Human-machine anti-collision and anti-mis-digging early warning system and method based on high-precision Beidou positioning

Abstract

The present invention provides a human-machine anti-collision and anti-mistaken digging warning system and method based on high-precision Beidou positioning, including: a configuration module, used to configure a positioning base station in an excavator; an electronic fence construction module, used to construct an anti-collision and anti-mistaken digging electronic fence for the excavator according to the warning requirements; a dynamic positioning module, used to perform a first dynamic positioning of the excavator in real time based on the configured positioning base station, and perform a second dynamic positioning of the target to be positioned based on the first dynamic positioning result; an alarm operation module, used to perform an alarm operation when the second dynamic positioning result belongs to the anti-collision and anti-mistaken digging electronic fence area of ​​the excavator. The anti-collision and anti-mistaken digging functions are realized during the operation of the excavator, construction safety is guaranteed, accidents on the construction site can be effectively prevented, and the accuracy of safety warnings is improved.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning technology, and in particular to a human-machine anti-collision and anti-mis-digging early warning system and method based on high-precision Beidou positioning. Background Art

[0002] At present, with the continuous increase of various types of engineering construction and construction operations, the safety issues of construction sites are becoming increasingly prominent. In many scenarios, such as large construction sites and mining areas, there are situations where people and mechanical equipment work together;

[0003] Due to the complex environment and limited vision at the construction site, there is a risk of collision between personnel and machinery, as well as between machines. Safety accidents such as mis-digging may also occur, resulting in casualties and property losses.

[0004] Traditional anti-collision and anti-mistaken-digging measures may have certain limitations. For example, they rely on manual observation and judgment, which makes it difficult to ensure accuracy and timeliness, reducing the safety factor of construction and greatly reducing the warning effect of human-machine anti-collision and anti-mistaken-digging.

[0005] Therefore, in order to overcome the above-mentioned defects, the present invention provides a human-machine anti-collision and anti-misdigging early warning system and method based on high-precision Beidou positioning. Summary of the invention

[0006] The present invention provides a human-machine anti-collision and anti-mistaken digging early warning system and method based on high-precision Beidou positioning, which is used for configuring a positioning base station in an excavator, so as to facilitate accurate and effective determination of the position of the excavator through the positioning base station, and at the same time, the anti-collision and anti-mistaken digging electronic fence of the excavator is determined according to the early warning demand, so as to provide reliable alarm judgment conditions for human-machine anti-collision and anti-mistaken digging early warning, and secondly, the first dynamic positioning of the excavator and the second dynamic positioning of the positioning target are performed in real time through the positioning base station, so as to provide reliable data support for whether to perform human-machine anti-collision and anti-mistaken digging early warning, and finally, by analyzing the relative position relationship between the second dynamic positioning result and the anti-collision and anti-mistaken digging electronic fence, the corresponding early warning operation is performed in time when the early warning operation is needed, so as to realize the anti-collision and anti-mistaken digging functions during the operation of the excavator, ensure the construction safety, effectively prevent the occurrence of construction site accidents, and improve the accuracy of safety early warning.

[0007] A human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, comprising:

[0008] A configuration module, used to configure the positioning base station in the excavator;

[0009] The electronic fence construction module is used to build an anti-collision and anti-mis-digging electronic fence for the excavator according to the early warning requirements;

[0010] A dynamic positioning module, used to perform a first dynamic positioning of the excavator in real time based on the configured positioning base station, and to perform a second dynamic positioning of the target to be positioned based on the first dynamic positioning result;

[0011] The alarm operation module is used to perform an alarm operation when the second dynamic positioning result belongs to the anti-collision and anti-mis-digging electronic fence area of ​​the excavator.

[0012] Preferably, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, the configuration module includes:

[0013] A power supply unit is used to connect the positioning base station to the power supply terminal of the excavator, and obtain preset parameter configuration information when the connection is successful;

[0014] A pre-positioning unit, used to perform parameter configuration on the positioning base station according to preset parameter configuration information, and after the parameters are configured, pre-position the excavator based on the positioning base station, and output pre-positioning data of the excavator by the positioning base station;

[0015] Qualification determination unit, used for:

[0016] Obtain the base positioning data of the excavator, and compare the pre-positioning data with the base positioning data to determine whether the positioning base station is configured properly;

[0017] If the pre-positioning data is consistent with the reference positioning data, it is determined that the positioning base station configuration is qualified;

[0018] Otherwise, it is determined that the positioning base station configuration is unqualified, and the parameters of the positioning base station are re-adjusted until the positioning base station configuration is qualified.

[0019] Preferably, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, an electronic fence construction module, includes:

[0020] A demand reading unit, used to read the warning demand based on the warning demand input by the user terminal and determine the warning range;

[0021] An area range determination unit is used to obtain the positioning center of the excavator and determine the area range of the electronic fence according to the positioning center and the warning range;

[0022] A boundary point connection unit is used to determine the area boundary points according to the area range of the electronic fence, and at the same time, based on the two-dimensional coordinate values ​​of the area boundary points simulated by a computer, connect the area boundary points according to the two-dimensional coordinate values ​​to obtain a boundary connection line;

[0023] The smoothing processing unit is used to smooth the boundary connection line and obtain the anti-collision and anti-mis-digging electronic fence according to the smoothing result.

[0024] Preferably, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, a dynamic positioning module, comprises:

[0025] A first dynamic positioning unit is used to perform first dynamic positioning of the excavator in real time based on the configured positioning base station to obtain first dynamic positioning data;

[0026] The second dynamic positioning unit is used to read the first dynamic positioning data, determine the first position information of the excavator, and at the same time, perform second dynamic positioning on the target to be positioned according to the first position information of the excavator, determine the second dynamic positioning data of the target to be positioned, and determine the second position information of the target to be positioned relative to the excavator according to the second dynamic positioning data.

[0027] Preferably, in a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, in the second dynamic positioning unit, the targets to be positioned include: employees, excavators, and excavation areas.

[0028] Preferably, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, when the target to be positioned is an employee, includes:

[0029] A positioning tag acquisition subunit is used to acquire the employee's positioning tag and receive the target signal of the positioning base station according to the positioning tag;

[0030] The target distance value acquisition subunit is used to:

[0031] Reading the target signal, determining the signal strength of the target signal, and determining a first distance between the positioning tag and the positioning base station according to the signal strength;

[0032] Read the target time value of the positioning base station sending the target signal to the positioning tag, and at the same time, read the reference propagation speed of the positioning signal, and determine the second distance between the positioning tag and the positioning base station according to the target time value and the reference propagation speed;

[0033] Calculate the target mean of the first distance and the second distance, and use the target mean as the target distance value between the positioning base station and the positioning tag;

[0034] A direction value determination subunit is used to obtain the direction value of the target signal sent by the positioning base station to the positioning tag;

[0035] The second position information acquisition subunit is used to determine the second position information of the employee relative to the excavator according to the target distance value between the positioning base station and the positioning tag and the direction value of the target signal sent by the base station to the positioning tag.

[0036] Preferably, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, an alarm operation module, comprises:

[0037] A first alarm unit is used to perform a first alarm operation based on the positioning base station when the target to be positioned is an employee and when the second dynamic positioning result belongs to the anti-collision and anti-mis-digging electronic fence area of ​​the excavator, and at the same time, perform a second alarm operation based on the positioning tag;

[0038] The second alarm unit is used to determine the target distance between the excavators according to the second dynamic positioning result when the target to be positioned is an excavator, and when the target distance is within the anti-collision and anti-mis-digging electronic fence area, output a control signal to drive the alarm to perform a third alarm operation;

[0039] The third alarm unit is used for obtaining the boundary area between the excavation area and the anti-collision and anti-mistaken excavation electronic fence when the target to be located is the excavation area, and the boundary area is used as the working area, and the remaining area is used as the non-working area, and at the same time, the non-working area is updated to the anti-collision and anti-mistaken excavation electronic fence;

[0040] When the excavator digs into the anti-collision and anti-mis-digging electronic fence area, the fourth alarm operation is performed.

[0041] Preferably, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, an electronic fence construction module, includes:

[0042] A result acquisition unit is used to acquire the anti-collision and anti-mistaken digging electronic fence of each excavator, and determine the signal radiation range of the positioning base station on each excavator based on the anti-collision and anti-mistaken digging electronic fence;

[0043] Configuration unit for:

[0044] Extract the basic information of the positioning base stations on each excavator in the current working area, parse the basic information, and determine the terminal identification and communication parameters of each positioning base station;

[0045] Based on the terminal identification and the communication parameters, multi-directional communication parameters are configured for each positioning base station respectively, and a communication network of each positioning base station is constructed based on the multi-directional communication parameter configuration result;

[0046] The signal transmission power of each positioning base station is determined based on the signal radiation range, and a detection signal is transmitted to the anti-collision and anti-mistaken digging electronic fence in real time based on the signal transmission power based on the communication network;

[0047] When the positioning base station on the excavator receives the detection signal, it analyzes the detection signal, determines the component composition and connection conditions of the detection signal, and feeds back a response signal to the sending positioning base station when the component composition and connection conditions meet the preset requirements;

[0048] Building a communication link between the transmitter positioning base station and the receiver positioning base station based on the response signal, and configuring communication parameters of the communication link based on the communication protocol;

[0049] Based on the configuration results, the anti-collision warning monitoring mechanism between excavators is enabled.

[0050] Preferably, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, an alarm operation module, comprises:

[0051] An information acquisition unit is used to acquire the alarm operation within the target time period, and analyze the alarm operation to obtain the alarm type and alarm timestamp corresponding to the alarm operation;

[0052] Information recording unit, used for:

[0053] Classify alarm operations based on alarm type, and sort the alarm operations of each category based on alarm timestamp;

[0054] Based on the classification results, the cache area in the management terminal is divided into sub-cache areas equal to the classification results, and based on the order of sorting results, each category of alarm operations is entered into the corresponding sub-cache area in turn for recording and archiving.

[0055] The present invention provides a human-machine anti-collision and anti-mis-digging early warning method based on high-precision Beidou positioning, comprising:

[0056] Step 1: Configure the positioning base station in the excavator;

[0057] Step 2: Build an electronic fence to prevent collision and mis-digging of the excavator according to the early warning requirements;

[0058] Step 3: Perform a first dynamic positioning of the excavator in real time based on the configured positioning base station, and perform a second dynamic positioning of the target to be positioned based on the first dynamic positioning result;

[0059] Step 4: When the second dynamic positioning result belongs to the anti-collision and anti-mis-digging electronic fence area of ​​the excavator, an alarm operation is performed.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] By configuring the positioning base station in the excavator, it is convenient to accurately and effectively determine the position of the excavator through the positioning base station. At the same time, the anti-collision and anti-mistaken digging electronic fence of the excavator is determined according to the early warning needs, which provides reliable alarm judgment conditions for human-machine anti-collision and anti-mistaken digging early warning. Secondly, the first dynamic positioning of the excavator and the second dynamic positioning of the positioning target are performed in real time through the positioning base station, which provides reliable data support for whether to perform human-machine anti-collision and anti-mistaken digging early warning. Finally, by analyzing the relative position relationship between the second dynamic positioning result and the anti-collision and anti-mistaken digging electronic fence, the corresponding early warning operation can be carried out in time when it is needed, realizing the anti-collision and anti-mistaken digging functions during the operation of the excavator, ensuring construction safety, and effectively preventing construction site accidents. Accidents have improved the accuracy of safety warnings.

[0062] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in this application document.

[0063] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0065] Figure 1 This is a structural diagram of a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning in an embodiment of the present invention;

[0066] Figure 2 It is a structural diagram of a configuration module in a human-machine anti-collision and anti-mis-digging early warning system based on high-precision Beidou positioning in an embodiment of the present invention;

[0067] Figure 3 The present invention is a flowchart of a human-machine anti-collision and anti-mis-digging early warning method based on high-precision Beidou positioning in an embodiment of the present invention. DETAILED DESCRIPTION

[0068] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0069] Example 1

[0070] This embodiment provides a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, such as Figure 1 As shown, including:

[0071] A configuration module, used to configure the positioning base station in the excavator;

[0072] The electronic fence construction module is used to build an anti-collision and anti-mis-digging electronic fence for the excavator according to the early warning requirements;

[0073] A dynamic positioning module, used to perform a first dynamic positioning of the excavator in real time based on the configured positioning base station, and to perform a second dynamic positioning of the target to be positioned based on the first dynamic positioning result;

[0074] The alarm operation module is used to perform an alarm operation when the second dynamic positioning result belongs to the anti-collision and anti-mis-digging electronic fence area of ​​the excavator.

[0075] In this embodiment, the positioning base station may be a UWB base station, which is arranged on the excavator and is a tool for positioning the excavator.

[0076] In this embodiment, configuring the positioning base station in the excavator may include connecting the UWB base station to the excavator through power supply and pre-positioning the excavator through the positioning base station.

[0077] In this embodiment, the warning requirements may be the business that requires warning and the type of warning, including human-machine collision warning, machine-machine collision warning, and machine mis-digging warning.

[0078] In this embodiment, the anti-collision and anti-mistaken-digging electronic fence can be the working area of ​​each excavator, for example, it can be a circle with a radius of 5 meters. The anti-collision and anti-mistaken-digging electronic fence can be used to carry out human-machine anti-collision warning, machine anti-collision warning and anti-mistaken-digging warning, which is a reference for warning.

[0079] In this embodiment, the first dynamic positioning may be positioning the current position of the excavator.

[0080] In this embodiment, the target to be located may be an object that requires human-machine collision prevention and mis-digging prevention warning, and may be a staff member, a work area, or other mechanical equipment.

[0081] In this embodiment, the second dynamic positioning may be to locate the target to be located, thereby facilitating anti-collision and anti-mis-digging warning operations based on the positioning results of the excavator and the positioning results of the target to be located.

[0082] In this embodiment, when the second dynamic positioning result belongs to the anti-collision and anti-mistaken digging electronic fence area of ​​the excavator, the alarm operation can be that when the target to be positioned enters the anti-collision and anti-mistaken digging electronic fence of the excavator, an anti-collision warning operation will be performed, and when the working area of ​​the excavator is not in the allowed working area, an anti-mistaken digging warning operation will be performed.

[0083] In this embodiment, an alarm is triggered when an employee approaches a preset range, the excavator operator will receive a warning buzzer from the UWB base station, and the warning light of the UWB tag worn by the employee will light up and vibrate, which can effectively prevent accidents on the construction site. The range can be set to 0-200M, alarm when approaching the warning range, and real-time warning without delay.

[0084] Anti-collision warning between excavators;

[0085] The excavator and the UWB base station on the excavator measure the distance and output the control signal to drive the alarm to alarm, thereby realizing the sound and light alarm. Among them, the 4G transmission data can be realized to adjust the warning range in time according to the needs. The alarm will occur when the employee approaches the preset range. The excavator operator will receive the warning buzzer of the UWB base station, and the UWB tag warning light worn by the employee will light up and vibrate, which can effectively prevent accidents on the construction site. Among them, the range can be set to 0-200M, alarm close to the warning range, and real-time warning without delay.

[0086] The working principle and beneficial effects of the above technical solution are as follows: by configuring the positioning base station in the excavator, it is convenient to accurately and effectively determine the position of the excavator through the positioning base station. At the same time, the anti-collision and anti-mistaken digging electronic fence of the excavator is determined according to the early warning needs, which provides reliable alarm judgment conditions for human-machine anti-collision and anti-mistaken digging early warning. Secondly, the first dynamic positioning of the excavator and the second dynamic positioning of the positioning target are performed in real time through the positioning base station, which provides reliable data support for whether to perform human-machine anti-collision and anti-mistaken digging early warning. Finally, by analyzing the relative position relationship between the second dynamic positioning result and the anti-collision and anti-mistaken digging electronic fence, the corresponding early warning operation can be performed in time when it is needed, and the anti-collision and anti-mistaken digging functions during the operation of the excavator are realized to ensure construction safety, effectively prevent construction site accidents, and improve the accuracy of safety early warnings.

[0087] Example 2

[0088] Based on Example 1, this embodiment provides a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, such as Figure 2 As shown, the configuration module includes:

[0089] A power supply unit is used to connect the positioning base station to the power supply terminal of the excavator, and obtain preset parameter configuration information when the connection is successful;

[0090] A pre-positioning unit, used to perform parameter configuration on the positioning base station according to preset parameter configuration information, and after the parameters are configured, pre-position the excavator based on the positioning base station, and output pre-positioning data of the excavator by the positioning base station;

[0091] Qualification determination unit, used for:

[0092] Obtain the base positioning data of the excavator, and compare the pre-positioning data with the base positioning data to determine whether the positioning base station is configured properly;

[0093] If the pre-positioning data is consistent with the reference positioning data, it is determined that the positioning base station configuration is qualified;

[0094] Otherwise, it is determined that the positioning base station configuration is unqualified, and the parameters of the positioning base station are re-adjusted until the positioning base station configuration is qualified.

[0095] In this embodiment, the preset parameter configuration information can be set in advance, for example: the base station location coordinates, signal transmission power, communication frequency band, etc. of the positioning base station, which are used to implement parameter configuration of the positioning base station, thereby realizing the conditions for the positioning base station to pre-position the excavator.

[0096] In this embodiment, the pre-positioning data may be data output after the excavator is positioned based on the positioning base station.

[0097] In this embodiment, the reference positioning data may be the actual position information of the excavator.

[0098] The working principle and beneficial effects of the above technical solution are: by connecting the positioning base station to the power supply terminal of the excavator, and obtaining the preset parameter configuration information when the connection is successful, the parameter configuration of the positioning base station can be effectively realized through the preset parameter configuration information, and by pre-positioning the positioning base station after the parameter configuration, the pre-positioning data of the excavator can be effectively obtained, and by comparing the pre-positioning data of the excavator with the reference positioning data, it is effectively determined whether the positioning base station is configured properly, which is beneficial to ensure the effective configuration of the positioning base station and ensure the accuracy of positioning.

[0099] Example 3

[0100] Based on Example 1, this embodiment provides a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, and an electronic fence construction module, including:

[0101] A demand reading unit, used to read the warning demand based on the warning demand input by the user terminal and determine the warning range;

[0102] An area range determination unit is used to obtain the positioning center of the excavator and determine the area range of the electronic fence according to the positioning center and the warning range;

[0103] A boundary point connection unit is used to determine the area boundary points according to the area range of the electronic fence, and at the same time, based on the two-dimensional coordinate values ​​of the area boundary points simulated by a computer, connect the area boundary points according to the two-dimensional coordinate values ​​to obtain a boundary connection line;

[0104] The smoothing processing unit is used to smooth the boundary connection line and obtain the anti-collision and anti-mis-digging electronic fence according to the smoothing result.

[0105] In this embodiment, the warning requirement may be set in advance, and the warning range, that is, the maximum space interval that cannot be entered, may be determined based on the warning requirement.

[0106] The working principle and beneficial effects of the above technical solution are: through the early warning requirements input by the user terminal, the area range of the electronic fence is effectively obtained, and then by determining the boundary points of the area and effectively simulating the boundary connection lines in the computer, and by smoothing the boundary connection lines, the accuracy of the anti-collision and anti-mis-digging electronic fence is improved.

[0107] Example 4

[0108] Based on Example 1, this embodiment provides a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, and a dynamic positioning module, including:

[0109] A first dynamic positioning unit is used to perform first dynamic positioning of the excavator in real time based on the configured positioning base station to obtain first dynamic positioning data;

[0110] The second dynamic positioning unit is used to read the first dynamic positioning data, determine the first position information of the excavator, and at the same time, perform second dynamic positioning on the target to be positioned according to the first position information of the excavator, determine the second dynamic positioning data of the target to be positioned, and determine the second position information of the target to be positioned relative to the excavator according to the second dynamic positioning data.

[0111] In this embodiment, the first dynamic positioning may be used to locate the position of the excavator, thereby obtaining first dynamic positioning data.

[0112] In this embodiment, the second dynamic positioning of the target to be positioned may be performed based on the position of the excavator to obtain second dynamic positioning data, that is, the positioning result of the target to be positioned relative to the excavator.

[0113] In this embodiment, the targets to be located include: employees, excavators, and excavation areas.

[0114] The working principle and beneficial effects of the above technical solution are: the excavator is positioned through the positioning base station to obtain the first position information of the excavator, and the effective positioning of the target to be positioned is effectively achieved based on the first position information of the excavator to obtain the second position information, thereby improving the comprehensiveness and accuracy of positioning.

[0115] Example 5

[0116] On the basis of Example 4, this embodiment provides a human-machine collision avoidance and mis-digging warning system based on high-precision Beidou positioning. In the second dynamic positioning unit, the targets to be positioned include: employees, excavators, and excavation areas.

[0117] When the target to be located is an employee, it includes:

[0118] A positioning tag acquisition subunit is used to acquire the employee's positioning tag and receive the target signal of the positioning base station according to the positioning tag;

[0119] The target distance value acquisition subunit is used to:

[0120] Reading the target signal, determining the signal strength of the target signal, and determining a first distance between the positioning tag and the positioning base station according to the signal strength;

[0121] Read the target time value of the positioning base station sending the target signal to the positioning tag, and at the same time, read the reference propagation speed of the positioning signal, and determine the second distance between the positioning tag and the positioning base station according to the target time value and the reference propagation speed;

[0122] Calculate the target average of the first distance and the second distance, and use the target average as the target distance value between the positioning base station and the positioning tag;

[0123] A direction value determination subunit is used to obtain the direction value of the target signal sent by the positioning base station to the positioning tag;

[0124] The second position information acquisition subunit is used to determine the second position information of the employee relative to the excavator according to the target distance value between the positioning base station and the positioning tag and the direction value of the target signal sent by the base station to the positioning tag.

[0125] In this embodiment, when the target to be located is an excavator, the excavator and the UWB base station on the excavator measure the distance and output a control signal to drive the alarm to sound an alarm, thereby realizing an audible and visual alarm. Among them, 4G transmission data can be used to adjust the warning range in time according to needs.

[0126] In this embodiment, when the target to be located is an excavation area, the boundary area between the excavation area and the anti-collision and anti-mistaken excavation electronic fence is obtained, and the boundary area is used as the working area, and the remaining area is used as the non-working area. At the same time, the non-working area is updated to the anti-collision and anti-mistaken excavation electronic fence.

[0127] In this embodiment, the positioning tag has built-in components such as a positioning chip (such as GPS, Beidou, etc.) and a communication module. It can obtain its own position information relative to the excavator by interacting with the positioning base station and transmit this information to the relevant receiving end or system; the positioning tag can be attached to the employee to achieve real-time tracking and monitoring of the employee's location.

[0128] In this embodiment, the first distance between the positioning tag and the positioning base station is determined based on the signal strength. The signal strength and the distance are negatively correlated, that is, the greater the signal strength, the shorter the distance. It can be expressed by the formula: Pr=Pt / (4πd²), wherein Pr represents the received signal strength, Pt represents the transmitted signal strength, d represents the distance, and π represents the pi. The above formula can effectively realize the first distance between the positioning tag and the positioning base station.

[0129] In this embodiment, the reference propagation speed can be obtained in advance through detection and other means. By determining the reference propagation speed and the target time value for the positioning base station to send the target signal to the positioning tag, the second distance can be effectively obtained by calculating the product of the reference propagation speed and the target time value.

[0130] In this embodiment, the target average of the first distance and the second distance is calculated, and the target average is used as the target distance value between the positioning base station and the positioning tag, in order to ensure that the obtained target distance value is more accurate.

[0131] The working principle and beneficial effects of the above technical solution are: by receiving the target signal of the positioning base station based on the positioning tag, and obtaining the first distance between the positioning tag and the positioning base station through the signal strength of the target signal, by obtaining the target time value for the positioning base station to send the target signal to the positioning tag and by obtaining the reference propagation speed of the positioning signal, the second distance between the positioning tag and the positioning base station can be effectively obtained, by determining the target average of the first distance and the second distance, thereby ensuring the accuracy of the obtained target distance value, by obtaining the direction value of the target signal sent by the positioning base station to the positioning tag, and then according to the target distance value between the positioning base station and the positioning tag and the direction value of the target signal sent by the base station to the positioning tag, the second position information of the employee relative to the excavator is effectively determined, thereby improving the accuracy and effectiveness of obtaining the second position information.

[0132] Example 6

[0133] On the basis of Example 1, this embodiment provides a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, and an alarm operation module, including:

[0134] A first alarm unit is used to perform a first alarm operation based on the positioning base station when the target to be positioned is an employee and when the second dynamic positioning result belongs to the anti-collision and anti-mis-digging electronic fence area of ​​the excavator, and at the same time, perform a second alarm operation based on the positioning tag;

[0135] The second alarm unit is used to determine the target distance between the excavators according to the second dynamic positioning result when the target to be positioned is an excavator, and when the target distance is within the anti-collision and anti-mis-digging electronic fence area, output a control signal to drive the alarm to perform a third alarm operation;

[0136] The third alarm unit is used for obtaining the boundary area between the excavation area and the anti-collision and anti-mistaken excavation electronic fence when the target to be located is the excavation area, and the boundary area is used as the working area, and the remaining area is used as the non-working area, and at the same time, the non-working area is updated to the anti-collision and anti-mistaken excavation electronic fence;

[0137] When the excavator digs into the anti-collision and anti-mis-digging electronic fence area, the fourth alarm operation is performed.

[0138] In this embodiment, the first alarm operation is a warning buzzer of the UWB base station.

[0139] In this embodiment, the second alarm operation is that the UWB tag warning light will light up and vibrate.

[0140] In this embodiment, the third alarm operation is to control the alarm to make an audible and visual alarm.

[0141] In this embodiment, the fourth alarm operation may be a sound and vibration alarm.

[0142] The working principle and beneficial effects of the above technical solution are: different alarm methods are determined by different targets to be located, and the alarm method can effectively ensure timely alarm when the target to be located enters the anti-collision and anti-misdigging electronic fence area, thereby ensuring the safety of excavator construction, and by using different alarm methods for different targets to be located, effective distinction between different targets to be located is achieved.

[0143] Example 7

[0144] Based on Example 1, this embodiment provides a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, and an electronic fence construction module, including:

[0145] A result acquisition unit is used to acquire the anti-collision and anti-mistaken digging electronic fence of each excavator, and determine the signal radiation range of the positioning base station on each excavator based on the anti-collision and anti-mistaken digging electronic fence;

[0146] Configuration unit for:

[0147] Extract the basic information of the positioning base stations on each excavator in the current working area, parse the basic information, and determine the terminal identification and communication parameters of each positioning base station;

[0148] Based on the terminal identification and the communication parameters, multi-directional communication parameters are configured for each positioning base station respectively, and a communication network of each positioning base station is constructed based on the multi-directional communication parameter configuration result;

[0149] The signal transmission power of each positioning base station is determined based on the signal radiation range, and a detection signal is transmitted to the anti-collision and anti-mistaken digging electronic fence in real time based on the signal transmission power based on the communication network;

[0150] When the positioning base station on the excavator receives the detection signal, it analyzes the detection signal, determines the component composition and connection conditions of the detection signal, and feeds back a response signal to the sending positioning base station when the component composition and connection conditions meet the preset requirements;

[0151] Building a communication link between the transmitter positioning base station and the receiver positioning base station based on the response signal, and configuring communication parameters of the communication link based on the communication protocol;

[0152] Based on the configuration results, the anti-collision warning monitoring mechanism between excavators is enabled.

[0153] In this embodiment, the signal radiation range may be a coverage area of ​​the signal radiation of the positioning base station.

[0154] In this embodiment, the basic information of the positioning base station may include: the identity of the positioning base station, etc., so that by parsing the basic information of the positioning base station, the terminal identification and communication parameters of the positioning base station can be effectively obtained, wherein the communication parameters may be: the frequency range of the communication signal, the data transmission rate, etc.

[0155] In this embodiment, the detection signal may be sent by the positioning base station to determine the existence, location or status of other positioning base stations. By sending the detection signal to the anti-collision and anti-mistaken digging electronic fence and based on the receiver's feedback on the detection signal, a communication link is established and related mechanisms are implemented, wherein the detection signal may contain some specific coding, frequency characteristics or other identification information so that the receiver can accurately identify and respond.

[0156] In this embodiment, the preset requirements may be set in advance and used to measure whether the component composition and connection conditions meet the connection standards.

[0157] In this embodiment, the base station feedback response signal is a signal returned by the base station to the sender after receiving the detection signal or other request signal, and contains confirmation information for the detection signal, indicating that the positioning base station has received and processed the signal.

[0158] The working principle and beneficial effects of the above technical solution are: first, after obtaining the anti-collision and anti-mistaken digging electronic fences of each excavator, the range of coverage of the signal of the positioning base station on the excavator is clarified according to the anti-collision and anti-mistaken digging electronic fences; then, the basic information of the positioning base stations of each excavator in the current working area is extracted, such as the identity of the positioning base station, etc., and the terminal identification and communication parameters of each positioning base station are determined by parsing this information; then, multi-directional communication parameters are set for each positioning base station according to the terminal identification and communication parameters, and a communication network between each positioning base station is constructed based on these configuration results; then, the signal transmission power of each positioning base station is determined according to the signal radiation range, and then based on the constructed The communication network sends a detection signal to the anti-collision and anti-misdigging electronic fence in real time according to the signal transmission power; when a positioning base station on an excavator receives the detection signal, it analyzes it to clarify the component composition and connection conditions of the detection signal. If the preset requirements are met, the receiving positioning base station will feedback a response signal to the sending positioning base station; then, based on the response signal, a communication link is established between the sending positioning base station and the receiving positioning base station, and the communication parameters of the communication link are configured according to the communication protocol; finally, the anti-collision warning monitoring mechanism between the excavators is turned on according to the configuration results, so that the distance between the excavators and other conditions can be monitored in real time, so that an anti-collision warning can be issued in time to ensure the safety of the operation.

[0159] Example 8

[0160] On the basis of Example 1, this embodiment provides a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, and an alarm operation module, including:

[0161] An information acquisition unit is used to acquire the alarm operation within the target time period, and analyze the alarm operation to obtain the alarm type and alarm timestamp corresponding to the alarm operation;

[0162] Information recording unit, used for:

[0163] Classify alarm operations based on alarm type, and sort the alarm operations of each category based on alarm timestamp;

[0164] Based on the classification results, the cache area in the management terminal is divided into sub-cache areas equal to the classification results, and based on the order of sorting results, each category of alarm operations is entered into the corresponding sub-cache area in turn for recording and archiving.

[0165] In this embodiment, the target time period may be set.

[0166] In this embodiment, the alarm type may be a type corresponding to different alarm operations, which is specifically related to the alarm mode at the time of the alarm.

[0167] In this embodiment, the alarm timestamp may be a time node corresponding to when the alarm operation occurs within the target time period.

[0168] In this embodiment, the sub-buffer areas correspond one-to-one to each type of alarm operation.

[0169] The working principle and beneficial effects of the above technical solution are: by obtaining the alarm operation within the target time period, the alarm operation is parsed, and the alarm type and alarm timestamp are effectively obtained. The alarm operations of the same type are grouped together, and each type of alarm operation is arranged in chronological order. In this way, the occurrence order of each alarm can be clarified. After that, according to the number of different alarm types, the area used for caching in the management terminal is divided into a corresponding number of sub-areas. Finally, according to the classification and sorting results, different types of alarm operations are sequentially placed in the corresponding sub-cache area for storage for subsequent viewing, analysis or processing. In this way, the alarm information can be managed and stored in a more organized manner, which is convenient for subsequent retrieval and utilization according to different needs.

[0170] Example 9

[0171] This embodiment provides a human-machine anti-collision and anti-mis-digging early warning method based on high-precision Beidou positioning, such as Figure 3 As shown, including:

[0172] Step 1: Configure the positioning base station in the excavator;

[0173] Step 2: Build an anti-collision and anti-mis-digging electronic fence for the excavator based on the early warning requirements;

[0174] Step 3: Perform a first dynamic positioning of the excavator in real time based on the configured positioning base station, and perform a second dynamic positioning of the target to be positioned based on the first dynamic positioning result;

[0175] Step 4: When the second dynamic positioning result belongs to the anti-collision and anti-mis-digging electronic fence area of ​​the excavator, an alarm operation is performed.

[0176] The working principle and beneficial effects of the above technical solution are as follows: by configuring the positioning base station in the excavator, it is convenient to accurately and effectively determine the position of the excavator through the positioning base station. At the same time, the anti-collision and anti-mistaken digging electronic fence of the excavator is determined according to the early warning needs, which provides reliable alarm judgment conditions for human-machine anti-collision and anti-mistaken digging early warning. Secondly, the first dynamic positioning of the excavator and the second dynamic positioning of the positioning target are performed in real time through the positioning base station, which provides reliable data support for whether to perform human-machine anti-collision and anti-mistaken digging early warning. Finally, by analyzing the relative position relationship between the second dynamic positioning result and the anti-collision and anti-mistaken digging electronic fence, the corresponding early warning operation can be performed in time when it is needed, and the anti-collision and anti-mistaken digging functions during the operation of the excavator are realized to ensure construction safety, effectively prevent construction site accidents, and improve the accuracy of safety early warnings.

[0177] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning, characterized in that: include: A configuration module, used to configure the positioning base station in the excavator; The electronic fence construction module is used to build an anti-collision and anti-mis-digging electronic fence for the excavator according to the early warning requirements; A dynamic positioning module, used to perform a first dynamic positioning of the excavator in real time based on the configured positioning base station, and to perform a second dynamic positioning of the target to be positioned based on the first dynamic positioning result; An alarm operation module, used for performing an alarm operation when the second dynamic positioning result belongs to the anti-collision and anti-mis-digging electronic fence area of ​​the excavator; Configuration modules, including: A power supply unit is used to connect the positioning base station to the power supply terminal of the excavator, and obtain preset parameter configuration information when the connection is successful; A pre-positioning unit, used to perform parameter configuration on the positioning base station according to preset parameter configuration information, and after the parameters are configured, pre-position the excavator based on the positioning base station, and output pre-positioning data of the excavator by the positioning base station; Qualification determination unit, used for: Obtain the base positioning data of the excavator, and compare the pre-positioning data with the base positioning data to determine whether the positioning base station is configured properly; If the pre-positioning data is consistent with the reference positioning data, it is determined that the positioning base station configuration is qualified; Otherwise, it is determined that the positioning base station configuration is unqualified, and the parameters of the positioning base station are re-adjusted until the positioning base station configuration is qualified; Electronic fence building blocks, including: A demand reading unit, used to read the warning demand based on the warning demand input by the user terminal and determine the warning range; An area range determination unit is used to obtain the positioning center of the excavator and determine the area range of the electronic fence according to the positioning center and the warning range; A boundary point connection unit is used to determine the area boundary points according to the area range of the electronic fence, and at the same time, based on the two-dimensional coordinate values ​​of the area boundary points simulated by a computer, connect the area boundary points according to the two-dimensional coordinate values ​​to obtain a boundary connection line; A smoothing processing unit is used to smooth the boundary connection line and obtain an anti-collision and anti-mis-digging electronic fence according to the smoothing result; Dynamic positioning module, including: A first dynamic positioning unit is used to perform first dynamic positioning of the excavator in real time based on the configured positioning base station to obtain first dynamic positioning data; The second dynamic positioning unit is used to read the first dynamic positioning data, determine the first position information of the excavator, and at the same time, perform second dynamic positioning on the target to be positioned according to the first position information of the excavator, determine the second dynamic positioning data of the target to be positioned, and determine the second position information of the target to be positioned relative to the excavator according to the second dynamic positioning data.

2. According to claim 1, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning is characterized by: In the second dynamic positioning unit, the targets to be positioned include: employees, other excavators, and excavation areas.

3. According to claim 2, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning is characterized in that: When the target to be positioned is an employee, it includes: A positioning tag acquisition subunit is used to acquire the employee's positioning tag and receive the target signal of the positioning base station according to the positioning tag; The target distance value acquisition subunit is used to: Reading the target signal, determining the signal strength of the target signal, and determining a first distance between the positioning tag and the positioning base station according to the signal strength; Read the target time value of the positioning base station sending the target signal to the positioning tag, and at the same time, read the reference propagation speed of the positioning signal, and determine the second distance between the positioning tag and the positioning base station according to the target time value and the reference propagation speed; Calculate the target mean of the first distance and the second distance, and use the target mean as the target distance value between the positioning base station and the positioning tag; A direction value determination subunit is used to obtain the direction value of the target signal sent by the positioning base station to the positioning tag; The second position information acquisition subunit is used to determine the second position information of the employee relative to the excavator according to the target distance value between the positioning base station and the positioning tag and the direction value of the target signal sent by the base station to the positioning tag.

4. According to claim 1, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning is characterized in that: Alarm operation module, including: A first alarm unit is used to perform a first alarm operation based on the positioning base station when the target to be positioned is an employee and when the second dynamic positioning result belongs to the anti-collision and anti-mis-digging electronic fence area of ​​the excavator, and at the same time, perform a second alarm operation based on the positioning tag; The second alarm unit is used to determine the target distance between the excavators according to the second dynamic positioning result when the target to be positioned is an excavator, and when the target distance is within the anti-collision and anti-mis-digging electronic fence area, output a control signal to drive the alarm to perform a third alarm operation; The third alarm unit is used for obtaining the boundary area between the excavation area and the anti-collision and anti-mistaken excavation electronic fence when the target to be located is the excavation area, and the boundary area is used as the working area, and the remaining area is used as the non-working area, and at the same time, the non-working area is updated to the anti-collision and anti-mistaken excavation electronic fence; When the excavator digs into the anti-collision and anti-mis-digging electronic fence area, the fourth alarm operation is performed.

5. According to claim 1, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning is characterized in that: Electronic fence building blocks, including: A result acquisition unit is used to acquire the anti-collision and anti-mistaken digging electronic fence of each excavator, and determine the signal radiation range of the positioning base station on each excavator based on the anti-collision and anti-mistaken digging electronic fence; Configuration unit for: Extract the basic information of the positioning base stations on each excavator in the current working area, parse the basic information, and determine the terminal identification and communication parameters of each positioning base station; Based on the terminal identification and the communication parameters, multi-directional communication parameters are configured for each positioning base station respectively, and a communication network of each positioning base station is constructed based on the multi-directional communication parameter configuration result; The signal transmission power of each positioning base station is determined based on the signal radiation range, and a detection signal is transmitted to the anti-collision and anti-mistaken digging electronic fence in real time based on the signal transmission power based on the communication network; When the positioning base station on the excavator receives the detection signal, it analyzes the detection signal, determines the component composition and connection conditions of the detection signal, and feeds back a response signal to the sending positioning base station when the component composition and connection conditions meet the preset requirements; Building a communication link between the transmitter positioning base station and the receiver positioning base station based on the response signal, and configuring communication parameters of the communication link based on the communication protocol; Based on the configuration results, the anti-collision warning monitoring mechanism between the excavator and other excavators is enabled.

6. According to claim 1, a human-machine anti-collision and anti-mis-digging warning system based on high-precision Beidou positioning is characterized in that: Alarm operation module, including: An information acquisition unit is used to acquire the alarm operation within the target time period, and analyze the alarm operation to obtain the alarm type and alarm timestamp corresponding to the alarm operation; Information recording unit, used for: Classify alarm operations based on alarm type, and sort the alarm operations of each category based on alarm timestamp; Based on the classification results, the cache area in the management terminal is divided into sub-cache areas of the same number as the classification results, and based on the order of sorting results, each category of alarm operation is entered into the corresponding sub-cache area in turn for recording and archiving.

7. According to the human-machine anti-collision and anti-mistaken digging warning system based on high-precision Beidou positioning, a human-machine anti-collision and anti-mistaken digging warning method based on high-precision Beidou positioning is characterized in that: include: Step 1: Configure the positioning base station in the excavator; Step 2: Build an electronic fence to prevent collision and mis-digging of the excavator according to the early warning requirements; Step 3: Perform a first dynamic positioning of the excavator in real time based on the configured positioning base station, and perform a second dynamic positioning of the target to be positioned based on the first dynamic positioning result; Step 4: When the second dynamic positioning result belongs to the anti-collision and anti-mis-digging electronic fence area of ​​the excavator, an alarm operation is performed.

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