Power station safety control method and device based on indoor positioning technology

Abstract

The invention discloses a power station safety management and control method and device based on an indoor positioning technology. The method comprises the following steps: receiving collected biological characteristic information; the collected biological characteristic information is verified through pre-stored biological characteristic information, if verification is passed, first control information is sent out, and otherwise, second control information is sent out; after the first control information is sent out, first positioning information is received, and a first moving track is formed according to the first positioning information; when the first moving track is close to the second area, judging whether the target has the authority of entering the second area according to the collected biological characteristic information, if so, issuing third control information, and otherwise, issuing fourth control information; and after the third control information is sent out, at least two pulse request signals are sent out to calculate a second moving track. Personnel authority management and control and personnel safety management and control are effectively combined, accurate management and control of personnel behaviors can be achieved only through one-time collection of biological characteristics, and intelligent management of the personnel behaviors is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of water conservancy and hydropower, and specifically relates to a power station safety management and control method and device based on indoor positioning technology. Background Art

[0002] As a green and environmentally friendly energy source, water conservancy and hydropower have been widely used. In order to realize the intelligent and safe management and control of hydropower stations, a centralized and unified service platform has been applied in practice. Figure 1 The figure shows the system architecture of the existing centralized and unified service platform, which includes: display layer, application layer, service layer, facility layer and perception layer.

[0003] At present, hydropower stations will manage access rights for plant entrances and exits, rooms for important equipment and facilities, and key operation areas. Personnel who do not obtain the corresponding authority are not allowed to enter the corresponding areas. This is not only to protect the life safety of personnel, but also to eliminate unnecessary human factors that may cause the misoperation of important facilities and equipment. Therefore, the existing centralized and unified service platform has carried out personnel authority control and personnel safety control at the same time. Personnel authority control mainly relies on biometric information collected by the perception layer, such as fingerprints and facial images, while personnel safety control mainly relies on the radio frequency RF signals collected by the perception layer to form the movement trajectory of personnel. These are two completely independent processes with no connection to each other, resulting in the need for multiple data collection. For example, when entering each area with permission settings, biometrics need to be collected once, which is very cumbersome and not intelligent enough. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a power station safety management and control method and device based on indoor positioning technology, which effectively combines personnel authority control with personnel safety control. Only one biometric collection is required to achieve precise control of personnel safety and authority, and realize intelligent management of personnel behavior.

[0005] The technical solution adopted by the present invention is:

[0006] In a first aspect, the present application discloses a power station safety management and control method based on indoor positioning technology, comprising the following steps:

[0007] Receiving biometric information collected in the first area;

[0008] Verifying the collected biometric information through the biometric information pre-stored in the database, if the verification is passed, issuing first control information for indicating that the door access in the first area is opened, otherwise, issuing second control information for indicating that the door access in the first area remains closed;

[0009] After sending the first control information, receiving first positioning information, and forming a first movement trajectory according to the first positioning information;

[0010] When the first movement trajectory approaches the second area, judging whether the target forming the first movement trajectory has the authority to enter the second area according to the collected biometric information, and if so, issuing third control information for instructing the access control in the second area to be opened, otherwise, issuing fourth control information for instructing the access control in the second area to remain closed;

[0011] After sending the third control information, sending at least two pulse request signals;

[0012] Calculating a second moving trajectory according to the at least two pulse request signals sent;

[0013] The first movement trajectory data and the second movement trajectory data of the target are stored using the collected biometric information of the target as an index directory.

[0014] As an optional technical solution, the first positioning information includes Beidou positioning information or GPS positioning information.

[0015] As an optional technical solution, when two pulse request signals R are issued o1 , R o2 When , the calculation of the second moving trajectory includes:

[0016] Record request signal R o1 , R o2 The emission time t at its own timestamp o1 ,t o2 ;

[0017] Receive request signal R o1 , R o2 The impulse response signal R i1 , R i2 , and record the response signal R i1 , R i2 The receiving time t at the corresponding timestamp i1 ,t i2 ;

[0018] Calculate the first distance d of the target 1 and the second distance d 2 , where the first distance is the request signal R o1 The distance between the first node and the target, and the second distance is the distance for sending the request signal R o2 The distance between the second node and the target;

[0019] According to the first distance d 1and the second distance d 2 The plane coordinate information of the target on the plane of the second area is calculated, and a second movement trajectory is formed according to the plane coordinate information.

[0020] As an optional technical solution, when three pulse request signals R are issued o1 , R o2 , R o3 When , the calculation of the second moving trajectory includes:

[0021] Record request signal R o3 The time t at which it is emitted under its own timestamp o3 ;

[0022] Receive request signal R o3 The impulse response signal R i3 , and record the response signal R i3 The receiving time t at the corresponding timestamp i3 ;

[0023] Calculate the third distance d of the target 3 , where the third distance is the request signal R o3 The distance between the third node and the target;

[0024] According to the first distance d 1 , the second distance d 2 and the third distance d 3 The spatial coordinate information of the target in the second area space is calculated, and a second movement trajectory is formed according to the spatial coordinate information.

[0025] As an optional technical solution, the method further includes: when the second moving trajectory enters the third area, verifying whether the target has the authority to enter the third area through the biometric information, and if not, issuing an alarm signal.

[0026] In a second aspect, the present application discloses a power station safety management and control device based on indoor positioning technology, the device comprising:

[0027] A receiving module, used to receive the biometric information collected in the first area;

[0028] A first area access control module, configured to verify the collected biometric information through the biometric information pre-stored in the database, and if the verification is successful, issue first control information for indicating that the access control in the first area is opened, otherwise, issue second control information for indicating that the access control in the first area remains closed;

[0029] a first movement trajectory forming module, configured to receive first positioning information after sending the first control information, and form a first movement trajectory according to the first positioning information;

[0030] A second area access control module, configured to determine, when the first movement trajectory approaches the second area, whether the target forming the first movement trajectory has the authority to enter the second area according to the collected biometric information, and if so, to issue third control information for instructing the access control in the second area to be opened; otherwise, to issue fourth control information for instructing the access control in the second area to remain closed;

[0031] A request sending module, used for sending at least two pulse request signals after the second area access control module sends the third control information;

[0032] The second movement trajectory calculation module is used to calculate the second movement trajectory according to the at least two pulse request signals sent.

[0033] As an optional technical solution, the first positioning information includes Beidou positioning information or GPS positioning information.

[0034] As an optional technical solution, when the request sending module sends two pulse request signals R o1 , R o2 When the second movement trajectory calculation module is further used for:

[0035] Record request signal R o1 , R o2 The emission time t at its own timestamp o1 ,t o2 ;

[0036] Receive request signal R o1 , R o2 The impulse response signal R i1 , R i2 , and record the response signal R i1 , R i2 The receiving time t at the corresponding timestamp i1 ,t i2 ;

[0037] Calculate the first distance d of the target 1 and the second distance d 2 , where the first distance is the request signal R o1 The distance between the first node and the target, and the second distance is the distance for sending the request signal R o2 The distance between the second node and the target;

[0038] According to the first distance d 1and the second distance d 2 The plane coordinate information of the target on the plane of the second area is calculated, and a second movement trajectory is formed according to the plane coordinate information.

[0039] As an optional technical solution, when the request sending module sends three pulse request signals R o1 , R o2 , R o3 When the second movement trajectory calculation module is further used for:

[0040] Record request signal R o3 The time t at which it is emitted under its own timestamp o3 ;

[0041] Receive request signal R o3 The impulse response signal R i3 , and record the response signal R i3 The receiving time t at the corresponding timestamp i3 ;

[0042] Calculate the third distance d of the target 3 , where the third distance is the request signal R o3 The distance between the third node and the target;

[0043] According to the first distance d 1 , the second distance d 2 and the third distance d 3 The spatial coordinate information of the target in the second area space is calculated, and a second movement trajectory is formed according to the spatial coordinate information.

[0044] As an optional technical solution, the device also includes: an alarm module, which is used to verify whether the target has the authority to enter the third area through the biometric information when the second moving trajectory enters the third area, and if not, issue an alarm signal.

[0045] The beneficial effects of the present invention are as follows: in the present application, for the outdoor area within the factory, Beidou or GPS positioning is used to form a first movement trajectory of the target person, and UWB positioning technology is used in the indoor area to form a second movement trajectory of the target person. The first movement trajectory and the second movement trajectory are bound to the biometric information of the target person and stored. When the trajectory approaches the permission area, it is automatically determined whether the target person has the permission to enter the permission area through the biometric information bound to the trajectory. That is, a technical solution that combines personnel authority control with personnel safety control is adopted, which reduces the number of data collection times and realizes intelligent control of personnel behavior. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1It is the system architecture diagram of the existing centralized and unified service platform.

[0047] Figure 2 It is a flow chart of a power station safety management and control method based on indoor positioning technology in an exemplary embodiment.

[0048] Figure 3 is the first distance d 1 Schematic diagram of the calculation principle.

[0049] Figure 4 It is a schematic diagram of the calculation principle of plane coordinate information.

[0050] Figure 5 It is a schematic diagram of the calculation principle of spatial coordinate information.

[0051] Figure 6 It is a structural diagram of a power station safety management and control device based on indoor positioning technology in an exemplary embodiment. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0053] Example

[0054] like Figure 2 As shown, this embodiment discloses a power station safety management and control method based on indoor positioning technology, including the following steps:

[0055] Receiving biometric information collected in the first area; wherein the first area may be the gate of a plant building, that is, when a person arrives at the gate of a power plant building, the biometric information is collected, and the biometric information includes at least one of a fingerprint, a face image, and an iris of a human eye;

[0056] The collected biometric information is verified by using the biometric information pre-stored in the database. If the verification is successful, the first control information for instructing the door access in the first area to be opened is issued, otherwise, the second control information for instructing the door access in the first area to remain closed is issued; the biometric information of the personnel allowed to enter the power station is pre-stored in the database, and the collected biometric information is verified and matched with the biometric information pre-stored in the database. If the match is successful, the door access of the factory building is opened, otherwise, the factory building door is kept closed;

[0057] After sending the first control information, the first positioning information is received, and a first movement trajectory is formed according to the first positioning information; after a person with access authority enters the factory gate, the pass carried by the person, such as a factory badge or a work permit, sends the first positioning information to the centralized unified service platform in real time; the pass has a built-in Beidou positioning chip or a GPS positioning chip, and the first positioning information is Beidou positioning information or GPS positioning information. The centralized unified service platform forms the first movement trajectory of the person through the received Beidou positioning information or GPS positioning information; the first movement trajectory only includes the movement trajectory of the person outside the second area, and the second area is the indoor area on the ground and the underground machine room area, that is, after the person enters the factory, the person is positioned in the outdoor area in the factory through Beidou or GPS; the first movement trajectory data of the person is stored using the collected biometric information of the person as an index directory;

[0058] When the first moving track approaches the second area, it is determined whether the target forming the first moving track has the authority to enter the second area according to the collected biometric information. If so, the third control information for instructing the door access in the second area to be opened is issued. Otherwise, the fourth control information for instructing the door access in the second area to remain closed is issued. When the person wants to enter a room in the second area and his first moving track approaches the room, the centralized unified service platform automatically determines whether the collected biometric information of the person is within the authority through the preset authority. If so, the third control information is sent to automatically open the room, and the person can enter.

[0059] After sending the third control information, at least two pulse request signals are sent; the second moving trajectory is calculated based on the at least two pulse request signals sent. Since the plant structure of the hydropower station, especially the structure of the underground machine room, is a heavy reinforced concrete structure, it will cause a strong shielding effect on the Beidou signal or the GPS signal, so UWB positioning technology is used in the second area; and since the plant area of ​​the hydropower station is large, the use of UWB positioning technology in the entire plant area will result in high costs, so Beidou positioning technology or GPS positioning technology is used in the first area, i.e., the outdoor area of ​​the plant area, and UWB positioning technology is used in the second area, i.e., the indoor area of ​​the plant area.

[0060] The centralized unified service platform includes a UWB positioning base station. At least two UWB positioning base stations are arranged for each indoor space in the second area. After the person enters a room to which he has entry authority, each UWB positioning base station in the room sends a pulse request signal to the pass he carries with him. The pass has a built-in positioning tag. After receiving the pulse request signal, the positioning tag returns a pulse response signal to the corresponding UWB positioning base station. The centralized unified service platform calculates the positioning information based on the timestamp information of the returned pulse response signal, and then forms a second movement trajectory of the person in the indoor area based on the real-time calculated positioning information.

[0061] For indoor areas, when more precise positioning is needed, three or four UWB positioning base stations are generally arranged in the indoor area. However, such precise positioning is not actually required during normal operation. This is one reason. Secondly, when geological disasters such as earthquakes or other major accidents occur, the UWB positioning base station may be damaged. In this case, only two or one pulse response signals returned by the positioning tag may be received. Even when all UWB positioning base stations are damaged, the positioning tag may have no signal returned. Therefore, this embodiment provides a calculation method for positioning using two pulse response signals. In the case where one pulse response signal or no pulse response signal is returned, other auxiliary means are needed to assist the excavation and rescue work. This is not the focus of this application and will not be described in detail here.

[0062] Therefore, when two pulse request signals R are issued o1 , R o2 When , the calculation of the second moving trajectory includes:

[0063] Record request signal R o1 , R o2 The emission time t at its own timestamp o1 ,t o2 ; That is, the first UWB positioning base station at its own timestamp t o1 Send a request signal R to the positioning tag at any time o1 , the second UWB positioning base station at its own timestamp t o2 Send a request signal R to the positioning tag at any time o2 ;

[0064] Receive request signal R o1 , R o2 The impulse response signal R i1 , R i2 , and record the response signal t i1 , R i2 The receiving time t at the corresponding timestamp i1 ,t i2; That is, the positioning tag receives the request signal R o1 and R o2 After that, the impulse response signal R is formed respectively. i1 and R i2 The first UWB positioning base station and the second UWB positioning base station are respectively returned to the first UWB positioning base station and the second UWB positioning base station at their own timestamps. i1 and t i2 The response signal R is received at each time i1 and R i2 ;

[0065] Calculate the first distance d of the target 1 and the second distance d 2 , where the first distance is the request signal R o1 The distance between the first node and the target, and the second distance is the distance for sending the request signal R o2 The distance between the second node and the target; wherein the first node is the first UWB positioning base station, and the second node is the second UWB positioning base station;

[0066] like Figure 3 As shown, the first distance d 1 Calculated according to the following formula:

[0067] d 1 =(t i1 -t o1 -△T 1 )×C;

[0068] Where C is the speed of light, △T 1 The positioning tag receives the request signal R o1 From the time T1 to the time when the response signal R is sent out i1 The time difference between the moment T2, that is, △T 1 =T2-T1; second distance d 2 The first distance d 1 The calculation principle is the same:

[0069] d 2 =(t i2 -t o2 -△T 2 )×C;

[0070] Among them, △T 2 The positioning tag receives the request signal R o2 From the moment of i2 The time difference between the moments

[0071] According to the first distance d 1 and the second distance d 2The plane coordinate information of the target on the plane of the second area is calculated, and a second movement trajectory is formed according to the plane coordinate information, and the second movement trajectory data of the target is stored using the collected biometric information of the target as an index directory.

[0072] Specifically, under normal working conditions, such as Figure 4 As shown, with a first distance d 1 and the second distance d 2 The calculation process of plane coordinate information is as follows: establish a coordinate system with a point on the second area plane, i.e., the indoor ground plane, as the origin (0,0), and set the coordinates of the projection point P1 of the first node 1 on the indoor ground plane to be (x 1 ,y 1 ), the coordinates of the projection point P2 of the second node 2 on the indoor ground plane are (x 2 ,y 2 ), the coordinates of the positioning label, i.e. target 3, are (x, y), then:

[0073] (x 1 -x) 2 +(y 1 -y) 2 =(d 1 ) 2 -(d, 1 )2

[0074] (x 2 -x) 2 +(y 2 -y) 2 =(d 2 ) 2 -(d, 2 )2

[0075] d, 1 represents the distance between the first node 1 and the projection point P1, d, 2 represents the distance from the second node 2 to the projection point P2. When the first node 1 and the second node 2 are fixed, that is, the first UWB positioning base station and the second UWB positioning base station are installed and fixed, d, 1 , d, 2 、x 1 ,y 1 、x 2 ,y 2 If all are known, the plane coordinates (x, y) of the target 3 can be calculated, and the plane coordinates (x, t) of the target 3 in the room can be continuously calculated in real time to form a second moving trajectory.

[0076] In the case of abnormal operation due to earthquakes or major accidents, since the first UWB positioning base station and the second UWB positioning base station may have been displaced, the above-mentioned calculation method of the plane coordinates (x, y) is no longer applicable, but d 1 =(t i1 -t o1 -△T 1 )×C and d 2 =(t i2 -t o2 -△T 2 )×C calculation method is still applicable, that is, if the response signal R i1 and R i2 , then the first distance d 1 and the second distance d 2 The calculation can still be done normally. At this time, target 3 must be on the circumference of the intersection of sphere 1 and sphere 2. Excavation and rescue on this circumference can rescue target 3 as soon as possible. Among them, sphere 1 is centered at the first node 1 and d 1 is a sphere with radius d. Sphere 1 is a sphere with the second node 2 as the center and d 2 is a sphere with radius .

[0077] It is also possible to set up three or more UWB positioning base stations in an indoor space to perform more accurate positioning calculations. The following is an explanation using three UWB positioning base stations.

[0078] When three UWB positioning base stations are working, the three UWB positioning base stations send pulse request signals R to the positioning tag respectively. o1 , R o2 , R o3 , at this time, the calculation of the second moving trajectory includes:

[0079] Record request signal R o3 The time t at which it is emitted under its own timestamp o3 ;

[0080] Receive request signal R o3 The impulse response signal R i3 , and record the response signal R i3 The receiving time t at the corresponding timestamp i3 ;

[0081] Calculate the third distance d of the target 3 , where the third distance is the request signal R o3 The distance between the third node and the target;

[0082] According to the first distance d 1 , the second distance d 2 and the third distance d 3The spatial coordinate information of the target in the second area space is calculated, and a second movement trajectory is formed according to the spatial coordinate information.

[0083] The third distance d 3 The calculation principle and the first distance d 1 The calculation principle is the same:

[0084] d 3 =(t i3 -t o3 -△T 3 )×C

[0085] Among them, △T 3 The positioning tag receives the request signal R o3 From the moment of i3 At this time, if Figure 5 As shown in the figure, a spatial coordinate system is established with a certain point in the three-dimensional space as the origin, then the target is the spatial coordinate of the positioning tag 3 (x 3 ,y 3 ,z 3 ) is calculated according to the following formula:

[0086] (x 3 -x 4 ) 2 +(y 3 -y 4 ) 2 +(z 3 -z 4 ) 2 =(d 1 ) 2 ;

[0087] (x 3 -x 5 ) 2 +(y 3 -y 5 ) 2 +(z 3 -z 5 ) 2 =(d 2 ) 2 ;

[0088] (x 3 -x 6 ) 2 +(y 3 -y 6 ) 2 +(z 3 -z 6 ) 2 =(d 3 ) 2 ;

[0089] Among them, (x 4 ,y 4 ,z 4 ) is the spatial coordinate of the first node 1, (x 5 ,y 5 ,z 5 ) is the spatial coordinate of the second node 2, (x 6 ,y 6 ,z 6 ) is the spatial coordinate of the third node 4.

[0090] As an optional implementation, the method further includes: when the second movement trajectory enters a third area, verifying whether the target has permission to enter the third area through the biometric information, and if not, issuing an alarm signal. The third area includes important equipment and facility rooms and / or key operation areas.

[0091] like Figure 6 As shown, this embodiment also discloses a power station safety management and control device based on indoor positioning technology, the device comprising:

[0092] A receiving module, used to receive the biometric information collected in the first area;

[0093] A first area access control module, configured to verify the collected biometric information through the biometric information pre-stored in the database, and if the verification is successful, issue first control information for indicating that the access control in the first area is opened, otherwise, issue second control information for indicating that the access control in the first area remains closed;

[0094] a first movement trajectory forming module, configured to receive first positioning information after sending the first control information, and form a first movement trajectory according to the first positioning information;

[0095] A second area access control module, configured to determine, when the first movement trajectory approaches the second area, whether the target forming the first movement trajectory has the authority to enter the second area according to the collected biometric information, and if so, to issue third control information for instructing the access control in the second area to be opened; otherwise, to issue fourth control information for instructing the access control in the second area to remain closed;

[0096] A request sending module, used for sending at least two pulse request signals after the second area access control module sends the third control information;

[0097] The second movement trajectory calculation module is used to calculate the second movement trajectory according to the at least two pulse request signals sent.

[0098] As an optional implementation, the first positioning information includes Beidou positioning information or GPS positioning information.

[0099] As an optional implementation, when the request sending module sends two pulse request signals R o1 , R o2 When the second movement trajectory calculation module is further used for:

[0100] Record request signal R o1 , R o2 The emission time t at its own timestamp o1 ,t o2 ;

[0101] Receive request signal R o1 , R o2 The impulse response signal R i1 , R i2 , and record the response signal R i1 , R i2 The receiving time t at the corresponding timestamp i1 ,t i2 ;

[0102] Calculate the first distance d of the target 1 and the second distance d 2 , where the first distance is the request signal R o1 The distance between the first node and the target, and the second distance is the distance for sending the request signal R o2 The distance between the second node and the target;

[0103] According to the first distance d 1 and the second distance d 2 The plane coordinate information of the target on the plane of the second area is calculated, and a second movement trajectory is formed according to the plane coordinate information.

[0104] As an optional implementation, when the request sending module sends three pulse request signals R o1 ,t o2 , R o3 When the second movement trajectory calculation module is further used for:

[0105] Record request signal R o3 The time t at which it is emitted under its own timestamp o3 ;

[0106] Receive request signal R o3 The impulse response signal R i3 , and record the response signal R i3 The receiving time t at the corresponding timestamp i3 ;

[0107] Calculate the third distance d of the target 3 , where the third distance is the request signal R o3 The distance between the third node and the target;

[0108] According to the first distance d 1 , the second distance d 2 and the third distance d 3 The spatial coordinate information of the target in the second area space is calculated, and a second movement trajectory is formed according to the spatial coordinate information.

[0109] As an optional implementation, the device further includes: an alarm module, which is used to verify whether the target has the authority to enter the third area through the biometric information when the second moving trajectory enters the third area, and if not, issue an alarm signal.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0111] Those skilled in the art will appreciate that the modules in the above device embodiments may be distributed in the device according to the description of the embodiments, or may be changed accordingly to be uniquely different from one or more devices in each embodiment. The modules in the above embodiments may be combined into one module, or may be further split into multiple submodules (units).

[0112] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software, or by combining software with necessary hardware. Therefore, the technical solution according to the embodiment of the present application can be embodied in the form of a software product, which can be stored in a readable medium or on a network, and includes several instructions to enable an electronic device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiment of the present application.

[0113] The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. All technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A power station safety management and control method based on indoor positioning technology, characterized in that: The following steps are involved: Receiving biometric information collected in the first area; Verifying the collected biometric information through the biometric information pre-stored in the database, if the verification is passed, issuing first control information for indicating that the door access in the first area is opened, otherwise, issuing second control information for indicating that the door access in the first area remains closed; After sending the first control information, receiving first positioning information, and forming a first movement trajectory according to the first positioning information; When the first movement trajectory approaches the second area, judging whether the target forming the first movement trajectory has the authority to enter the second area according to the collected biometric information, and if so, issuing third control information for instructing the access control in the second area to be opened, otherwise, issuing fourth control information for instructing the access control in the second area to remain closed; After sending the third control information, sending at least two pulse request signals; Calculating a second moving trajectory according to the at least two pulse request signals sent; The first movement trajectory data and the second movement trajectory data of the target are stored using the collected biometric information of the target as an index directory.

2. The power station safety management and control method based on indoor positioning technology according to claim 1 is characterized in that: The first positioning information includes Beidou positioning information or GPS positioning information.

3. The power station safety management and control method based on indoor positioning technology according to claim 1 or 2, characterized in that: When two pulse request signals R are issued o1 , R o2 When , the calculation of the second moving trajectory includes: Record request signal R o1 , R o2 The emission time t at its own timestamp o1 ,t o2 ; Receive request signal R o1 , R o2 The impulse response signal R i1 , R i2 , and record the response signal R i1 , R i2 The receiving time t at the corresponding timestamp i1 ,t i2 ; Calculate the first distance d1 and the second distance d2 of the target, where the first distance is the time required to send the request signal R o1 The distance between the first node and the target, and the second distance is the distance for sending the request signal R o2 The distance between the second node and the target; The plane coordinate information of the target on the plane of the second area is calculated according to the first distance d1 and the second distance d2, and a second moving trajectory is formed according to the plane coordinate information.

4. The power station safety management and control method based on indoor positioning technology according to claim 3 is characterized in that: When three pulse request signals R are issued o1 , R o2 , R o2 When , the calculation of the second moving trajectory includes: Record request signal R o3 The time t at which it is emitted under its own timestamp o3 ; Receive request signal R o3 The impulse response signal R i3 , and record the response signal R i3 The receiving time t at the corresponding timestamp i3 ; Calculate the third distance d3 of the target, where the third distance is the time required to send the request signal R o3 The distance between the third node and the target; The spatial coordinate information of the target in the second area space is calculated according to the first distance d1, the second distance d2 and the third distance d3, and a second moving trajectory is formed according to the spatial coordinate information.

5. The power station safety management and control method based on indoor positioning technology according to claim 1, 2 or 4, characterized in that: Also includes: When the second moving track enters the third area, the biometric information is used to verify whether the target has the authority to enter the third area. If the target does not have the authority, an alarm signal is issued.

6. A power station safety control device based on indoor positioning technology, characterized in that: The device includes: A receiving module, used to receive the biometric information collected in the first area; A first area access control module, configured to verify the collected biometric information through the biometric information pre-stored in the database, and if the verification is successful, issue first control information for indicating that the access control in the first area is opened, otherwise, issue second control information for indicating that the access control in the first area remains closed; a first movement trajectory forming module, configured to receive first positioning information after sending the first control information, and form a first movement trajectory according to the first positioning information; A second area access control module, configured to determine, when the first movement trajectory approaches the second area, whether the target forming the first movement trajectory has the authority to enter the second area according to the collected biometric information, and if so, to issue third control information for instructing the access control in the second area to be opened; otherwise, to issue fourth control information for instructing the access control in the second area to remain closed; A request sending module, used for sending at least two pulse request signals after the second area access control module sends the third control information; The second movement trajectory calculation module is used to calculate the second movement trajectory according to the at least two pulse request signals sent.

7. The power station safety control device based on indoor positioning technology according to claim 6, characterized in that: The first positioning information includes Beidou positioning information or GPS positioning information.

8. The power station safety management and control device based on indoor positioning technology according to claim 6 or 7, characterized in that: When the request sending module sends two pulse request signals R o1 , R o2 When the second movement trajectory calculation module is further used for: Record request signal R o1 , R o2 The emission time t at its own timestamp o1 ,t o2 ; Receive request signal R o1 , R o2 The impulse response signal R i1 , R i2 , and record the response signal R i1 , R i2 The receiving time t at the corresponding timestamp i1 ,t i2 ; Calculate the first distance d1 and the second distance d2 of the target, where the first distance is the time required to send the request signal R o1 The distance between the first node and the target, and the second distance is the distance for sending the request signal R o2 The distance between the second node and the target; The plane coordinate information of the target on the plane of the second area is calculated according to the first distance d1 and the second distance d2, and a second moving trajectory is formed according to the plane coordinate information.

9. The power station safety control device based on indoor positioning technology according to claim 8, characterized in that: When the request sending module sends three pulse request signals R o1 , R o2 , R o3 When the second movement trajectory calculation module is further used for: Record request signal R o3 The time t at which it is emitted under its own timestamp o3 ; Receive request signal R o3 The impulse response signal R i3 , and record the response signal R i3 The receiving time t at the corresponding timestamp i3 ; Calculate the third distance d3 of the target, where the third distance is the time required to send the request signal R o3 The distance between the third node and the target; The spatial coordinate information of the target in the second area space is calculated according to the first distance d1, the second distance d2 and the third distance d3, and a second moving trajectory is formed according to the spatial coordinate information.

10. The power station safety management and control device based on indoor positioning technology according to claim 6, 7 or 9, characterized in that: The device also includes: an alarm module, which is used to verify whether the target has the authority to enter the third area through the biometric information when the second moving track enters the third area, and if the target does not have the authority, issue an alarm signal.

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