Positioning monitoring method and system for coal yard personnel

Abstract

The invention discloses a positioning and monitoring method and system for coal yard personnel. The method comprises the following steps: constructing a positioning reference map of a coal yard; based on operation requirements, determining an optimal operation track of the coal yard personnel, and mapping the optimal operation track to the positioning reference map to obtain a standard positioning track and a critical positioning point of the coal yard personnel in the positioning reference map; actual positioning information of the coal yard personnel is obtained in real time, the operation condition of operation machinery in the operation process of the coal yard personnel is monitored in real time, and a positioning risk coefficient of the coal yard personnel is generated according to the actual positioning information, the position relation between the standard positioning track and the critical positioning point and the operation condition result; and judging whether the positioning of the coal yard personnel has a risk according to the positioning risk coefficient, and if so, sending a corresponding preset reminding signal to the coal yard personnel to improve the working efficiency of the coal yard personnel on the premise of ensuring the safety of the coal yard personnel and the mechanical equipment.

Description

Technical Field

[0001] The present application relates to the technical field of personnel positioning, and in particular to a positioning and monitoring method and system for coal yard personnel. Background Art

[0002] Due to the closure of the coal yard and on-site loading and unloading of vehicles, the safety of other operating machinery in the coal yard, such as coal pushers and coal unloading cars, as well as the safety of workers in the coal yard, needs to be further improved.

[0003] In the existing technology, the coal yard personnel are located by wearing positioning tags or video monitoring systems. The above methods have problems such as incorrect operation of coal yard personnel, accidental injury of surrounding coal yard personnel by mechanical equipment operation without warning, and the risk of collision with equipment due to close distance. As a result, the safety of coal yard personnel cannot be guaranteed and the working efficiency is reduced. Summary of the Invention

[0004] In order to solve the above technical problems, the present application provides a positioning monitoring method and system for coal yard personnel. By constructing a positioning reference map of the coal yard, the standard positioning trajectory and critical positioning points are determined according to the operation requirements. The positioning risk coefficient of the coal yard personnel is determined based on the positional relationship between the actual positioning information of the coal yard personnel and the standard positioning trajectory and critical positioning points, as well as the operation results of the operating machinery. Based on the positioning risk coefficient, it is judged whether there is a risk in the positioning of the coal yard personnel. If so, a corresponding reminder signal is issued to improve the operating efficiency of the coal yard personnel while ensuring the safety of the coal yard personnel and mechanical equipment.

[0005] In some embodiments of the present application, a method for positioning and monitoring personnel in a coal yard is provided, comprising:

[0006] Construct a reference map of the coal yard's location;

[0007] Based on the operational requirements, the optimal operational trajectory of the coal yard personnel is determined and mapped to the positioning reference map to obtain the standard positioning trajectory and critical positioning points of the coal yard personnel in the positioning reference map;

[0008] The actual positioning information of coal yard personnel is obtained in real time, and the operation status of the operating machinery during the coal yard personnel's operation is monitored in real time. The positioning risk coefficient of the coal yard personnel is generated based on the position relationship between the actual positioning information, the standard positioning trajectory, and the critical positioning points, as well as the operation results;

[0009] The positioning risk coefficient is used to determine whether there is a risk in the positioning of the coal yard personnel. If there is a risk, a corresponding preset reminder signal is sent to the coal yard personnel.

[0010] In some embodiments of the present application, constructing a positioning reference map includes:

[0011] Divide the coal yard into multiple areas of concern according to the preset reference accuracy;

[0012] Acquire scene information of each area of ​​interest, the scene information including contour information and layout information of the corresponding area of ​​interest, and generate a contour framework diagram of the corresponding area of ​​interest based on the contour information and layout information of the area of ​​interest;

[0013] The scene information also includes device location information and road location information contained in the corresponding area of ​​interest. The device location information and road location information are plotted in the outline frame diagram of the corresponding area of ​​interest to obtain a sub-positioning reference diagram of each area of ​​interest.

[0014] The sub-positioning reference maps are spliced ​​according to the positional relationship between multiple areas of interest to obtain the positioning reference map of the coal yard.

[0015] In some embodiments of the present application, determining the optimal operation trajectory of coal yard personnel based on operation requirements includes:

[0016] Based on the historical job logs of job requirements, historical job location information is obtained;

[0017] The historical operation positioning points of the coal yard personnel are determined based on the historical operation positioning information. The historical operation positioning points of the same historical operation log are sequentially connected according to the historical acquisition time nodes of the historical operation positioning information to obtain multiple historical operation trajectories of the coal yard personnel.

[0018] The operation speed is generated based on the operation path length and operation duration of multiple historical operation trajectories, and the congestion coefficient is generated based on the number of overlaps with other operation machines and the degree of overlap within the operation duration corresponding to each historical operation trajectory;

[0019] Generate the historical operation efficiency Y corresponding to the historical operation trajectory based on the congestion coefficient, operation speed, and the operation completion degree corresponding to the historical operation trajectory;

[0020]

[0021] Where v is the operating speed of the historical operating trajectory, t is the operating time of the historical operating trajectory, n is the number of overlaps between the historical operating trajectory and the operating machine, ci is the degree of overlap between the historical operating trajectory and the operating machine for the i-th overlap, and a is the duration conversion coefficient. is the congestion coefficient, w is the job completion degree of the historical job trajectory;

[0022] The operation efficiencies of multiple historical operation trajectories are ranked, and the historical operation trajectory ranked first is set as the optimal operation trajectory.

[0023] In some embodiments of the present application, obtaining the standard positioning trajectory and critical positioning points of coal yard personnel in the positioning reference map includes:

[0024] Obtain the historical operation positioning points of the coal yard personnel in the optimal operation trajectory, and map the historical operation positioning points to the positioning reference map to obtain the standard positioning trajectory of the coal yard personnel;

[0025] Obtain multiple historical operation logs of the optimal operation trajectory, and filter out historical overlap information between the optimal operation trajectory in the historical operation logs and other operation machines, wherein the historical overlap information includes historical overlap areas and the impact degree corresponding to the historical overlap areas;

[0026] Determine the optimal operation trajectory in each historical operation log and the safe relative distance from other operating machines based on the historical overlap area and the corresponding impact degree;

[0027] Map the historical overlap area and safe relative distance corresponding to each historical job log to the corresponding position in the positioning reference map, obtain the safe relative area closest to the standard positioning trajectory, and obtain the positioning point on the boundary of the safe relative area;

[0028] Calculate the predicted operating efficiency after the coal yard personnel perform operations according to the positioning points. If the predicted operating efficiency is less than the preset operating efficiency threshold, fine-tune the position information of the corresponding positioning points.

[0029] The fine-tuned positioning point is set as the critical positioning point of the standard positioning trajectory.

[0030] In some embodiments of the present application, based on the positional relationship between the actual positioning information and the standard positioning trajectory and critical positioning points, as well as the operation results, a positioning risk coefficient of the coal yard personnel is generated, including:

[0031] Determine a portion of the actual positioning trajectory of the coal yard personnel based on the actual positioning information, and select multiple actual positioning coordinates of the portion of the actual positioning trajectory based on a preset similarity comparison accuracy;

[0032] According to the acquisition time node of the actual positioning coordinates, the historical positioning coordinates of the historical positioning trajectory of the current operation requirements at the corresponding historical time node are collected;

[0033] The coordinate difference between the historical positioning coordinates and the corresponding actual positioning coordinates in each historical positioning trajectory is calculated. The similarity between the historical positioning trajectory and some actual positioning trajectories is generated based on multiple coordinate difference values. The historical positioning trajectory with the greatest similarity is deduced from the endpoints of some actual positioning trajectories to obtain the predicted positioning trajectory of the coal yard personnel and multiple predicted positioning points.

[0034] Calculate the similarity between the predicted positioning trajectory and the standard positioning trajectory. If the similarity is less than a preset similarity threshold, obtain the positional relationship between the predicted positioning point in the predicted positioning trajectory and the critical positioning point in the standard positioning trajectory, and generate a first risk coefficient for the coal yard personnel based on the positional relationship.

[0035] Based on the operation status of the operating machinery during the coal yard personnel's operation and the actual movement speed of the coal yard personnel, the collision probability between the coal yard personnel and the operating machinery in multiple intercepted predicted positioning trajectory segments is generated;

[0036] Based on the collision probability and the danger level of the operating machinery, a second risk coefficient is generated for the coal yard personnel in the corresponding predicted positioning trajectory section;

[0037] A positioning risk coefficient of coal yard personnel is generated according to the first risk coefficient and the plurality of second risk coefficients.

[0038] In some embodiments of the present application, generating a first risk coefficient for coal yard personnel based on the position relationship includes:

[0039] According to the position relationship, the number of positioning points where the predicted positioning point exceeds the corresponding critical positioning point and the position deviation amount of the predicted positioning point exceeding the corresponding critical positioning point are obtained;

[0040] Generate the first risk coefficient f1 of the coal yard personnel according to the number of positioning points and the position deviation;

[0041]

[0042] Where m is the number of positioning points where the predicted positioning point exceeds the corresponding critical positioning point, M0 is the total number of predicted positioning points, and △Ps is the position deviation of the sth positioning point where the predicted positioning point exceeds the corresponding critical positioning point.

[0043] In some embodiments of the present application, generating a second risk coefficient for a coal yard worker in a corresponding predicted positioning trajectory segment includes:

[0044] According to the operation status of the operating machinery during the operation of the coal yard personnel and the preset operation instructions within the preset time period, the predicted operation time and predicted operation range of the operating machinery are obtained;

[0045] Determine the predicted working position of the coal yard personnel in the predicted positioning trajectory based on the actual moving speed and predicted working time of the coal yard personnel;

[0046] Calculate the relative distance between the coordinates of the predicted operation position and the coordinates of the center point of the predicted operation range, and generate a collision probability based on the ratio of the relative distance to the preset radius of the predicted operation range;

[0047] Generate a second risk coefficient f2 for the predicted positioning trajectory segment corresponding to the predicted working position based on the collision probability and the danger level of the corresponding working machine;

[0048]

[0049] Among them, (x2, y2) is the coordinate of the predicted working position, (x1, y1) is the coordinate of the center point of the predicted working range, R is the preset radius of the predicted working range, u is the danger level of the working machine, u min is the minimum danger level of the operating machinery, and b is the conversion coefficient.

[0050] In some embodiments of the present application, the actual positioning point is obtained according to the actual positioning information after a portion of the actual positioning trajectory;

[0051] A rational homing correction is performed based on the actual positioning point and the corresponding predicted positioning point in the predicted positioning trajectory, and the angle at the connection between the positioning point after the homing correction and the predicted positioning trajectory is analyzed. If the angle is less than the preset angle threshold, the positioning point after the homing correction and the connection between the predicted positioning trajectory are connected by a straight line. If the angle is greater than the preset angle threshold, the positioning point after the homing correction is taken as the vertex, and the straight line passing through the vertex is smoothly moved along the direction of the preset positioning trajectory to form a circular curve connecting the positioning point after the homing correction and the preset positioning trajectory.

[0052] In some embodiments of the present application, judging whether there is a risk in the positioning of coal yard personnel according to the positioning risk coefficient includes:

[0053] Presetting a first positioning risk coefficient threshold and a second positioning risk coefficient threshold;

[0054] When the positioning risk coefficient of the coal yard personnel is less than the first positioning risk coefficient threshold, there is no risk in the positioning of the coal yard personnel;

[0055] When the positioning risk coefficient of the coal yard personnel is between the first positioning risk coefficient threshold and the second positioning risk coefficient threshold, the positioning of the coal yard personnel is at risk, and a first reminder signal is sent;

[0056] When the positioning risk coefficient of the coal yard personnel is greater than the second positioning risk coefficient threshold, there is a risk in the positioning of the coal yard personnel, and a second reminder signal is sent.

[0057] In some embodiments of the present application, a positioning monitoring system for coal yard personnel is also included:

[0058] A construction module is used to construct a positioning reference map of the coal yard;

[0059] The determination module is used to determine the optimal operation trajectory of the coal yard personnel based on the operation requirements, and map it to the positioning reference map to obtain the standard positioning trajectory and critical positioning points of the coal yard personnel in the positioning reference map;

[0060] The generation module is used to obtain the actual positioning information of coal yard personnel in real time, and monitor the operation status of the operating machinery during the coal yard personnel's operation in real time. Based on the positional relationship between the actual positioning information and the standard positioning trajectory and critical positioning points, as well as the operation results, the positioning risk coefficient of the coal yard personnel is generated;

[0061] The judgment module is used to judge whether there is a risk in the positioning of the coal yard personnel according to the positioning risk coefficient. If there is a risk, a corresponding preset reminder signal is sent to the coal yard personnel.

[0062] Compared with the prior art, the method and system for positioning and monitoring personnel in a coal yard according to the embodiment of the present application have the following advantages:

[0063] By constructing a positioning reference map of the coal yard, determining the standard positioning trajectory and critical positioning points according to operational requirements, and determining the positioning risk coefficient of the coal yard personnel based on the positional relationship between their actual positioning information and the standard positioning trajectory and critical positioning points, as well as the results of the operating machinery, the positioning risk coefficient is determined. Based on the positioning risk coefficient, it is determined whether there is a risk in the positioning of the coal yard personnel. If so, a corresponding reminder signal is issued to ensure the safety of the coal yard personnel and mechanical equipment, and to improve the operating efficiency of the coal yard personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 This is a flow chart of a method for positioning and monitoring personnel in a coal yard in a preferred embodiment of the present application;

[0065] Figure 2 1 is a schematic diagram of a positioning monitoring system for coal yard personnel in a preferred embodiment of the present application. DETAILED DESCRIPTION

[0066] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0067] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0068] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0069] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0070] like Figure 1 As shown, a method for positioning and monitoring personnel in a coal yard according to a preferred embodiment of the present application includes:

[0071] Step S101: constructing a positioning reference map of the coal yard;

[0072] Step S102: Based on the operation requirements, the optimal operation trajectory of the coal yard personnel is determined and mapped to the positioning reference map to obtain the standard positioning trajectory and critical positioning points of the coal yard personnel in the positioning reference map;

[0073] Step S103: Acquire the actual positioning information of coal yard personnel in real time, monitor the operation of the operating machinery during the coal yard personnel's operation in real time, and generate the coal yard personnel's positioning risk coefficient based on the positional relationship between the actual positioning information, the standard positioning trajectory, and the critical positioning points, as well as the operation results;

[0074] Step S104: judging whether there is a risk in the positioning of the coal yard personnel according to the positioning risk coefficient; if so, sending a corresponding preset reminder signal to the coal yard personnel.

[0075] In this embodiment, multiple personnel and equipment positioning monitoring systems and video monitoring systems are set up in the coal yard. According to the personnel and equipment positioning monitoring system and the video monitoring system, the real-time location information of all personnel and operating machinery in the closed coal yard can be monitored in an all-round manner. Operating machinery refers to mechanical equipment that is completing specific operating tasks.

[0076] In this embodiment, by constructing a positioning reference map of the coal yard, the standard positioning trajectory and critical positioning points are determined according to the operational requirements, and the positioning risk coefficient of the coal yard personnel is determined based on the positional relationship between the actual positioning information of the coal yard personnel and the standard positioning trajectory and critical positioning points, as well as the operating results of the operating machinery. Based on the positioning risk coefficient, it is judged whether there is a risk in the positioning of the coal yard personnel. If so, a corresponding reminder signal is issued to improve the operating efficiency of the coal yard personnel while ensuring the safety of the coal yard personnel and mechanical equipment.

[0077] In some embodiments of the present application, constructing a positioning reference map includes:

[0078] Divide the coal yard into multiple areas of concern according to the preset reference accuracy;

[0079] Acquire scene information of each area of ​​interest, the scene information including contour information and layout information of the corresponding area of ​​interest, and generate a contour framework diagram of the corresponding area of ​​interest based on the contour information and layout information of the area of ​​interest;

[0080] The scene information also includes device location information and road location information contained in the corresponding area of ​​interest. The device location information and road location information are plotted in the outline frame diagram of the corresponding area of ​​interest to obtain a sub-positioning reference diagram of each area of ​​interest.

[0081] The sub-positioning reference maps are spliced ​​according to the positional relationship between multiple areas of interest to obtain the positioning reference map of the coal yard.

[0082] In this embodiment, multiple video surveillance devices and positioning sensors are installed in the coal yard. The equipment distribution and equipment location information of each area of ​​interest are obtained based on the video surveillance devices and positioning sensors. Multiple movable paths are determined based on the historical positioning information of the coal yard personnel, thereby obtaining road location information. The corresponding sub-positioning reference map is determined based on the contour information of the area of ​​interest, the equipment distribution, the equipment location information and the road location information.

[0083] In this embodiment, the coal yard is divided into multiple areas of interest according to the preset reference accuracy, a sub-positioning reference map of each area of ​​interest is constructed, and the positioning reference map of the coal yard is spliced ​​together to improve the monitoring accuracy of the coal yard, lay the foundation for subsequent monitoring of the positioning of coal yard personnel, and improve the positioning monitoring accuracy of coal yard personnel.

[0084] In some embodiments of the present application, determining the optimal operation trajectory of coal yard personnel based on operation requirements includes:

[0085] Based on the historical job logs of job requirements, historical job location information is obtained;

[0086] The historical operation positioning points of the coal yard personnel are determined based on the historical operation positioning information. The historical operation positioning points of the same historical operation log are sequentially connected according to the historical acquisition time nodes of the historical operation positioning information to obtain multiple historical operation trajectories of the coal yard personnel.

[0087] The operation speed is generated based on the operation path length and operation duration of multiple historical operation trajectories, and the congestion coefficient is generated based on the number of overlaps with other operation machines and the degree of overlap within the operation duration corresponding to each historical operation trajectory;

[0088] Generate the historical operation efficiency Y corresponding to the historical operation trajectory based on the congestion coefficient, operation speed, and the operation completion degree corresponding to the historical operation trajectory;

[0089]

[0090] Where v is the operating speed of the historical operating trajectory, t is the operating time of the historical operating trajectory, n is the number of overlaps between the historical operating trajectory and the operating machine, ci is the degree of overlap between the historical operating trajectory and the operating machine for the i-th overlap, and a is the duration conversion coefficient. is the congestion coefficient, w is the job completion degree of the historical job trajectory;

[0091] The operation efficiencies of multiple historical operation trajectories are ranked, and the historical operation trajectory ranked first is set as the optimal operation trajectory.

[0092] In this embodiment, the degree of overlap is calculated based on the overlap duration and the overlap area. The overlap area refers to the area of ​​the historical operating trajectory occupied by the operating machinery. The overlap duration refers to the application time of the area of ​​the historical operating trajectory occupied by the operating machinery. The degree of completion of the action refers to the amount of work completed and the completion effect corresponding to the historical operating trajectory. The congestion coefficient refers to the degree of congestion in the operating status. The greater the congestion degree, the greater the congestion coefficient.

[0093] In this embodiment, the optimal operating efficiency is screened out based on the historical operating efficiency from multiple historical operating trajectories, so as to determine the standard positioning trajectory in the positioning reference map, set standard evaluation indicators for subsequent positioning monitoring of coal yard personnel, and improve the operating efficiency of coal yard personnel while ensuring the safety of coal yard personnel and mechanical equipment.

[0094] In some embodiments of the present application, obtaining the standard positioning trajectory and critical positioning points of coal yard personnel in the positioning reference map includes:

[0095] Obtain the historical operation positioning points of the coal yard personnel in the optimal operation trajectory, and map the historical operation positioning points to the positioning reference map to obtain the standard positioning trajectory of the coal yard personnel;

[0096] Obtain multiple historical operation logs of the optimal operation trajectory, and filter out historical overlap information between the optimal operation trajectory in the historical operation logs and other operation machines, wherein the historical overlap information includes historical overlap areas and the impact degree corresponding to the historical overlap areas;

[0097] Determine the optimal operation trajectory in each historical operation log and the safe relative distance from other operating machines based on the historical overlap area and the corresponding impact degree;

[0098] Map the historical overlap area and safe relative distance corresponding to each historical job log to the corresponding position in the positioning reference map, obtain the safe relative area closest to the standard positioning trajectory, and obtain the positioning point on the boundary of the safe relative area;

[0099] Calculate the predicted operating efficiency after the coal yard personnel perform operations according to the positioning points. If the predicted operating efficiency is less than the preset operating efficiency threshold, fine-tune the position information of the corresponding positioning points.

[0100] The fine-tuned positioning point is set as the critical positioning point of the standard positioning trajectory.

[0101] In this embodiment, the historical overlapping area refers to the area where the operating area of ​​the optimal operating trajectory overlaps with other operating machinery. The degree of influence of the historical overlapping area is set according to the mechanical equipment hazard value of the corresponding operating machinery and the operating impact range. When the mechanical equipment hazard value is greater and the operating impact range is larger, the degree of influence of the historical overlapping area is greater. The safe relative distance refers to the minimum safe distance that can ensure that the coal yard personnel are in the optimal operating trajectory and the operating machinery.

[0102] In this embodiment, the historical overlap area is irregular. The historical overlap area and the safe relative distance are mapped to the corresponding positions in the positioning reference map to obtain the safe relative area. The safe relative area is also irregular. The positioning point on the boundary of the safe relative area is obtained, and the predicted operation efficiency when performing operations according to the positioning point is calculated. The preset operation efficiency threshold is set in advance and is obtained by averaging the historical operation efficiencies of multiple historical operation logs of the optimal operation trajectory. When the predicted operation efficiency is less than the preset operation efficiency threshold, the position information of the positioning point is fine-tuned to make the positioning point closer to the optimal operation trajectory, thereby improving the operation efficiency.

[0103] In this embodiment, critical positioning points are set according to operating efficiency and safety relative areas, thereby improving the safety and operating efficiency of coal yard personnel in standard positioning trajectories and critical positioning points, laying the foundation for subsequent positioning monitoring of coal yard personnel, and accurately judging whether the positioning information of coal yard personnel is in a safe operating area and whether the operating efficiency is qualified.

[0104] In some embodiments of the present application, based on the positional relationship between the actual positioning information and the standard positioning trajectory and critical positioning points, as well as the operation results, a positioning risk coefficient of the coal yard personnel is generated, including:

[0105] Determine a portion of the actual positioning trajectory of the coal yard personnel based on the actual positioning information, and select multiple actual positioning coordinates of the portion of the actual positioning trajectory based on a preset similarity comparison accuracy;

[0106] According to the acquisition time node of the actual positioning coordinates, the historical positioning coordinates of the historical positioning trajectory of the current operation requirements at the corresponding historical time node are collected;

[0107] The coordinate difference between the historical positioning coordinates and the corresponding actual positioning coordinates in each historical positioning trajectory is calculated. The similarity between the historical positioning trajectory and some actual positioning trajectories is generated based on multiple coordinate difference values. The historical positioning trajectory with the greatest similarity is deduced from the endpoints of some actual positioning trajectories to obtain the predicted positioning trajectory of the coal yard personnel and multiple predicted positioning points.

[0108] Calculate the similarity between the predicted positioning trajectory and the standard positioning trajectory. If the similarity is less than a preset similarity threshold, obtain the positional relationship between the predicted positioning point in the predicted positioning trajectory and the critical positioning point in the standard positioning trajectory, and generate a first risk coefficient for the coal yard personnel based on the positional relationship.

[0109] Based on the operation status of the operating machinery during the coal yard personnel's operation and the actual movement speed of the coal yard personnel, the collision probability between the coal yard personnel and the operating machinery in multiple intercepted predicted positioning trajectory segments is generated;

[0110] Based on the collision probability and the danger level of the operating machinery, a second risk coefficient is generated for the coal yard personnel in the corresponding predicted positioning trajectory section;

[0111] A positioning risk coefficient of coal yard personnel is generated according to the first risk coefficient and the plurality of second risk coefficients.

[0112] In this embodiment, the smaller the sum of the coordinate difference values ​​between the same historical positioning trajectory and the predicted positioning trajectory, the greater the similarity. Conversely, the endpoints of the partial actual positioning trajectory are deduced based on the historical positioning trajectory with the maximum similarity, thereby obtaining the predicted positioning trajectory after the partial actual positioning trajectory.

[0113] In this embodiment, the intercepted predicted positioning trajectory segment can be based on the corner node or the node whose equipment distance exceeds the preset distance, and the predicted positioning trajectory is intercepted into multiple segments to improve the accuracy of positioning monitoring of coal yard personnel. According to the collision probability between the coal yard personnel working area and the operating machinery in each segment and the danger level of the mechanical equipment, the second risk coefficient of the coal yard personnel is calculated, and the safety level of the coal yard personnel in the predicted positioning trajectory is accurately judged to ensure the working safety of the coal yard personnel.

[0114] In this embodiment, the positioning risk coefficient = the first risk coefficient * 0.4 + the sum of the second risk coefficients of multiple predicted positioning trajectory segments * 0.6. The positioning risk coefficient of the coal yard personnel is obtained based on the first risk coefficient and the second risk coefficient. A comprehensive analysis is performed based on the degree of deviation between the predicted positioning trajectory of the coal yard personnel and the standard positioning trajectory, as well as the probability of collision with other operating machinery and the degree of danger, to improve the positioning monitoring accuracy of the coal yard personnel and ensure the safe operation and work efficiency of the coal yard personnel.

[0115] In some embodiments of the present application, generating a first risk coefficient for coal yard personnel based on the position relationship includes:

[0116] According to the position relationship, the number of positioning points where the predicted positioning point exceeds the corresponding critical positioning point and the position deviation amount of the predicted positioning point exceeding the corresponding critical positioning point are obtained;

[0117] Generate the first risk coefficient f1 of the coal yard personnel according to the number of positioning points and the position deviation;

[0118]

[0119] Where m is the number of positioning points where the predicted positioning point exceeds the corresponding critical positioning point, M0 is the total number of predicted positioning points, and △Ps is the position deviation of the sth positioning point where the predicted positioning point exceeds the corresponding critical positioning point.

[0120] In some embodiments of the present application, generating a second risk coefficient for a coal yard worker in a corresponding predicted positioning trajectory segment includes:

[0121] According to the operation status of the operating machinery during the operation of the coal yard personnel and the preset operation instructions within the preset time period, the predicted operation time and predicted operation range of the operating machinery are obtained;

[0122] Determine the predicted working position of the coal yard personnel in the predicted positioning trajectory based on the actual moving speed and predicted working time of the coal yard personnel;

[0123] Calculate the relative distance between the coordinates of the predicted operation position and the coordinates of the center point of the predicted operation range, and generate a collision probability based on the ratio of the relative distance to the preset radius of the predicted operation range;

[0124] Generate a second risk coefficient f2 for the predicted positioning trajectory segment corresponding to the predicted working position based on the collision probability and the danger level of the corresponding working machine;

[0125]

[0126] Among them, (x2, y2) is the coordinate of the predicted working position, (x1, y1) is the coordinate of the center point of the predicted working range, R is the preset radius of the predicted working range, u is the danger level of the working machine, u min is the minimum danger level of the operating machinery, and b is the conversion coefficient.

[0127] In this embodiment, the collision probability of each predicted positioning trajectory segment and the danger level of the operating machinery determine the second risk coefficient of the corresponding segment. Based on the second risk coefficients of multiple predicted positioning trajectory segments, the positioning risk coefficient of the coal yard personnel in the predicted positioning trajectory is obtained, and whether the positioning of the coal yard personnel is safe and whether the operating efficiency is qualified is accurately judged, thereby improving the positioning monitoring accuracy of the coal yard personnel.

[0128] In some embodiments of the present application, the actual positioning point is obtained according to the actual positioning information after a portion of the actual positioning trajectory;

[0129] A rational homing correction is performed based on the actual positioning point and the corresponding predicted positioning point in the predicted positioning trajectory, and the angle at the connection between the positioning point after the homing correction and the predicted positioning trajectory is analyzed. If the angle is less than the preset angle threshold, the positioning point after the homing correction and the connection between the predicted positioning trajectory are connected by a straight line. If the angle is greater than the preset angle threshold, the positioning point after the homing correction is taken as the vertex, and the straight line passing through the vertex is smoothly moved along the direction of the preset positioning trajectory to form a circular curve connecting the positioning point after the homing correction and the preset positioning trajectory.

[0130] In this embodiment, the predicted positioning trajectory is corrected according to the actual positioning information after the partial actual positioning trajectory to improve the accuracy of the predicted positioning trajectory, and the corrected predicted positioning trajectory is updated to the historical operation trajectory corresponding to the operation requirement.

[0131] In this embodiment, rationalized homing correction refers to making corrections based on the actual positioning point and the corresponding predicted positioning point in the predicted positioning trajectory, so that the predicted positioning trajectory more accurately describes the actual positioning point of the coal yard personnel, thereby laying an accurate foundation for calculating the positioning risk coefficient of the coal yard personnel and improving the accuracy of positioning monitoring of the coal yard personnel.

[0132] In some embodiments of the present application, judging whether there is a risk in the positioning of coal yard personnel according to the positioning risk coefficient includes:

[0133] Presetting a first positioning risk coefficient threshold and a second positioning risk coefficient threshold;

[0134] When the positioning risk coefficient of the coal yard personnel is less than the first positioning risk coefficient threshold, there is no risk in the positioning of the coal yard personnel;

[0135] When the positioning risk coefficient of the coal yard personnel is between the first positioning risk coefficient threshold and the second positioning risk coefficient threshold, the positioning of the coal yard personnel is at risk, and a first reminder signal is sent;

[0136] When the positioning risk coefficient of the coal yard personnel is greater than the second positioning risk coefficient threshold, there is a risk in the positioning of the coal yard personnel, and a second reminder signal is sent.

[0137] In this embodiment, the first positioning risk coefficient threshold and the second positioning risk coefficient threshold are set in advance, and the first positioning risk coefficient threshold is less than the second positioning risk coefficient threshold. The first reminder signal is to remind the coal yard personnel that the working efficiency is reduced, and the second reminder signal is to remind the coal yard personnel to pay attention to the operating machinery and there is a risk of collision.

[0138] In some embodiments of the present application, Figure 2 As shown, it also includes a positioning monitoring system for coal yard personnel:

[0139] A construction module is used to construct a positioning reference map of the coal yard;

[0140] The determination module is used to determine the optimal operation trajectory of the coal yard personnel based on the operation requirements, and map it to the positioning reference map to obtain the standard positioning trajectory and critical positioning points of the coal yard personnel in the positioning reference map;

[0141] The generation module is used to obtain the actual positioning information of coal yard personnel in real time, and monitor the operation status of the operating machinery during the coal yard personnel's operation in real time. Based on the positional relationship between the actual positioning information and the standard positioning trajectory and critical positioning points, as well as the operation results, the positioning risk coefficient of the coal yard personnel is generated;

[0142] The judgment module is used to judge whether there is a risk in the positioning of the coal yard personnel according to the positioning risk coefficient. If there is a risk, a corresponding preset reminder signal is sent to the coal yard personnel.

[0143] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and replacements can be made without departing from the technical principles of the present application. These improvements and replacements should also be regarded as the scope of protection of the present application.

Claims

1. A method for positioning and monitoring personnel in a coal yard, characterized in that: include: Construct the reference map of the coal yard; Based on the operation requirements, the optimal operation trajectory of the coal yard personnel is determined and mapped to the positioning reference map to obtain the standard positioning trajectory and critical positioning points of the coal yard personnel in the positioning reference map; Obtain the actual positioning information of coal yard personnel in real time, and monitor the operation of the operating machinery during the operation of coal yard personnel in real time. Generate the positioning risk coefficient of coal yard personnel based on the position relationship between the actual positioning information and the standard positioning trajectory and critical positioning points, as well as the operation results; It is determined whether there is a risk in the positioning of the coal yard personnel according to the positioning risk coefficient. If there is a risk, a corresponding preset reminder signal is sent to the coal yard personnel.

2. The method for positioning and monitoring coal yard personnel according to claim 1, characterized in that: Construct a positioning reference map, including: Divide the coal yard into multiple areas of concern according to the preset reference accuracy; Acquire scene information of each area of ​​interest, wherein the scene information includes contour information and layout information of the corresponding area of ​​interest, and generate a contour framework diagram of the corresponding area of ​​interest based on the contour information and layout information of the area of ​​interest; The scene information also includes device location information and road location information contained in the corresponding area of ​​interest. The device location information and road location information are plotted in the outline frame diagram of the corresponding area of ​​interest to obtain a sub-positioning reference diagram of each area of ​​interest. The sub-positioning reference maps are spliced ​​according to the positional relationship between multiple focus areas to obtain the positioning reference map of the coal yard.

3. The method for positioning and monitoring coal yard personnel according to claim 2, characterized in that: Based on the operation requirements, determine the optimal operation trajectory of the coal yard personnel, including: Based on the historical job logs of job requirements, historical job location information is obtained; Determine the historical operation positioning points of the coal yard personnel according to the historical operation positioning information, and connect the historical operation positioning points of the same historical operation log in order according to the historical acquisition time node of the historical operation positioning information, so as to obtain multiple historical operation trajectories of the coal yard personnel; The operation speed is generated according to the operation path length and operation duration of multiple historical operation trajectories, and the congestion coefficient is generated according to the number of overlaps with other operation machines and the degree of overlap within the operation duration corresponding to each historical operation trajectory; Generate the historical operation efficiency Y corresponding to the historical operation trajectory according to the congestion coefficient, the operation speed and the operation completion degree corresponding to the historical operation trajectory; Among them, v is the operating speed of the historical operating trajectory, t is the operating time of the historical operating trajectory, n is the number of overlaps between the historical operating trajectory and the operating machine, ci is the overlap degree of the i-th overlap between the historical operating trajectory and the operating machine, a is the time conversion coefficient, is the congestion coefficient, w is the job completion degree of the historical job trajectory; The operation efficiencies of multiple historical operation trajectories are ranked, and the historical operation trajectory ranked first is set as the optimal operation trajectory.

4. The method for positioning and monitoring coal yard personnel according to claim 3, characterized in that: Obtain the standard positioning trajectory and critical positioning points of coal yard personnel in the positioning reference map, including: Obtain the historical operation positioning points of the coal yard personnel in the optimal operation trajectory, and map the historical operation positioning points to the positioning reference map to obtain the standard positioning trajectory of the coal yard personnel; Acquire multiple historical operation logs of the optimal operation trajectory, and filter out historical overlap information of the optimal operation trajectory in the historical operation log and other operation machines, wherein the historical overlap information includes a historical overlap area and an impact degree corresponding to the historical overlap area; Determine the optimal operation trajectory in each historical operation log and the safe relative distance from other operation machines based on the historical overlap area and the corresponding impact degree; Map the historical overlap area and safety relative distance corresponding to each historical job log to the corresponding position in the positioning reference map, obtain the safety relative area closest to the standard positioning trajectory, and obtain the positioning point on the boundary of the safety relative area; Calculate the predicted operating efficiency after the coal yard personnel perform operations according to the positioning points. If the predicted operating efficiency is less than the preset operating efficiency threshold, fine-tune the location information of the corresponding positioning points; The fine-tuned positioning point is set as the critical positioning point of the standard positioning trajectory.

5. The method for positioning and monitoring coal yard personnel according to claim 4, characterized in that: Based on the actual positioning information, the standard positioning trajectory, the positional relationship between the critical positioning points, and the operation results, the positioning risk coefficient of the coal yard personnel is generated, including: Determine a portion of the actual positioning trajectory of the coal yard personnel according to the actual positioning information, and select multiple actual positioning coordinates of the portion of the actual positioning trajectory based on a preset similarity comparison accuracy; According to the acquisition time node of the actual positioning coordinates, the historical positioning coordinates of the historical positioning trajectory of the current operation requirements at the corresponding historical time node are collected; The coordinate difference between the historical positioning coordinates and the corresponding actual positioning coordinates in each historical positioning trajectory is calculated, and the similarity between the historical positioning trajectory and part of the actual positioning trajectory is generated according to multiple coordinate difference values. The historical positioning trajectory with the maximum similarity is deduced to the endpoints of part of the actual positioning trajectory to obtain the predicted positioning trajectory of the coal yard personnel and multiple predicted positioning points; Calculate the similarity between the predicted positioning trajectory and the standard positioning trajectory. If the similarity is less than the preset similarity threshold, obtain the positional relationship between the predicted positioning point in the predicted positioning trajectory and the critical positioning point in the standard positioning trajectory, and generate the first risk coefficient of the coal yard personnel according to the positional relationship. According to the operation status of the operating machinery during the operation of the coal yard personnel and the actual movement speed of the coal yard personnel, the collision probability between the coal yard personnel and the operating machinery in the intercepted multiple predicted positioning trajectory segments is generated; According to the collision probability and the danger level of the operating machinery, a second risk coefficient of the coal yard personnel in the corresponding predicted positioning trajectory section is generated; A positioning risk coefficient for coal yard personnel is generated according to the first risk coefficient and the plurality of second risk coefficients.

6. The method for positioning and monitoring coal yard personnel according to claim 5, characterized in that: The first risk factor of coal yard personnel is generated according to the position relationship, including: According to the position relationship, the number of positioning points where the predicted positioning point exceeds the corresponding critical positioning point and the position deviation amount where the predicted positioning point exceeds the corresponding critical positioning point are obtained; Generate the first risk factor f1 of the coal yard personnel according to the number of positioning points and the position deviation; Among them, m is the number of positioning points where the predicted positioning point exceeds the corresponding critical positioning point, M0 is the total number of predicted positioning points, and △Ps is the position deviation of the sth positioning point where the predicted positioning point exceeds the corresponding critical positioning point.

7. The method for positioning and monitoring coal yard personnel according to claim 6, characterized in that: Generate the second risk factor of the coal yard personnel in the corresponding predicted positioning trajectory section, including: According to the operation status of the operating machinery during the operation of the coal yard personnel and the preset operation instructions within the preset time period, the predicted operation time and predicted operation range of the operating machinery are obtained; According to the actual moving speed and predicted operation time of the coal yard personnel, the predicted operation position of the coal yard personnel in the predicted positioning trajectory is determined; Calculate the relative distance between the coordinates of the predicted operation position and the coordinates of the center point of the predicted operation range, and generate the collision probability according to the ratio of the relative distance to the preset radius of the predicted operation range; Generate a second risk coefficient f2 of the predicted positioning trajectory section corresponding to the predicted working position according to the collision probability and the danger level of the corresponding working machine; Among them, (x2, y2) is the coordinate of the predicted working position, (x1, y1) is the coordinate of the center point of the predicted working range, R is the preset radius of the predicted working range, u is the danger level of the operating machinery, and u min is the minimum danger level of the operating machinery, and b is the conversion factor.

8. The method for positioning and monitoring coal yard personnel according to claim 7, characterized in that: Obtaining the actual positioning point according to the actual positioning information after the partial actual positioning trajectory; A rational homing correction is performed based on the actual positioning point and the corresponding predicted positioning point in the predicted positioning trajectory, and the angle at the connection between the positioning point after the homing correction and the predicted positioning trajectory is analyzed. If the angle is less than the preset angle threshold, the positioning point after the homing correction and the connection between the predicted positioning trajectory are connected by a straight line. If the angle is greater than the preset angle threshold, the positioning point after the homing correction is taken as the vertex, and the straight line passing through the vertex is smoothly shifted along the direction of the preset positioning trajectory to form a circular curve connecting the positioning point after the homing correction and the preset positioning trajectory.

9. The method for positioning and monitoring coal yard personnel according to claim 8, characterized in that: Determine whether there is risk in the positioning of coal yard personnel based on the positioning risk coefficient, including: Presetting a first positioning risk coefficient threshold and a second positioning risk coefficient threshold; When the positioning risk coefficient of the coal yard personnel is less than the first positioning risk coefficient threshold, there is no risk in the positioning of the coal yard personnel; When the positioning risk coefficient of the coal yard personnel is between the first positioning risk coefficient threshold and the second positioning risk coefficient threshold, there is a risk in the positioning of the coal yard personnel, and a first reminder signal is sent; When the positioning risk coefficient of the coal yard personnel is greater than the second positioning risk coefficient threshold, there is a risk in the positioning of the coal yard personnel, and a second reminder signal is sent.

10. A positioning monitoring system for coal yard personnel, characterized in that: include: A construction module is used to construct a positioning reference map of the coal yard; A determination module is used to determine the optimal operation trajectory of the coal yard personnel based on the operation requirements, and map it to the positioning reference map to obtain the standard positioning trajectory and critical positioning points of the coal yard personnel in the positioning reference map; The generation module is used to obtain the actual positioning information of the coal yard personnel in real time, and monitor the operation of the operating machinery during the operation of the coal yard personnel in real time. According to the positional relationship between the actual positioning information and the standard positioning trajectory and the critical positioning point, as well as the operation results, the positioning risk coefficient of the coal yard personnel is generated; The judgment module is used to judge whether there is a risk in the positioning of the coal yard personnel according to the positioning risk coefficient. If there is a risk, a corresponding preset reminder signal is sent to the coal yard personnel.

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