

[0042] where is the step size; Step 22 includes: When the foot taken is the left foot, the transverse component of the electric field is expressed as:

[0043] When the foot taken is the right foot, the transverse component of the electric field is expressed as:

[0044] The following electric field gradient model is established, and the two-dimensional electric field vector is expressed as the superposition of the longitudinal component of the electric field and the transverse component of the electric field :

[0045] Optionally, in step 3, according to the two-dimensional electric field vector and the two-dimensional spatial coordinates at each step , the position of the leakage power source is obtained; The obtaining of the position of the leakage power source according to the two-dimensional electric field vector and the two-dimensional spatial coordinates at each step includes: During the forward movement of the human body, multiple sets of ( , , ) are measured, and multiple two-dimensional electric field vectors are calculated; Combined with the position coordinates , the position of the leakage power source is calculated through the following formula ):

[0046] where is the function to find the minimum value, is the modulus symbol; At each walking position coordinate , the least squares method is used to estimate , The estimated value of is:

[0047] Substitute Substitute it into the position calculation formula of the leakage power supply to eliminate and turn it into a function that only contains independent variables . By using the gradient descent method, grid search or other optimization methods to solve the following formula, the position of the leakage power supply can be obtained :

[0048] Optionally, when using the gradient descent method, define the target loss function as , and take the partial derivatives with respect to respectively. Set the learning rate to . Iterate until the target loss function converges, and the position of the leakage power supply can be obtained . The target loss function and the iterative update formula are:

[0049]

[0050]

[0051] where is the derivative symbol; Or, when using the grid search method, within the search area D×D near the human body, divide the grid by sampling once every g. There are a total of (D 2 / g 2 ) candidate positions of the leakage power supply . For each candidate position of the leakage power supply , calculate the function . Find the minimum value of to obtain the position of the leakage power supply . D is the length and width of the search area.

[0052] Optionally, it further includes: When the leakage power supply is an alternating current, the left-foot voltage detection circuit 110 measures the left-foot voltage difference and takes the peak value of the modulus of the measured value, and the right-foot voltage difference takes the peak value of the modulus of the measured value.

[0053] This application detects and warns of the electric leakage environment that is harmful to the human body, avoiding electric shock injuries to the human body. When working, a person wears two shoes (left shoe and right shoe). Electrodes in contact with the ground (left positive electrode, left negative electrode, right positive electrode, right negative electrode) are installed at the bottoms of the two shoes. A left-foot detection circuit and a right-foot detection circuit are installed on the uppers of the two shoes. A left-right foot step voltage difference detection circuit and a power supply module (power supply battery) are installed at the waist and connected to the single-foot detection circuits (left-foot detection circuit and right-foot detection circuit) located at the feet through metal wires passing through the trousers. The electric field tracking part receives the voltage signals obtained by the three detection circuits, and at the same time obtains the signals of the acceleration sensor and the geomagnetic sensor. According to the signals of the acceleration sensor and the geomagnetic sensor, the walking direction and distance of the human body are intelligently calculated. At the same time, the obtained single-foot voltage difference signal and step voltage difference signal are subjected to electric field gradient analysis in combination with the walking direction and distance. When a significant electric field gradient distribution is found, an alarm output is generated, and the output signal includes the direction information of possible electric leakage, avoiding the human body getting closer to the electric leakage position and protecting personal safety. This method has important application significance in scenarios such as working in a high-voltage environment, flood and earthquake relief, etc.

[0054] It should be noted that in this application, in order to facilitate description, the terms "left foot" and "right foot" are added in front of some technical terms. For example, the left positive electrode and the right positive electrode indicate the positive electrode located on the left foot and the positive electrode located on the right foot respectively. For example, the left-foot voltage detection circuit and the right-foot voltage detection circuit indicate that the actual voltage detection circuits are located on the left foot and the right foot respectively. For example, the left-right foot step voltage difference detection circuit indicates the voltage difference detection circuit used to measure the voltage difference between the left foot and the right foot. The structure of the voltage difference detection circuit in this application is not limited here, as long as it can achieve voltage measurement, etc.

[0055] The following combines specific application scenarios to elaborate on the technical solution of this application in detail: Suppose a rescue worker is walking in a flood-stricken area. First, calibration is performed to establish a rectangular coordinate system XOY, with the due north direction as the positive direction of the Y-axis, the due east direction as the positive direction of the X-axis, and the starting position of the human body's walking = as the coordinate origin. The specific technical solution is as follows: (1)Reconstruct the left-right foot broken-line walking trajectory Calibrate to obtain the initial position (x0,y0)=(0,0), and then obtain the acceleration data of 5 consecutive steps (including the maximum value and the minimum value ) and the heading angle, so as to calculate the walking coordinates:

[0056] Among them, k represents the empirical calibration coefficient; The acceleration signal of each step is shown in Table 1, k = 0.5 (to be determined by calibration).

[0057] Table 1 Acceleration signal of each step

[0058] Table 1 Acceleration signal of each step (continued table)

[0059] Table 1 Acceleration signal of each step (continued table)

[0060] The heading angle of the step is measured by the geomagnetic sensor , and the heading angle refers to the angle between the step direction and the due north; through the heading angle and the step length the left - and right - foot broken - line walking trajectories are reconstructed, and accumulated according to the direction and step length of each step:

[0061] When the left - foot voltage detection circuit measures that the left - foot voltage difference decreases and the acceleration sensor measures that the acceleration increases, it is judged that the left foot is stepped out; when the right - foot voltage detection circuit measures that the right - foot voltage difference decreases and the acceleration sensor measures that the acceleration increases, it is judged that the right foot is stepped out, so as to obtain the relative positions of the left and right feet and construct the left - and right - foot broken - line walking trajectories. When walking, the heading of each step of the left shoe is perpendicular to the line connecting the positive and negative electrodes of the left foot, and the heading of each step of the right shoe is perpendicular to the line connecting the positive and negative electrodes of the right foot.

[0062] The heading angle, step length and trajectory coordinates of each step are shown in Table 2.

[0063] Table 2 Heading angle, step length and trajectory coordinates of each step

[0064] Final trajectory (m): left foot (0.00, 0.43) → right foot (0.36, 0.73) → left foot (0.91, 0.73) → right foot (1.49, 0.73) → left foot (2.10, 0.73) → right foot (2.66, 0.17) → left foot (2.66, - 0.39) → right foot (2.66, - 0.97) (2)Electric - field gradient analysis: According to the step - voltage difference between the positive electrode of the left foot and the positive electrode of the right foot measured by the left - and right - foot step - voltage - difference detection circuit , according to the step voltage difference and the distance between the left - foot positive electrode and the left - foot negative electrode is , the distance between the right - foot positive electrode and the right - foot negative electrode is , the longitudinal component of the electric field is obtained .

[0065] Specifically, calculate the longitudinal electric - field component and the transverse electric - field component of each step, and the formulas are as follows: The voltage detected by the left - foot voltage - detection circuit for the left - foot positive electrode is and the voltage for the left - foot negative electrode is , and the voltage difference between the two is the left - foot voltage difference , which reflects the local transverse - electric - field distribution of the left foot; the voltage detected by the right - foot voltage - detection circuit for the right - foot positive electrode is and the voltage for the right - foot negative electrode is , and the voltage difference between the two is the right - foot voltage difference , which reflects the local transverse - electric - field distribution of the right foot; when the stepping foot is the left foot, the step voltage difference The calculation formula is:

[0066] When the stepping foot is the right foot, the step voltage difference The calculation formula is:

[0067] The longitudinal component of the electric field is obtained through the following formula :

[0068] When the stepping foot is the left foot, the transverse electric - field component is expressed as:

[0069] When the stepping foot is the right foot, the transverse electric - field component is expressed as:

[0070] Finally, an electric - field gradient model is established, and the two - dimensional electric - field vector is expressed as the superposition of the longitudinal component of the electric field and the transverse component of the electric field :

[0071] During the forward movement of the human body, multiple groups of ( , , ) Multiple two-dimensional electric field vectors are calculated. ; Among them, the distance between the positive and negative electrodes inside the left foot is and the distance between the positive and negative electrodes inside the right foot is Both are 0.1 m.

[0072] In this embodiment, the true position of the leakage power source is s =(5, 0.67), the leakage power source is direct current (V0 = 1000 V), and the voltage and electric field data (unit: V / m) are shown in Table 3: Table 3 Voltage and Electric Field Data

[0073] (3) Leakage Power Source Position Function and Solution To estimate the position of the leakage power source, combining the position coordinates , the position of the leakage power source is calculated through the following formula :

[0074] Among them, is the function to find the minimum value, is the modulus symbol; At each walking position coordinate , the least squares method is used to estimate , The estimated value of is:

[0075] Substitute back into the leakage power source position calculation formula to eliminate and become a function that only contains the independent variable . Using the gradient descent method to solve, the objective function is:

[0076] The gradient of the position ( , ) is:

[0077]

[0078] Among them, , .

[0079] Initial parameters: Rescuers usually move close to the leakage point, so the end point of the trajectory is used as the initial guess position: 0 = (2.66, -0.97). Set the learning rate to an adaptive value with an initial value of α = 0.01, which gradually decreases later. The number of iterations is 500 to ensure sufficient convergence.

[0080] Convergence result: After iteration, the optimal solution is obtained: = (4.98, 0.65).

[0081] Verification result: From the real position = (5, 0.67), calculate the errors: Δx = 0.02m, Δy = 0.02m. Calculate the error rate: approximately 0.4%. The error is within a reasonable range. At this time, an alarm is issued for the existence of electric leakage ahead to remind the rescue personnel to detour.

[0082] This embodiment demonstrates how to reconstruct the left and right foot polyline walking trajectories from the original sensor data and jointly locate the electric leakage power source with the electric field gradient data. This method can provide dynamic and high-precision hazard warning capabilities for rescue personnel in actual scenarios.

[0083] Finally, it should be noted that: The above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: The specific implementation manners of the present application can still be modified or equivalently replaced, and any modification or equivalent replacement that does not depart from the spirit and scope of the present application shall be covered by the protection scope of the claims of the present application.

Claims

1. An intelligent wearable ground leakage warning device, characterized in that, It consists of a voltage detection part and an electric field tracking part; The voltage detection part is composed of a left - foot voltage detection circuit installed on the upper surface of the left shoe, a left - foot positive electrode and a left - foot negative electrode located on the left sole, a right - foot voltage detection circuit installed on the upper surface of the right shoe, a right - foot positive electrode and a right - foot negative electrode located on the right sole, and a left - and right - foot step - voltage difference detection circuit assembled on the belt; the left - foot voltage detection circuit is arranged between the left - foot positive electrode and the left - foot negative electrode; the right - foot voltage detection circuit is arranged between the right - foot positive electrode and the right - foot negative electrode; the left - and right - foot step - voltage difference detection circuit is connected to the left - foot positive electrode and the right - foot positive electrode through a signal connection wire; The electric field tracking part includes an acceleration sensor, a geomagnetic sensor, an intelligent calculation module, and an early - warning output module; the intelligent calculation module is respectively connected to the left - and right - foot step - voltage difference detection circuit, the left - foot voltage detection circuit, the right - foot voltage detection circuit, the acceleration sensor, the geomagnetic sensor, and the early - warning output module.

2. The intelligent wearable ground leakage warning device according to claim 1, wherein, The electric field tracking part also includes a power supply module; The power supply module is respectively connected to the left - and right - foot step - voltage difference detection circuit, the left - foot voltage detection circuit, the right - foot voltage detection circuit, the intelligent calculation module, the acceleration sensor, the geomagnetic sensor, and the early - warning output module through power supply wires, and is used to supply power to the left - and right - foot step - voltage difference detection circuit, the left - foot voltage detection circuit, the right - foot voltage detection circuit, the intelligent calculation module, the acceleration sensor, the geomagnetic sensor, and the early - warning output module; The intelligent calculation module is respectively connected to the left - and right - foot step - voltage difference detection circuit, the left - foot voltage detection circuit, the right - foot voltage detection circuit, the acceleration sensor, the geomagnetic sensor, and the early - warning output module through signal connection wires.

3. An intelligent wearable ground leakage warning method, applicable to the intelligent wearable ground leakage warning device described in claim 1 or 2, characterized in that, Including: Step 1: The intelligent calculation module reconstructs the left - and right - foot broken - line walking trajectories according to the signals of the acceleration sensor and the geomagnetic sensor; Step 2: Combine the left - foot voltage difference, the right - foot voltage difference, and the step - voltage difference signals for electric - field gradient analysis to obtain a two - dimensional electric - field vector; Step 3: Based on the left - and right - foot broken - line walking trajectories and the two - dimensional electric - field vector, obtain the position of the leakage power source. When the intelligent calculation module detects an electric - field mutation, it sends a signal to the early - warning output module, and an alarm is issued through the early - warning output module, and the position of the leakage power source is output.

4. The intelligent wearable ground leakage warning method according to claim 3, characterized in that, The said Step 1 includes: Establish a rectangular coordinate system XOY, with the due north direction as the positive direction of the Y-axis, the due east direction as the positive direction of the X-axis, and the starting position of the human body's walking = as the coordinate origin; Starting from the starting position of human walking = and moving forward, the two-dimensional spatial coordinates of each subsequent step are , where , and are the abscissa and ordinate of the th step, and n is the total number of steps; The maximum acceleration within the step length of each step is measured by an acceleration sensor, and the minimum value is used to calculate the current step length through the following formula : ​ Among them, represents the empirical calibration coefficient; The heading angle of the nth step is measured by a geomagnetic sensor. The heading angle refers to the angle between the step direction and true north. The left and right foot polyline walking trajectories are reconstructed based on the heading angle and step length by accumulation according to the direction and step length of each step: When the left - foot voltage detection circuit measures a decrease in the left - foot voltage difference and the acceleration sensor measures an increase in acceleration, it is determined that the step taken is the left foot; when the right - foot voltage detection circuit measures a decrease in the right - foot voltage difference and the acceleration sensor measures an increase in acceleration, it is determined that the step taken is the right foot, thereby obtaining the relative positions of the left and right feet and constructing a broken - line walking trajectory of the left and right feet.

5. The intelligent wearable ground leakage warning method according to claim 4, wherein When walking, the heading of each step of the left shoe is perpendicular to the line connecting the left - foot positive electrode and the left - foot negative electrode, and the heading of each step of the right shoe is perpendicular to the line connecting the right - foot positive electrode and the right - foot negative electrode.

6. The intelligent wearable ground leakage warning method according to claim 3, wherein, The said Step 2 includes: Step 21: Detect the step voltage difference between the positive electrode of the left foot and the positive electrode of the right foot according to the step voltage difference detection circuit between the left and right feet , according to the step voltage difference and the distance between the positive electrode and the negative electrode of the left foot is , the distance between the positive electrode and the negative electrode of the right foot is , to obtain the longitudinal component of the electric field ; Step 22: Obtain the longitudinal component of the electric field and the transverse component of the electric field , and obtain a two-dimensional electric field vector through the electric field gradient model .

7. The intelligent wearable ground leakage warning method according to claim 6, wherein, The said Step 21 includes: The voltage detected by the left - foot voltage detection circuit for the positive electrode of the left foot is and the voltage for the negative electrode of the left foot is . The voltage difference between the two is the left - foot voltage difference , which reflects the local transverse electric - field distribution of the left foot. The voltage detected by the right - foot voltage detection circuit for the positive electrode of the right foot is and the voltage for the negative electrode of the right foot is . The voltage difference between the two is the right - foot voltage difference , which reflects the local transverse electric - field distribution of the right foot. When the stepped-out foot is the left foot, the step voltage difference The calculation formula is: When the right foot is the stepping foot, the step voltage difference The calculation formula is: The longitudinal component of the electric field is obtained through the following formula :[[]]END]] Among them, is the step size; The said Step 22 includes: When the stepped foot is the left foot, the lateral component of the electric field is expressed as: When the foot stepped out is the right foot, the transverse component of the electric field is expressed as: The following electric field gradient model is established, with the two-dimensional electric field vector expressed as the superposition of the longitudinal component of the electric field and the transverse component of the electric field : 。 8. The intelligent wearable ground leakage warning method according to claim 3, wherein In the said step 3, according to the two-dimensional electric field vector and the two-dimensional spatial coordinates of each step , the position of the leakage power source is obtained; Said according to the two-dimensional electric field vector and the two-dimensional spatial coordinates of each step , to obtain the position of the leakage power source, including: During the forward movement of the human body, multiple groups ( , , ) are measured, and multiple two-dimensional electric field vectors are calculated; Combined position coordinates , calculate the position of the leakage power source through the following formula : Among them, is a function for finding the minimum value, is the modulo symbol; At each walking position coordinate , the least squares method is used for estimation , The estimated value of is as follows: Substitute back into the position calculation formula of the leakage power source to eliminate and turn it into a function that only contains the independent variable . Solve the following formula through the gradient descent method, grid search or other optimization methods to obtain the position of the leakage power source : 。 9. The intelligent wearable ground leakage warning method according to claim 8, wherein, When using the gradient descent method, the objective loss function is defined as , and the partial derivatives are taken with respect to respectively. Set the learning rate to . Iterate until the objective loss function converges to obtain the position of the leakage power supply . The objective loss function and the iterative update formula are as follows: Among them, is the derivative symbol; Or, When using the grid search method, within the search area D×D near the human body, the grid is divided by sampling every g, and there are a total of (D 2 / g 2 ) candidate positions of the leakage power source . For each candidate position of the leakage power source , calculate the function . By finding the minimum value of , the position of the leakage power source can be obtained . D is the length and width of the search area.

10. The intelligent wearable ground leakage warning method according to claim 4, 5, 7, 8 or 9, characterized in that, Also includes: When the leakage power supply is alternating current, the left-foot voltage detection circuit measures the left-foot voltage difference Take the peak value of the modulus of the measured value, and the right-foot voltage difference Take the peak value of the modulus of the measured value.

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