A distributed human-machine active safety interaction system

Abstract

The present invention discloses a distributed human-machine active safety interaction system, including: a base station, an identification card, an alarm device and an information processing module, wherein the identification cards are respectively calibrated as whitelist cards and blacklist cards; if the real-time distance of the whitelist card is within the alarm distance range, the alarm device broadcasts a first prompt message; if the real-time distance of the blacklist card is within the warning distance range, the alarm device and the blacklist card alarm at the same time, and the equipment stops working; if the real-time distance of the whitelist card is within the warning distance range, the alarm device broadcasts a second prompt message. The control key of the present invention is to use a new spatial tetrahedron positioning method based on UWB two-way real-time communication to accurately locate the approaching personnel, and at the same time give an alarm prompt according to the result.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring systems, and in particular to a distributed human-machine active safety interaction system. Background Art

[0002] The existing underground positioning method is to install the locator around the detected device and then calculate it through signal feedback. When the detected device is moving, the movement of the device will cause a large error in the positioning accuracy.

[0003] In mining operations, a large number of large-scale mining equipment and coal transportation equipment such as shuttle cars, shovels, and continuous miners are used. Since they are underground operations, the working environment is dim and visibility is low, which increases the difficulty for equipment operators to operate the equipment. The dim environment is not conducive to observation, which may cause harm to other underground workers, and therefore safety accidents occur frequently.

[0004] In order to reduce the occurrence of safety accidents in underground operations, it is of great significance to develop a device that can automatically detect the distance between people and various equipment, and issue an alarm or shut down the equipment based on the detected distance to avoid safety accidents. Summary of the invention

[0005] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide a distributed human-machine active safety interaction system.

[0006] The purpose of the present invention is achieved through the following technical solution: a distributed human-machine active safety interaction system, comprising:

[0007] A base station equipped with an information transceiver module to realize wireless carrier communication and real-time two-way communication, wherein there are multiple base stations, and the base stations are arranged around the detected equipment;

[0008] An identification card worn by staff and equipped with vibration, alarm functions and a tag information transceiver module. There are more than one identification card. Information is transmitted between the identification card and the base station via wireless carrier communication. The identification cards are marked as whitelist cards that are allowed to stay within the set range of the device and blacklist cards that are not allowed to appear within the set range of the device.

[0009] An alarm device with an alarm module, where there is more than one alarm device;

[0010] and an information processing module, which is used to receive and calculate the real-time distance between each identification card and each base station according to the information transmitted by the base station, and compare the real-time distance with the set alarm distance range and warning distance range. If the real-time distance of the blacklist card is within the alarm distance range, the information processing module sends an alarm message to the alarm device and the blacklist card, and the alarm device and the blacklist card sound an alarm at the same time; if the real-time distance of the whitelist card is within the alarm distance range, the alarm device broadcasts the first prompt message;

[0011] If the real-time distance of the blacklist card is within the warning distance range, the alarm device and the blacklist card will sound at the same time, and the equipment will stop working;

[0012] If the real-time distance of the whitelist card is within the warning distance range, the alarm device broadcasts the second prompt information.

[0013] Preferably, the method for calculating the real-time distance between the identification card and each base station is as follows: the information transceiver module carried by the base station has a UWB real-time two-way communication function, and calculates the distance from the identification card to each base station based on the bilateral two-way ranging principle of UWB ultra-wideband; the obtained distance information is placed in an array and arranged in order from small to large, and the base stations that form the first three data in the array are used as base stations for calculating the real-time distance.

[0014] Preferably, the three base stations corresponding to the first three data in the array are the first base station, the second base station and the third base station, and the distance between the first base station and the second base station is K1, the distance between the second base station and the third base station is K2, and the distance between the first base station and the third base station is K3;

[0015] (1) The identification card generates three distances with the three base stations: a distance S1 is generated between the identification card and the first base station, a distance S2 is generated between the identification card and the second base station, and a distance S3 is generated between the identification card and the third base station;

[0016] A space tetrahedron is formed between the first base station, the second base station, the third base station and the identification card, with the identification card as a vertex and the surface formed by the three base stations as a bottom surface;

[0017] (2) In the space tetrahedron, the vertical distance H from the vertex to the bottom surface is calculated by taking the smaller of the vertical distance H, distance S1, distance S2, and distance S3. The distance finally calculated is the final measured distance.

[0018] Derivation of calculation formula:

[0019] (1) Place the tetrahedron in a rectangular coordinate system and obtain the coordinates of the four points of the tetrahedron, which are:

[0020] U1(X1, Y1, Z1), U2(X2, Y2, Z2), U3(X3, Y3, Z3) and U4(0, 0, 0);

[0021] Among them: U4: coordinate information of the identification card in the spatial rectangular coordinate system; U1: coordinate information of the first base station in the spatial rectangular coordinate system; U2: coordinate information of the second base station in the spatial rectangular coordinate system; U3: coordinate information of the third base station in the spatial rectangular coordinate system;

[0022] (2) From Euler's formula, we can know formula 1-1:

[0023]

[0024] Where: V is the volume of the tetrahedron;

[0025] Squaring both sides of the formula gives formula 1-2:

[0026]

[0027] Transposing the second determinant yields formula 1-3:

[0028]

[0029] Formula 1-4 is obtained from the determinant property of the square matrix product:

[0030]

[0031] Formula 1-5 is derived from the scalar product of vectors:

[0032]

[0033] In the formula, X1: the horizontal coordinate of coordinate U1, X2: the horizontal coordinate of coordinate U2; Y1: the vertical coordinate of coordinate U1; Y2: the vertical coordinate of coordinate U2; Z1: the vertical coordinate of coordinate U1; Z2: the vertical coordinate of coordinate U2; S1: the distance information between the identification card and the first base station; S2: the distance information between the identification card and the second base station; the distance between the second base station and the third base station.

[0034] According to formula 1-5, the elements in formula 1-4 are further expanded to obtain formulas 1-6-1 and 1-6-2:

[0035]

[0036]

[0037] (3) Combining Formula 1-2 to Formula 1-6-2, we get Formula 2:

[0038]

[0039] A, B, and C in the formula are:

[0040]

[0041] In formula 2, A: the sum of squared differences in the face triangle formed by S1, S2, and K1; B: the sum of squared differences in the face triangle formed by S3, S2, and K2; C: the sum of squared differences in the face triangle formed by S1, S3, and K3; S1: the distance from the vertex to the first base station; S2: the distance from the vertex to the second base station; S3: the distance from the vertex to the third base station; K1: the distance between the first base station and the third base station; K2: the distance between the first base station and the third base station; K3: the distance between the second base station and the third base station;

[0042] Formula 2-1 is the area of ​​the tetrahedron:

[0043]

[0044] Q: is the area of ​​the bottom surface of the space tetrahedron;

[0045] H: vertical distance from the vertex to the bottom surface;

[0046] V: Volume of the space tetrahedron

[0047] Formula 2-2 The area formula of a triangle:

[0048]

[0049] in:

[0050]

[0051] P: half of the sum of the three sides of the base triangle;

[0052] Thus, we can deduce the area formula of the triangle in formula 2-3:

[0053]

[0054] (4) Combining Formula 2 to Formula 2-3, we can obtain Formula 3 for solving H:

[0055]

[0056] The result H calculated by formula 3 is processed with the set alarm distance range. If the real-time distance of the blacklist card is within the alarm distance range, the information processing module sends an alarm message to the alarm device and the identification card, and the alarm device and the identification card sound an alarm at the same time.

[0057] If the real-time distance of the blacklist card is within the warning distance range, the equipment stops working, and the alarm device and the identification card sound at the same time;

[0058] If the real-time distance of the whitelist card is within the alarm distance range, the alarm device broadcasts the first prompt information;

[0059] If the real-time distance of the whitelist card is within the warning distance range, the alarm device broadcasts the second prompt information.

[0060] An alarm device with an alarm module, wherein there are more than one alarm device; the alarm module has a voice alarm function; the alarm distance range can be set to a range of 1.5 meters to 2.5 meters from the device, and the warning distance range can be set to a range of 1.5 meters from the device.

[0061] Compared with the prior art, the present invention has the following advantages and effects:

[0062] The key to the control of the present invention is to use a new spatial tetrahedron positioning method based on UWB two-way real-time communication to accurately locate approaching personnel and issue an alarm prompt based on the result. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A schematic diagram of the working principle of the device of the present invention when it is a vehicle;

[0064] Figure 2 An example of a schematic diagram of the structure of the present invention;

[0065] Figure 3 It is a structural schematic diagram of the identification card of the present invention;

[0066] Figure 4 This is a schematic diagram of Ben Ming approaching the device on the single person side;

[0067] Figure 5 A schematic diagram of a special situation in which a single person approaches the device of the present invention;

[0068] Figure 6 A schematic diagram of a method for selecting a base station of a distributed human-machine active safety interaction system of the present invention;

[0069] Figure 7 is a schematic diagram of the information processing method of the present invention when two people are close to each other;

[0070] Figure 8 A schematic diagram of the information processing method when multiple persons approach each other according to the present invention;

[0071] Fig. 9 This is a schematic diagram of the present invention where a person wearing a whitelist card does not receive a positioning alarm when the person is within 30 cm of the device;

[0072] Fig.10 It is a schematic diagram of UWB bilateral two-way ranging of the present invention.

[0073] in:

[0074] 1. First base station; 2. Second base station; 3. Third base station; 4. Fourth base station; 5. Fifth base station; 6. Sixth base station; 7. Information processing module; 8. Identification card; 9. Alarm module; 11. Label information transceiver module; 13. Equipment. DETAILED DESCRIPTION

[0075] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0076] The invention discloses a distributed human-machine active safety interaction system, which adopts a new positioning method - a spatial tetrahedron positioning method.

[0077] Reference Figure 1-Figure 10 First, each base station is installed on the equipment to be detected according to the set distance (i.e. the set position), and then the base stations are connected through communication cables, and the serially connected base stations are connected to the information processing module 7. At the same time, the information and the alarm device are also connected, and the alarm safety distance is input into the information processing module 7. The identification card containing the tag information transceiver module 11 is marked as a blacklist card that does not allow people to approach and a whitelist card that allows people to approach. When a person wearing an identification card 8 approaches, the information processing module 7 will first determine the type of the identification card 8, and then determine the distance of the approaching person:

[0078] 1. Since the distances between the base stations are placed according to the set distances, the distances between the base stations K1, K2, K3, etc. can be obtained.

[0079] 2. When a person wearing the identification card 8 approaches the device 13, distance information will be generated between the identification card 8 and the installed base stations, that is, the distance from the identification card 8 to each base station, which are: S1, S2, S3...

[0080] 3. The information processing module 7 will select the base stations required for the spatial tetrahedron positioning technology according to formulas (α) and (β);

[0081]

[0082] Arr(3)=B(i) n (β)

[0083] Where i is the number of base stations and the maximum value is 6; n is the number of identification cards; B(i) n : An array of distances between the base station and the identification card; Arr(3): Take the first three values ​​in the array, S i: It is the distance information between the base station and the identification card 8. Since the maximum number of [the relevant entities] is 6, six distance information, namely S1, S2, S3, S4, S5, and S6, will be generated, which are the distance information between the identification card 8 and the first base station 1, the second base station 2, the third base station 3, the fourth base station 4, the fifth base station 5, and the sixth base station 6 respectively. Also, S1 < S2 < S3 < S4 < S5 < S6. According to the formula ArrB(3) = (S1, S2, S3), the distance information S1 generated between the identification card 8 and the first base station 1, the distance information S2 generated between the identification card 8 and the second base station 2, and the distance information S3 generated between the identification card 8 and the third base station 3 are screened out. Then, calculations are performed according to the spatial tetrahedron positioning algorithm.

[0084] 4. The information processing module 7 will form a tetrahedron with the obtained distance information, with the person wearing the identification card 8 as the vertex, the plane formed by the base stations as the base, and the received distance as the edge length. And the tetrahedron will be placed in the three-dimensional space formed by the information processing module 7 with the person wearing the identification card 8 as the origin and the base stations as the other vertices, making the formed tetrahedron a tetrahedron in space.

[0085] 5. A perpendicular line H is drawn from the vertex to the base, and finally the length of H is obtained as the final measured distance.

[0086] 6. Finally, through Euler's formula and the triangle theorem, the formula for H is obtained as follows:

[0087] Formula 3:

[0088]

[0089] Where:

[0090] H: The perpendicular distance from the vertex to the base;

[0091] S1: The distance from the vertex to the first base station;

[0092] S2: The distance from the vertex to the second base station;

[0093] S3: The distance from the vertex to the third base station;

[0094] K1: The distance between the first base station 1 and the third base station 3;

[0095] K2: The distance between the first base station 1 and the second base station 2;

[0096] K3: The distance between the second base station 2 and the third base station 3;

[0097] A: The sum of the squared differences in the triangle formed by S1, S2, and K1;

[0098] B: The sum of the squared differences in the triangle formed by S3, S2, and K2;

[0099] C: the sum of squares of differences in the triangle formed by S1, S3, and K3;

[0100] According to the calculation result, an alarm is given, the identification card 8 vibrates, prompt information is broadcast (the prompt information includes the first prompt information and the second prompt information), and it is determined whether the vehicle brakes.

[0101] All base stations included in this system are universal and can be replaced with each other. When any base station is damaged, if there is no spare base station, the damaged base station can be replaced on the side that is not frequently used. The serial numbers of the base stations mentioned in the present invention are only for the convenience of expression.

[0102] Each system can be equipped with 50 identification cards 8 , and the number of identification cards 8 can be set according to needs. However, in order to facilitate the explanation of the principle, this embodiment is described by taking four identification cards 8 as an example.

[0103] like Figure 3 As shown, the four identification cards 8 are used to locate the position of the person (worn by the person), and at the same time, after receiving the feedback information, the person wearing the identification card 8 is given an alarm prompt. The first base station 1, the second base station 2, the third base station 3, the fourth base station 4, the fifth base station 5, and the sixth base station 6 are fixed around the detected device 13 to form a distance measurement condition for spatial tetrahedron positioning and receive information from the four identification cards 8. The information processing module 7 calculates and processes the received information, and the tag information transceiver module 11, which is included in the identification card, sends the position information of the person wearing the identification card 8 in real time, and at the same time, according to the information returned by the information processing module 7, the person wearing the identification card 8 is vibrated to remind the person. Figure 1 The schematic diagram of the working principle of the device of the present invention when it is a vehicle, wherein the identification card 8 is divided into a blacklist card and a whitelist card. Within the alarm distance, the blacklist card will vibrate, the light will flash, and the buzzer will sound, while the whitelist card will not trigger an alarm. The alarm device compares the result processed by the information processing module 7 with the preset alarm distance. If the condition is met, the alarm device will alarm. The information transmission cable transmits the information received by the first base station 1, the second base station 2, the third base station 3, the fourth base station 4, the fifth base station 5, and the sixth base station 6 to the information processing module 7. The above alarm device, information processing module 7, the first base station 1, the second base station 2, the third base station 3, the fourth base station 4, the fifth base station 5, and the sixth base station 6 can be mounted on the detected device 13.

[0104] like Fig.10As shown in the figure, the bilateral two-way ranging technology of UWB ultra-wideband technology: first, device F sends a UWB frame to device E, which includes timestamp information. Device E receives the UWB frame and records the timestamp of receiving the UWB frame. Then, device E sends a response frame to device F, which also includes timestamp information. Device F receives the response frame and records the timestamp. Through the timestamp data in these two directions, the time required for the UWB frame to be transmitted from one device to another can be calculated, which includes the delay of data transmission and the time it takes for the signal to propagate in the air.

[0105] The principle of bilateral two-way ranging technology of UWB ultra-wideband technology is based on time domain reflectometry (TDR). When the transmitter sends a UWB pulse signal, the signal propagates in space in the form of electromagnetic waves. When the signal encounters an obstacle or a reflective surface, part of the energy will be reflected back to the receiver. The receiver can measure the propagation time by comparing the time difference between the received pulse signal and the pulse signal sent by the transmitter. Since the propagation speed of electromagnetic waves is known, the distance of the signal can be calculated based on the propagation time, as shown in formulas (γ) and (δ). This method is highly accurate and reliable in measuring the distance between devices.

[0106]

[0107] S=T f c (δ)

[0108] In formula (γ) and (δ), T RoundF : The timestamp when device F sends a data request to device E; T RoundE : The timestamp when device E sends a data request to device A; T replyE : The time delay after device E receives the data request from device F; T replyF : The time delay after device F receives the data request from device E; T f : is the communication time between device F and device E; c: is the speed of light, c=299792458m / s, POLL: the first information reflection, ACK: the second information reflection, Message: the third information reflection.

[0109] like Figure 4 As shown, when a person wearing an identification card 8 approaches the device, the signal sent by the identification card 8 will be received by the information transceiver module, and at the same time, the information processing module 7 will receive the information through the transmission of the communication cable, and the distance S1, S2, S3 from the identification card to the base station will be measured according to the UWB bilateral two-way ranging principle and formula (α)(β). At the same time, the information processing module 7 records the distance information between the base stations: K1, K2, K3.

[0110]

[0111] Arr(3)=B(i) n (β)

[0112] The information processing module 7 will convert the obtained data: K1, K2, K3, S1, S2, S3 into a three-dimensional space tetrahedron with the origin as the person wearing the identification card 8, the base station as other vertices, and the edge lengths as S1, S2, S3, K1, K2, K3, and draw a perpendicular line from the origin to the surface formed by the base station, that is, the vertical distance from the vertex to the bottom surface to the triangle Draw a perpendicular line H, and finally find the length of H as the final measured distance.

[0113] The process of solving H is as follows:

[0114] (1) The coordinates of the tetrahedron placed in the rectangular coordinate system are:

[0115] U1 (X1, Y1, Z1), U2 (X2, Y2, Z2), U3 (X3, Y3, Z3) and U4 (0, 0, 0).

[0116] Among them: U4: coordinate information of the identification card in the spatial rectangular coordinate system; U1: coordinate information of the first base station in the spatial rectangular coordinate system; U2: coordinate information of the second base station in the spatial rectangular coordinate system; U3: coordinate information of the third base station in the spatial rectangular coordinate system;

[0117] (2) From Euler's formula, we can know formula 1-1:

[0118]

[0119] Squaring both sides of the formula gives formula 1-2:

[0120]

[0121] Transposing the second determinant yields formula 1-3:

[0122]

[0123] Formula 1-4 is obtained from the determinant property of the square matrix product:

[0124]

[0125] Formula 1-5 is derived from the scalar product of vectors:

[0126]

[0127] Formula 1-5 can be used to deduce Formula 1-4 to obtain Formula 1-6-1 and Formula 1-6-2:

[0128]

[0129]

[0130] (3) Combining Formula 1-1 to Formula 1-6-2, we can get Formula 2:

[0131]

[0132] A, B, and C in the formula are:

[0133]

[0134] In formula 2, A: the sum of squared differences in the triangle formed by S1, S2, and K1; B: the sum of squared differences in the triangle formed by S3, S2, and K2; C: the sum of squared differences in the triangle formed by S1, S3, and K3; S1: the distance from the vertex to the first base station; S2: the distance from the vertex to the second base station 2; S3: the distance from the vertex to the third base station; K1: the distance between the first base station 1 and the third base station 3; K2: the distance between the first base station 1 and the second base station 2; K3: the distance between the second base station 2 and the third base station 3;

[0135] Formula 2-1 is the area of ​​the tetrahedron:

[0136]

[0137] Q: is the bottom area of ​​the composed space tetrahedron;

[0138] H: vertical distance from the vertex to the bottom surface;

[0139] V: volume of the space tetrahedron;

[0140] Formula 2-2 The area formula of a triangle:

[0141]

[0142] in:

[0143]

[0144] P: half of the sum of the three sides of the base triangle;

[0145] K1: the distance between the first base station 1 and the third base station 3;

[0146] K2: the distance between the first base station 1 and the second base station 2;

[0147] K3: the distance between the second base station 2 and the third base station 3;

[0148] Thus, we can deduce the area formula of the triangle in formula 2-3:

[0149]

[0150] (4) Combining Formula 2 to Formula 2-3, we can obtain Formula 3 by solving H:

[0151]

[0152] In the above formula, V: the area of ​​the tetrahedron; Q: the area of ​​the base triangle; H: the vertical distance from the vertex to the base; S1: the distance from the vertex to the first base station; S2: the distance from the vertex to the second base station; S3: the distance from the vertex to the third base station;

[0153] The above situation is a situation where a single person carries an identification card 8 close to the device, but in the actual operation of the system, the number of identification cards can be multiple, and the identification cards 8 close to the device 13 are not limited to the white list (i.e., white list cards). Figure 7 As shown: when a person wearing a blacklist card and a person wearing a whitelist card approach the detected device 13 in two directions, the information processing module 7 will first calculate the distance of the blacklist card, and according to the distance of the blacklist card, let the alarm module 9 alarm, and let the blacklist card vibrate and alarm, etc.

[0154] like Figure 8 As shown, it is a schematic diagram of the information processing method when multiple people approach in the present invention. The alarm is issued according to the order in which the identification cards approach. When a person with a blacklist card approaches two persons with whitelist cards, the information processing module 7 will first calculate the distance of the blacklist card, and then issue an alarm prompt according to the calculated distance. After calculating the blacklist card, the calculation order of the whitelist card will be carried out in the order of the distance of the whitelist card. Usually, the whitelist card with a close distance to the device 13 is calculated first, and the alarm device broadcasts the first prompt information or the second prompt information once according to the calculation result of the whitelist card.

[0155] like Fig. 9 As shown, when a person wearing a whitelist card enters the position shown in the figure, the information processing module 7 will no longer calculate the received information.

[0156] The method of using the embodiment of the present invention is as follows:

[0157] Input the base station distance, alarm distance, and identification card information into the information processing module 7; place the first base station 1, the second base station 2, the third base station 3, the fourth base station 4, the fifth base station 5, and the sixth base station 6 around the equipment 13 (the equipment can be an operating vehicle, an apparatus, etc.), set according to the preset distance and in groups of three, each group is arranged in a triangle; use the information transmission cable to connect the first base station 1, the second base station 2, the third base station 3, the fourth base station 4, the fifth base station 5, and the sixth base station 6 in series and connect them to the information processing module 7; connect the alarm module 9 with the recorded prompt sound to the information processing module 7; match the four identification cards 8 with the information processing module 7 respectively. After power-on, the information processing module 7 will automatically start, and the other modules will also start in sequence according to the power-on sequence.

[0158] According to the preset alarm parameters, the alarm stage is divided into three stages. When the distance between the person wearing the blacklist card and the detection device 13 is greater than 2.5m, the blacklist card does not act and the alarm device does not alarm; when the distance between the person wearing the blacklist card and the detected device 13 is within the alarm distance range of 2.5m and 1.5m, the blacklist card vibrates intermittently, the indicator light continues to flash, the buzzer continues to sound, and the alarm module 9 continues to broadcast: "Do not approach"; when the distance between the person wearing the blacklist card and the device 13 is less than the warning distance range of 1.5m, the blacklist card continues to vibrate, the indicator light continues to flash, the buzzer continues to sound, and the device 13 stops moving. The detected device 13 can be an operating vehicle, etc.

[0159] When the distance between the person wearing the whitelist card and the detection device 13 is greater than 2.5M, the whitelist card does not work and the alarm module 9 does not alarm; when the person wearing the whitelist card approaches the device 13 and is within the alarm distance range of 1.5m to 2.5m, the whitelist card does not work, and the alarm module 9 broadcasts the first prompt message: "Be careful" (it will be broadcast once and no longer when it just enters the alarm distance); when the distance between the person wearing the whitelist card and the device 13 is less than the warning distance range of 1.5m, the whitelist card does not work, and the alarm module 9 broadcasts the second prompt message: "Approaching vehicle" (it will be broadcast once and no longer).

[0160] The alarm distance range and the warning distance range can be set according to implementation needs.

[0161] The alarm methods are as follows:

[0162] According to the result obtained by H calculation, the difference between the result obtained and the preset alarm distance range is processed, and an alarm prompt is given according to the processing result. As shown in Table 2-1 and Table 2-2;

[0163] The whitelist cards are shown in Table 2-1:

[0164] Table 2-1 Actions when whitelist approaches

[0165] Setting distance The difference between the measured distance and the set distance Prompt message (only one announcement) ＞1.5m ±0.3m Approaching Vehicle 2.5m>D>1.5m ±0.3m be safe D>2.5m ±0.3m none

[0166] When a person wearing a blacklist card approaches, the following happens as shown in Table 2-2:

[0167] Table 2-2 Actions when blacklist approaches

[0168]

[0169] The above is an example implemented on the basis of the distributed personnel interaction system of the present invention, but the present invention is not limited to being used in the vehicle detection industry.

[0170] The above embodiments are only used to understand the present invention. It should be noted that, for those skilled in the art, several improvements can be made to the present invention without departing from the principles of the present invention, and these improvements will also fall within the scope of protection of the claims of the present invention.

Claims

1. A distributed human-machine active safety interaction system, characterized in that: include: A base station equipped with an information transceiver module to realize wireless carrier communication and capable of real-time two-way communication, wherein the base stations are multiple and arranged around the device (13) to be detected; An identification card (8) worn by a staff member and having a vibration and alarm function and a tag information transceiver module (11), wherein there are more than one identification card (8), and information is transmitted between the identification card (8) and the base station via wireless carrier communication, and the identification card (8) is respectively marked as a white list card that is allowed to stay within a set range of the device (13) and a black list card that is not allowed to appear within the set range of the device (13); An alarm device with an alarm module (9), wherein there is more than one alarm device; and an information processing module (7) for receiving and calculating the real-time distance between each identification card (8) and each base station according to the information transmitted by the base station, and comparing the real-time distance with the set alarm distance range and warning distance range; if the real-time distance of the blacklist card is within the alarm distance range, the information processing module (7) sends alarm information to the alarm device and the blacklist card, and the alarm device and the blacklist card alarm at the same time; if the real-time distance of the whitelist card is within the alarm distance range, the alarm device broadcasts the first prompt information; If the real-time distance of the blacklist card is within the warning distance range, the alarm device and the blacklist card will sound an alarm at the same time, and the device (13) will stop operating; If the real-time distance of the whitelist card is within the warning distance range, the alarm device broadcasts the second prompt information; The method for calculating the real-time distance between the identification card (8) and each base station is as follows: the information transceiver module carried by the base station has a UWB real-time two-way communication function, and the distance from the identification card (8) to each base station is calculated according to the bilateral two-way ranging principle of the UWB ultra-wideband; the obtained distance information is put into an array and arranged in order from small to large, and the base stations forming the first three data in the array are used as base stations for calculating the real-time distance; The three base stations corresponding to the first three data in the array are the first base station (1), the second base station (2) and the third base station (3), and the distance between the first base station (1) and the second base station (2) is K 1, the distance between the second base station (2) and the third base station (3) is K 2. The distance between the first base station (1) and the third base station (3) is K 3; (1) The identification card generates three distances with the three base stations, and the identification card (8) generates a distance with the first base station (1) S 1. The distance between the identification card (8) and the second base station (2) is S 2. The distance between the identification card (8) and the third base station (3) S 3; A space tetrahedron is formed between the first base station (1), the second base station (2), the third base station (3) and the identification card (8), with the identification card (8) as the vertex and the surface formed by the three base stations as the bottom surface; (2) In a tetrahedron in space, the vertical distance from the vertex to the base H , the vertical distance H ,distance S 1. Distance S 2. Distance S 3. Calculate the smallest value, and the distance calculated at last is the final measured distance; Derivation of calculation formula: (1) Place the tetrahedron in a rectangular coordinate system and obtain the coordinates of the four points of the tetrahedron, which are: U1( X 1, Y 1, Z 1) U2 ( X 2, Y 2, Z 2) U3 ( X 3. Y 3. Z 3) and U4 (0, 0, 0); Among them: U4: coordinate information of the identification card in the spatial rectangular coordinate system; U1: coordinate information of the first base station in the spatial rectangular coordinate system; U2: coordinate information of the second base station in the spatial rectangular coordinate system; U3: coordinate information of the third base station in the spatial rectangular coordinate system; (2) From Euler's formula, we can know formula 1-1: Formula 1-1; Where: V is the volume of the tetrahedron; Squaring both sides of the formula gives formula 1-2: Formula 1-2 Transposing the second determinant yields formula 1-3: Formula 1-3; Formula 1-4 is obtained from the determinant property of the square matrix product: = Formula 1-4; Formula 1-5 is derived from the scalar product of vectors: Formula 1-5; According to formula 1-5, the elements in formula 1-4 are further expanded to obtain formulas 1-6-1 and 1-6-2: Formula 1-6-1; Formula 1-6-2; (3) Combining Formula 1-2 to Formula 1-6-2, we get Formula 2: Formula 2: In the formula A , B , C for: In formula 2, A : S 1. S 2. K 1The sum of squares of differences in the face triangle formed; B : S 3. S 2. K 2 The sum of squares of differences in the face triangle formed; C : S 1. S 3. K 3The sum of squares of differences in the face triangle formed; S 1: distance from the vertex to the first base station (1); S 2: distance from the vertex to the second base station (2); S 3: distance from the vertex to the third base station (3); K 1: distance between the first base station (1) and the third base station (3); K 2: distance between the first base station (1) and the second base station (2); K 3: distance between the second base station (2) and the third base station (3); Formula 2-1 is the area of ​​the tetrahedron: Formula 2-1: Q : is the area of ​​the bottom surface of the space tetrahedron; H : The vertical distance from the vertex to the bottom surface; V : The volume of a space tetrahedron; Formula 2-2 The area formula of a triangle: Formula 2-2; in: P : is half of the sum of the three sides of the base triangle; K 1: distance between the first base station (1) and the third base station (3); K 2: distance between the first base station (1) and the second base station (2); K 3: distance between the second base station (2) and the third base station (3); Thus, we can deduce the area formula of the triangle in formula 2-3: Formula 2-3; (4) Combining Formula 2 with Formula 2-3, we get H Solve formula 3: Formula 3: The result H calculated according to formula 3 is subjected to difference processing with the set alarm distance range. If the real-time distance of the blacklist card is within the alarm distance range, the information processing module (7) sends alarm information to the alarm device and the identification card (8), and the alarm device and the identification card (8) sound an alarm at the same time. If the real-time distance of the blacklist card is within the warning distance range, the device (13) stops working, and the alarm device and the identification card (8) sound an alarm at the same time; If the real-time distance of the whitelist card is within the alarm distance range, the alarm device broadcasts the first prompt information; If the real-time distance of the whitelist card is within the warning distance range, the alarm device broadcasts the second prompt information.

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