UWB-based three-dimensional dynamic positioning and monitoring device and method for safety supervision personnel

Abstract

The invention discloses a UWB-based three-dimensional dynamic positioning and monitoring device and method for safety supervision personnel, and relates to the field of safety supervision, and the main scheme is that the method comprises the steps: obtaining the transmitting and receiving signal data of a UWB base station and the positioning data of the safety supervision personnel; calculating the receiving power to obtain the endurance time and the communication efficiency, and presetting a communication efficiency threshold to judge whether the communication is abnormal or not; when the communication efficiency is normal, establishing a three-dimensional rectangular coordinate system; calculating the moving speed, the direction vector and the distance between two points of the safety supervision personnel at different moments so as to obtain the direction angle variable quantity and the distance deviation; calculating a comprehensive abnormal index, and comparing the comprehensive abnormal index with a preset threshold to judge whether the motion state of the safety supervision personnel is abnormal; when the communication efficiency and the motion state of the safety supervision personnel are normal, calculating comprehensive received effective information amount, and comparing the information amount with a preset threshold to judge whether the information amount is abnormal; the method can timely find the abnormity of the safety supervision personnel and take corresponding measures, thereby guaranteeing the working safety and efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of safety supervision, and in particular to a UWB-based three-dimensional dynamic positioning and monitoring device and method for safety supervisors. Background Art

[0002] In the working environment of thermal power plants, the work safety of safety inspectors is of vital importance. Since the workplace often has a large area, complex environmental structure and potential dangerous factors, there are many challenges in effectively monitoring and managing safety inspectors. For example, it is necessary to grasp the location information of safety inspectors in real time so that they can respond quickly in case of an emergency. At the same time, ensuring smooth communication between safety inspectors and between safety inspectors and the monitoring center is also a key factor in ensuring the smooth progress of safety supervision. However, traditional monitoring methods often have difficulty in accurately locating the three-dimensional position of safety inspectors, and are insufficient in terms of communication efficiency and comprehensive evaluation of personnel status.

[0003] Some existing monitoring technologies attempt to solve the above problems. For example, some systems based on positioning technology use RFID radio frequency identification technology to achieve personnel positioning. This technology determines the location of personnel by arranging a certain number of signal base stations in the workplace and equipping safety and supervision personnel with corresponding signal tags.

[0004] Although the existing technology has alleviated the problem of safety inspectors monitoring to a certain extent, it still has obvious defects. In terms of positioning accuracy, the three-dimensional positioning accuracy of RFID technology in complex environments is low, which cannot meet the needs of accurate position monitoring of safety inspectors. In addition, most of the existing technologies simply monitor the position of personnel, lack comprehensive consideration of communication efficiency and personnel movement status, and cannot comprehensively and accurately evaluate the actual working status of safety inspectors and the efficiency of receiving information. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In view of the deficiencies in the prior art, the present invention provides a three-dimensional dynamic positioning and monitoring device and method for safety inspectors based on UWB. By acquiring multiple data of the UWB base station, the receiving power is calculated, and then the endurance time and communication efficiency are obtained. A communication efficiency threshold is preset to determine whether the communication is abnormal; a three-dimensional rectangular coordinate system is established, and the moving speed, direction vector and distance between two points of the safety inspectors at different times are calculated to obtain the direction angle change and distance deviation; a comprehensive abnormality index is calculated, and compared with the preset threshold to determine whether the movement state of the safety inspectors is abnormal; when the communication efficiency and the movement state of the safety inspectors are normal, the comprehensive received effective information amount is calculated, and compared with the preset threshold to determine whether it is abnormal, thereby solving the problems of inaccurate monitoring of the safety inspectors' status and low communication efficiency.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a three-dimensional dynamic positioning and monitoring method for safety inspectors based on UWB, comprising:

[0009] Obtaining the transmission signal data and the reception signal data of the UWB base station;

[0010] Calculate the receiving power PR based on the transmitted signal data and the received signal data; calculate the endurance time T based on the received power PR; calculate the communication efficiency KH based on the transmitted signal data, the received power PR and the endurance time T; preset a communication efficiency threshold, compare the communication efficiency KH with the communication efficiency threshold, and determine whether the communication efficiency is abnormal based on the result. When the communication efficiency is abnormal, immediately trigger the alarm device;

[0011] When the communication efficiency is normal, a three-dimensional rectangular coordinate system is established based on the safety inspector's positioning data; the safety inspector's i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ), and calculate the moving speed V between the two points respectively i , direction vector and the distance D between the two points i ; Based on the direction vector between two points Calculate the angle θ x ,θ y and θ z , and then calculate the change in direction angle Δθ x , Δθ y and Δθ z ; Based on the distance D between two points i Calculate the average distance D avg , and further calculate the distance deviation σ D ;

[0012] According to the moving speed V between two points i , angle θ x ,θ y and θ z and the distance deviation σ D , calculate the comprehensive abnormal index FK; preset the comprehensive abnormal index threshold, compare the comprehensive abnormal index FK with the comprehensive abnormal index threshold, and judge whether the movement state of the safety inspector is abnormal according to the result; when the movement state of the safety inspector is abnormal, trigger an alarm signal;

[0013] When the communication efficiency is normal and the movement state of the safety inspector is normal, the comprehensive amount of effective information received by the safety inspector IH is calculated according to the communication efficiency KH and the comprehensive abnormality index FK; a threshold value of the comprehensive amount of effective information received is preset, and the comprehensive amount of effective information received IH is compared with the threshold value of the comprehensive amount of effective information received, and whether the amount of effective information received is abnormal is determined according to the result; when the amount of effective information received is normal, the system continues to operate and monitor normally; when the amount of effective information received is abnormal, the communication strategy is adjusted immediately.

[0014] In the preferred solution of the above-mentioned UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors: the method for calculating the received power PR is:

[0015] The transmission signal data includes the transmission power PT and the gain GT of the transmission antenna;

[0016] The received signal data includes the gain GR of the receiving antenna;

[0017] The received power PR is calculated based on the transmit power PT, the transmit antenna gain GT and the receive antenna gain GR, according to the following formula:

[0018]

[0019] Where τ is the wavelength; d is the distance between the transmitter and the receiver; L is the system loss factor, which ranges from 0 to 1.

[0020] In the preferred solution of the above-mentioned UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors: the method for judging whether the communication efficiency is abnormal is:

[0021] The transmitted signal data also includes the data transmission rate R;

[0022] Based on the received power PR, the endurance time T is calculated according to the following formula:

[0023]

[0024] Wherein, C is the battery capacity of the positioning tag; V is the battery voltage of the positioning tag; k is the adjustment coefficient of the received power PR, which ranges from 0 to 1.

[0025] According to the data transmission rate R, the received power PR and the endurance time T, the communication efficiency KH is calculated based on the formula:

[0026]

[0027] Preset communication efficiency threshold;

[0028] The communication efficiency threshold includes a communication efficiency threshold 1 KH1 and a communication efficiency threshold 2 KH2;

[0029] When KH1 ≤ KH ≤ KH2, the communication efficiency is normal;

[0030] When KH < KH1 or KH > KH2, the communication efficiency is abnormal, triggering the alarm device.

[0031] In the preferred solution of the above-mentioned three-dimensional dynamic positioning and monitoring method for safety supervision personnel based on UWB: The method for constructing a three-dimensional rectangular coordinate system is as follows:

[0032] When the communication efficiency is normal, based on the positioning data of the safety supervision personnel, in the positioning scenario, select the UWB base station located at the center point as the origin (0, 0, 0);

[0033] Select a horizontal passage structure within the safety supervision area as the x-axis, and stipulate the direction along the x-axis from the origin (0, 0, 0) as the positive direction; Take the passage structure perpendicular to the x-axis direction as the y-axis direction; Take the direction perpendicular to the ground as the z-axis direction, and stipulate that the upward direction is the positive direction; Establish a three-dimensional rectangular coordinate system according to the x-axis, y-axis, and z-axis;

[0034] Based on the three-dimensional rectangular coordinate system, using RFID technology, obtain the coordinate points (x i , y i , z i ) of the safety supervision personnel at time t i and the coordinate points (x i+1 , y i+1 , z i+1 ) of the safety supervision personnel at time t i+1 .

[0035] In the preferred solution of the above-mentioned three-dimensional dynamic positioning and monitoring method for safety supervision personnel based on UWB: The method for calculating the moving speed V i between two points is as follows:

[0036] According to the coordinate points (x i , y i , z i ) of the safety supervision personnel at time t i and the coordinate points (x i+1 , y i+1 , z i+1 ) of the safety supervision personnel at time t i+1 , calculate the moving speed V i between the two points. The calculation formula is:

[0037]

[0038] In the preferred solution of the above-mentioned three-dimensional dynamic positioning and monitoring method for safety supervision personnel based on UWB: The method for calculating the included angles θ x , θ y and θ z is as follows:

[0039] According to t i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ), calculate the direction vector between two points The calculation formula is:

[0040]

[0041] Based on the direction vector between two points Calculate the direction vector The angles θ with the x-axis, y-axis and z-axis respectively x ,θ y and θ z , the calculation formulas are:

[0042]

[0043] According to the angle θ x ,θ y and θ z , calculated at t i Time and t i+1 The change in the direction angle at the moment Δθ x , Δθ y and Δθ z , the calculation formulas are:

[0044] Δθ x =|θ xi+1 -θ xi |

[0045] Δθ y =|θ yi+1 -θ yi |

[0046] Δθ z =|θ zi+1 -θ zi |.

[0047] In the preferred solution of the above-mentioned UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors: calculating the distance deviation σ D The method is:

[0048] According to t i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1,y i+1 , z i+1 ), calculate the distance D between two points i , the calculation formula is:

[0049]

[0050] Based on the distance D between two points i , calculate the average distance D avg , the calculation formula is:

[0051]

[0052] Among them, D i is the distance between the i+1th coordinate point and the ith coordinate point, i is 1, 2, 3...n-1; n is the number of coordinate points, which is a positive integer;

[0053] According to the distance D between two points i and the average distance D avg , calculate the distance deviation σ D , the calculation formula is:

[0054]

[0055] In the preferred solution of the above-mentioned UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors: the method for judging whether the motion state of the safety inspectors is abnormal is:

[0056] According to the moving speed V between two points i , angle θ x ,θ y and θ z and the distance deviation σ D , calculate the comprehensive abnormal index FK, based on the formula:

[0057] FK=ω1×V i +ω2×(θ x +θ y +θ z )+ω3×σ D

[0058] Where ω1 is the moving speed V between the two points i The weight coefficient is 0.1~0.4; ω2 is θ x +θ y +θ z The weight coefficient is 0.2~0.5; ω3 is the distance deviation σ D The weight coefficient is 0.3-0.4; and ω1+ω2+ω3=1;

[0059] Preset comprehensive abnormal indicator thresholds;

[0060] The comprehensive anomaly index threshold includes the first comprehensive anomaly index threshold FK1 and the second comprehensive anomaly index threshold FK2;

[0061] When FK1 ≤ FK ≤ FK2, it is determined that the motion state of the safety supervision personnel is normal;

[0062] When FK < FK1 or FK > FK2, it is determined that the motion state of the safety supervision personnel is abnormal, and an alarm signal is triggered.

[0063] In the preferred solution of the above-mentioned three-dimensional dynamic positioning and monitoring method for safety supervision personnel based on UWB: The method for judging whether the comprehensive received effective information volume is abnormal is as follows:

[0064] When the communication efficiency is normal and the motion state of the safety supervision personnel is normal, according to the communication efficiency KH and the comprehensive anomaly index FK, calculate the comprehensive received effective information volume IH of the safety supervision personnel. The formula is:

[0065]

[0066] Among them, is the weight coefficient of the communication efficiency KH, and its value ranges from 0.5 to 0.7; is the weight coefficient of the comprehensive anomaly index FK, and its value ranges from 0.3 to 0.5; and

[0067] Preset the comprehensive received effective information volume threshold IH th ; when IH ≥ IH th , it is determined that the received effective information volume is normal, and the system continues to operate and monitor normally; when IH < IH th , it is determined that the received effective information volume is abnormal, and the communication strategy is immediately adjusted.

[0068] The present invention also discloses a three-dimensional dynamic positioning and monitoring device for safety supervision personnel based on UWB, which is used to implement the above-mentioned three-dimensional dynamic positioning and monitoring method for safety supervision personnel based on UWB.

[0069] (III) Advantageous Effects

[0070] The present invention provides a three-dimensional dynamic positioning and monitoring device and method for safety supervision personnel based on UWB, which has the following advantageous effects:

[0071] (1) By obtaining the transmitted signal data and received signal data of the UWB base station, the operation state of the system can be comprehensively grasped. This provides basic data for subsequent accurate calculation and analysis, and helps to ensure the reliability and accuracy of the entire monitoring system.

[0072] (2) Calculate the received power based on the transmitted signal data and the received signal data, and then obtain the endurance time and communication efficiency, and preset thresholds for comparison and judgment. This process can promptly detect abnormal communication efficiency and immediately trigger an alarm device when a problem occurs, ensuring smooth communication and avoiding security monitoring loopholes caused by communication failures.

[0073] (3) When the communication efficiency is normal, a three-dimensional rectangular coordinate system is established based on the safety inspector’s positioning data and the moving speed, direction vector, distance between two points and other parameters are calculated. The direction angle change and distance deviation are further obtained, and the comprehensive abnormality index is finally calculated. This helps to analyze the movement status of the safety inspector, timely discover abnormal situations in the movement, and ensure the safety of the safety inspector and the normal progress of work.

[0074] (4) By presetting the threshold of the comprehensive abnormal index and comparing it with the calculated comprehensive abnormal index, it is possible to accurately determine whether the movement state of the safety inspector is abnormal. When an abnormality occurs, an alarm signal is triggered, which is crucial for rapid response and handling of possible dangerous situations, improving the timeliness and effectiveness of safety monitoring.

[0075] (5) When the communication efficiency and the movement status of the safety inspectors are normal, the comprehensive amount of received effective information is calculated and compared with the preset threshold. This can further evaluate the overall performance of the system. When the amount of received effective information is normal, the system continues to operate and monitor. When it is abnormal, the communication strategy is adjusted in time, ensuring the efficient operation of the entire safety monitoring system and the effectiveness of information transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 The figure is a schematic diagram of the steps of the UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors of the present invention. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] See also Figure 1 The present invention provides a three-dimensional dynamic positioning and monitoring method for safety inspectors based on UWB, comprising:

[0079] Step 1: Obtain the transmission signal data, reception signal data and safety inspector positioning data of the UWB base station.

[0080] Step 101: The monitoring system connected to the UWB base station communicates with the base station via Wi-Fi and transmits the collected data to the background server to obtain the transmission signal data and the reception signal data.

[0081] Transmitted signal data helps to understand the working status and performance of the base station and ensure stable signal output. Received signal data can reflect the loss and interference of the signal during transmission, making it easy to find and solve signal transmission problems in a timely manner.

[0082] Step 2: Calculate the receiving power PR based on the transmitted signal data and the received signal data; calculate the battery life T based on the received power PR; calculate the communication efficiency KH based on the transmitted signal data, the received power PR and the battery life T; preset a communication efficiency threshold, compare the communication efficiency KH with the communication efficiency threshold, and determine whether the communication efficiency is abnormal based on the result; when the communication efficiency is abnormal, immediately trigger the alarm device.

[0083] Step 201: The manufacturer of the UWB base station usually specifies the transmission power parameters of the base station in the equipment manual. The transmission power PT is found by consulting the equipment manual of the corresponding model base station.

[0084] By finding the model of the UWB transmitting antenna used in the product specification table, the gain GT of the transmitting antenna and the gain GR of the receiving antenna can be further directly obtained.

[0085] The gain GT of a transmitting antenna refers to the ratio of the power density of the signal generated by the actual antenna and the ideal radiating unit at the same point in space under the condition of equal input power. It quantitatively describes the degree to which an antenna concentrates the input power for radiation.

[0086] The gain GR of the receiving antenna refers to the ratio of the signal power generated at the output end by the actual receiving antenna and the ideal omnidirectional receiving antenna under the same receiving power conditions.

[0087] Obtain the frequency f of the UWB signal; calculate the wavelength τ according to the frequency f of the UWB signal, and the calculation formula is:

[0088]

[0089] Where c is the speed of light, which is 3×10 8 Meters / second.

[0090] Obtain the signal flight time TOF between the transmitter and the receiver; calculate the distance d between the transmitter and the receiver based on the signal flight time TOF between the transmitter and the receiver. The calculation formula is:

[0091] d=c×TOF

[0092] Step 202: Calculate the received power PR according to the wavelength τ obtained in step 201, the distance d between the transmitting end and the receiving end, the transmitting power PT, the gain GT of the transmitting antenna and the gain GR of the receiving antenna, using the following formula:

[0093]

[0094] Wherein, L is the system loss factor, which ranges from 0 to 1.

[0095] The transmitting antenna and the receiving antenna will generate certain losses in the process of converting electrical signals into electromagnetic waves and converting electromagnetic waves into electrical signals. When there is no loss, the system loss factor is 0, indicating an ideal state; in actual situations, due to various losses such as cable loss and antenna loss, the system loss factor must be greater than 0. At the same time, since the loss will not exceed the total energy involved in the system, its value must be less than 1. In actual measurements, instruments such as network analyzers are used to measure parameters such as antenna return loss and insertion loss, and a system loss factor L with a value of 0 to 1 is introduced as a reference to affect the degree of antenna loss.

[0096] It should be noted that this formula describes the relationship between the received power and the transmitted power, antenna gain, wavelength, distance and system loss when the electromagnetic wave propagates from the transmitter to the receiver. PT×GT×GR×τ 2 Indicates the contribution of transmission-related parameters to received power. The greater the transmission power, the higher the antenna gain, and the longer the wavelength, the greater the received power. (4×π×d) 2 ×L represents the impact of factors related to propagation and loss on the received power. As the distance d increases, the received power decreases in the inverse square of the distance. The system loss factor L takes into account various losses in the transmission, propagation and reception processes, such as cable loss, antenna loss, etc.

[0097] Step 203: Obtain the amount of data DF sent by the transmitter within time t, and use it to calculate the data transmission rate R. The calculation formula is:

[0098]

[0099] Step 204: directly obtain the battery capacity C and the battery voltage V by reading the design specification of the battery of the positioning tag device; calculate the battery life T according to the battery capacity C, the battery voltage V and the received power PR, based on the formula:

[0100]

[0101] Wherein, k is the adjustment coefficient, and its value ranges from 0 to 1.

[0102] In the actual operation of the equipment, due to various losses and uncertain factors, such as battery internal resistance loss, circuit efficiency, and the impact of ambient temperature on battery performance, the received power cannot fully and accurately reflect the actual energy consumption of the equipment. At this time, the adjustment coefficient k = 0; when the equipment is in an ideal state, that is, there are no losses and uncertain factors, the received power can fully and accurately reflect the actual energy consumption of the equipment, and the adjustment coefficient k = 1. Therefore, an adjustment coefficient k with a value of 0 to 1 is introduced to reflect the impact between the received power PR and the actual energy consumption.

[0103] It should be noted that C×V represents the total energy stored in the battery. C×V×3600 means converting battery energy into joules. The received power PR represents the rate at which the device consumes energy during operation, and k is used as an adjustment factor to take into account the possible difference between the received power and the actual energy consumption. This formula starts from the perspective of energy conservation and calculates the continuous operation time of the device through the total energy stored in the battery and the rate at which the device consumes energy.

[0104] Step 205: Calculate the communication efficiency KH according to the data transmission rate R, the received power PR and the endurance time T, based on the formula:

[0105]

[0106] It should be noted that the numerator k×PR is the effective received power actually used for communication taking into account the influence of the adjustment coefficient k. The denominator R×T represents the total amount of data that can be transmitted within the endurance time T. The communication efficiency KH is the ratio of the effective power used for communication to the total power that can be used to transmit data, that is, by comparing the actual effective received power with the power required for the data that can be transmitted within the endurance time, the efficiency of the communication process is measured.

[0107] Step 206: preset communication efficiency thresholds; the communication efficiency thresholds include communication efficiency threshold 1 KH1 and communication efficiency threshold 2 KH2; the safety inspector positioning and monitoring system is tested in different scenarios such as different distances and different environmental interference levels to measure actual communication efficiency data. During the test, the factors affecting the communication efficiency are gradually changed, such as increasing the distance between the transmitter and the receiver, introducing electromagnetic interference of different strengths, etc., and the corresponding communication efficiency values ​​are recorded at the same time. By statistically analyzing these experimental data, the communication efficiency range in which the system can work stably and normally under different working conditions is determined; the lower limit of the normal working communication efficiency range is used as the communication efficiency threshold 1 KH1; the upper limit of the normal working communication efficiency range is used as the communication efficiency threshold 2 KH2.

[0108] Step 207: When KH1≤KH≤KH2, the communication efficiency is normal;

[0109] When KH < KH1 or KH > KH2, the communication efficiency is abnormal and the alarm device is triggered.

[0110] By accurately calculating the received power and battery life, the operating status of the device can be effectively evaluated, and countermeasures can be taken in advance. Calculating the communication efficiency and comparing it with the threshold can timely detect abnormal situations in the communication link, avoiding data loss or work delays caused by communication failures. Immediately triggering the alarm device when the communication efficiency is abnormal helps to quickly respond to problems, ensuring the stability and security of the system, and greatly improving the overall work efficiency and reliability.

[0111] Step 3: When the communication efficiency is normal, based on the positioning data of the safety supervision personnel, establish a three-dimensional rectangular coordinate system; obtain the coordinate points (x i , y i , z i ) of the safety supervision personnel at time t i and the coordinate points (x i+1 , y i+1 , z i+1 ) at time t i+1 , and calculate the moving speed V i , direction vector and the distance D i between the two points respectively; calculate the included angles θ , θ x , θ y and θ z based on the direction vector between the two points, and then calculate the change amount Δθ x , Δθ y and Δθ z of the direction angle; calculate the average distance D avg based on the distance D i between the two points, and further calculate the distance deviation σ D .

[0112] Step 301: When the communication efficiency is normal, based on the positioning data of the safety supervision personnel, in the positioning scenario, select the UWB base station located at the center point as the origin (0, 0, 0);

[0113] In the horizontal direction of the safety supervision area as the x-axis direction. After determining the x-axis direction, the direction along the x-axis from the origin (0, 0, 0) is specified as the positive direction. The direction perpendicular to the x-axis is used as the y-axis direction; for the three-dimensional positioning of the UWB base station, the z-axis direction is the direction perpendicular to the ground, with the upward direction being the positive direction. Establish a three-dimensional rectangular coordinate system according to the x-axis, y-axis, and z-axis.

[0114] Step 302: Pre-arrange multiple RFID readers in the work environment. When the safety inspector enters the area with an RFID tag, the reader communicates with the tag. By measuring the time, time difference or signal strength of the tag signal reaching different readers, combined with the known position of the reader, the triangulation method can be used to obtain the safety inspector’s position at t i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ).

[0115] Step 303: According to t i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ), calculate the moving speed V between two points i , the calculation formula is:

[0116]

[0117] It should be noted that It is derived from the distance formula between two points in a three-dimensional rectangular coordinate system. It calculates the distance between the safety inspector at t i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ) space distance. i+1 -t i Indicates that from t i Time to t i+1 The time that has passed.

[0118] Step 304: According to t i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ), calculate the direction vector between two points The calculation formula is:

[0119]

[0120] Step 305: Based on the direction vector between the two points Calculate the direction vector The angles θ with the x-axis, y-axis and z-axis respectively x ,θ y and θ z , the calculation formulas are:

[0121]

[0122] The solution is:

[0123]

[0124]

[0125] It should be noted that for the direction vector between two points Its coordinates in the three-dimensional rectangular coordinate system are expressed as (x i+1 -x i ,y i+1 -y i , z i+1 -z i ). Then, the components of the direction vector on each coordinate axis and the magnitude of the direction vector Finally, the angle θ is solved by the arccosine function. x ,θ y and θ z .

[0126] Step 306: According to the angle θ x ,θ y and θ z , calculated at t i Time and t i+1 The change in the direction angle at the moment Δθ x , Δθ y and Δθ z , the calculation formulas are:

[0127] Δθ x =|θ xi+1 -θ xi |

[0128] Δθ y =|θ yi+1 -θ yi |

[0129] Δθ z =|θ zi+1 -θ zi |

[0130] Step 307: According to t i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ), calculate the distance D between two points i , the calculation formula is:

[0131]

[0132] Step 308: Based on the distance D between the two points i , calculate the average distance D avg , the calculation formula is:

[0133]

[0134] Among them, D i is the distance between the i+1th coordinate point and the ith coordinate point, where i is 1, 2, 3...n-1; n is the number of coordinate points, which is a positive integer, and n-1 is the number of distances between every two adjacent coordinate points.

[0135] It should be noted that Represents the distance D between all adjacent coordinate points i The sum is calculated from i=1 to n-1 because for n coordinate points, there are n-1 adjacent point pairs. The n-1 in the denominator is the number of terms to be summed, that is, the number of adjacent coordinate point pairs. The entire formula is obtained by summing the distances between all adjacent coordinate points and dividing it by the number of adjacent coordinate point pairs to obtain the average distance D. avg .

[0136] Step 309: According to the distance D between the two points i and the average distance D avg , calculate the distance deviation σ D , the calculation formula is:

[0137]

[0138] It should be noted that (D i -D avg ) 2 This term represents the distance D between each adjacent coordinate point i The average distance D avg By squaring the difference, the situation where the positive and negative differences cancel each other out can be avoided, and the degree of deviation of each distance from the average distance can be more accurately reflected. It means to sum the squares of all these differences to get the total sum of squared distance deviations. The total distance deviation sum of squares is divided by n-1, where n-1 is used to standardize the sum of squared deviations. Take the square root of the standardized sum of squared deviations to get the distance deviation σ D .

[0139] By calculating the moving speed, we can intuitively understand the speed of the safety inspectors' movement and promptly detect abnormal rapid movement or stagnation. The calculation of the direction vector and the angle helps to grasp the direction of the safety inspectors' movement, which is very helpful for analyzing whether their inspection routes are reasonable and whether they deviate from the conventional routes. The change in the direction angle can reflect the changing trend of the safety inspectors' movement trajectory. The calculation of the average distance and distance deviation can evaluate whether the safety inspectors' activity range is normal from the perspective of spatial distribution, which helps to find out whether they have entered a dangerous area that they should not enter or whether they have stayed in a certain location for too long, thereby ensuring the effectiveness and safety of safety inspection work.

[0140] Step 4: According to the moving speed V between the two points i , angle θ x ,θ y and θ z and the distance deviation σ D , calculate the comprehensive abnormal index FK; preset the comprehensive abnormal index threshold, compare the comprehensive abnormal index FK with the comprehensive abnormal index threshold, and judge whether the movement state of the safety inspector is abnormal according to the result; when the movement state of the safety inspector is abnormal, trigger an alarm signal.

[0141] Step 401: According to the moving speed V between two points i , angle θ x ,θ y and θ z and the distance deviation σ D , calculate the comprehensive abnormal index FK, based on the formula:

[0142] FK=ω1×V i +ω2×(θ x +θ y +θ z )+ω3×σ D

[0143] Where ω1 is the moving speed V between the two points i The weight coefficient is 0.1~0.4; ω2 is θ x +θ y +θ z The weight coefficient is 0.2~0.5; ω3 is the distance deviation σ DThe weight coefficient has a value range of 0.3 to 0.4; and ω1 + ω2 + ω3 = 1.

[0144] It should be noted that the moving speed V between two points i multiplied by its weight coefficient ω1 reflects the contribution of the moving speed to the comprehensive anomaly index. If the moving speed is fast and ω1 is large, this part has a greater impact on FK. The sum of the angles (θ x + θ y + θ z ) multiplied by its weight coefficient ω2 takes into account the influence of the angle between the direction vector and the coordinate axes on the comprehensive anomaly index. If the sum of the angles is large and ω2 is large, this part has a greater impact on FK. The distance deviation σ D multiplied by its weight coefficient ω3 reflects the contribution of the distance deviation to the comprehensive anomaly index. If the distance deviation is large and ω3 is large, this part has a greater impact on FK. Finally, these three parts are added together to obtain the comprehensive anomaly index FK.

[0145] Step 402: Preset the comprehensive anomaly index thresholds; the comprehensive anomaly index thresholds include the first comprehensive anomaly index threshold FK1 and the second comprehensive anomaly index threshold FK2; by collecting the movement data of safety supervision personnel in different scenarios such as different working areas and different operation tasks, including moving speed, direction change, and position deviation, etc. Analyze these collected data and calculate the corresponding comprehensive anomaly index FK value. During the test process, gradually change the working conditions, such as increasing the complexity of the working area, introducing some interference factors, etc., and record the corresponding FK values at the same time. Through statistical analysis of these experimental data, calculate the value range of the comprehensive anomaly index FK under normal circumstances, and take the lower limit value of the comprehensive anomaly index FK range as the first comprehensive anomaly index threshold FK1; similarly, take the upper limit value as the second comprehensive anomaly index threshold FK2.

[0146] Step 403: When FK1 ≤ FK ≤ FK2, it is judged that the movement state of the safety supervision personnel is normal;

[0147] When FK < FK1 or FK > FK2, it is judged that the movement state of the safety supervision personnel is abnormal, and an alarm signal is triggered.

[0148] This method can accurately monitor the movement of safety supervision personnel and timely detect possible abnormal behaviors during their work, such as sudden acceleration, abnormal turning, or deviation from the normal work route, etc. Through automatic judgment by presetting thresholds, it reduces the burden of manual monitoring, improves the monitoring efficiency, and also avoids monitoring errors caused by negligence. Once an abnormality is detected, an alarm signal can be immediately triggered, enabling a rapid response, ensuring the safety of the lives of safety supervision personnel, preventing the occurrence and expansion of accidents, and ensuring the safety of the working environment.

[0149] Step 5: When the communication efficiency is normal and the movement state of the safety inspector is normal, calculate the comprehensive amount of effective information received by the safety inspector IH according to the communication efficiency KH and the comprehensive abnormality index FK; preset a threshold value for the comprehensive amount of effective information received, compare the comprehensive amount of effective information received IH with the threshold value for the comprehensive amount of effective information received, and determine whether the amount of effective information received is abnormal based on the result; when the amount of effective information received is normal, the system continues to operate and monitor normally; when the amount of effective information received is abnormal, adjust the communication strategy immediately.

[0150] Step 501: When the communication efficiency is normal and the movement state of the safety inspector is normal, the comprehensive received effective information volume IH of the safety inspector is calculated according to the communication efficiency KH and the comprehensive abnormality index FK, and the formula is:

[0151]

[0152] in, is the weight coefficient of communication efficiency KH, ranging from 0.5 to 0.7; is the weight coefficient of the comprehensive abnormal index FK, with a value of 0.3 to 0.5; and

[0153] It should be noted that It reflects the contribution of communication efficiency to the comprehensive amount of effective information received. If the communication efficiency is high and When it is larger, this part has a greater impact on IH. The impact of the comprehensive abnormal index on the comprehensive received effective information volume is considered. If the comprehensive abnormal index is small and When it is larger, this part has a greater impact on IH.

[0154] Step 502: Preset the comprehensive received effective information volume threshold IH th Through a large number of tests in the actual environment, the actual comprehensive reception of effective information volume IH is measured under different communication conditions and personnel movement states. After many tests, it is found that when IH is lower than a certain value, the system begins to have inaccurate monitoring or unstable communication. This specific value can be used as the comprehensive reception of effective information volume threshold IH th .

[0155] When IH ≥ IH th When IH <IH th When the amount of valid information received is judged to be abnormal, the communication strategy is adjusted immediately.

[0156] This method can accurately determine whether the system is in a normal state of receiving information, avoiding monitoring loopholes caused by insufficient or abnormal information. By comparing with preset thresholds, problems can be discovered in a timely manner, and adjustments can be made quickly when the amount of effective information received is abnormal, ensuring the timeliness and accuracy of safety and supervision work. This helps maintain the stable operation of the system and ensure effective monitoring of safety and supervision personnel in complex environments, thereby improving the reliability and safety of the entire safety and supervision work and reducing the risk of potential safety accidents.

[0157] On the other hand, the present invention also discloses a UWB-based three-dimensional dynamic positioning and monitoring device for safety inspectors, which is used to implement the above-mentioned UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors.

[0158] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented using software, the above embodiments may be implemented in whole or in part in the form of a computer program product. A person of ordinary skill in the art may appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein may be implemented in electronic hardware or in combination with computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution.

[0159] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0160] The above description is only a specific implementation manner 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.

Claims

1. A three-dimensional dynamic positioning and monitoring method for safety inspectors based on UWB, characterized by: Including: Obtain the transmitted signal data and received signal data of the UWB base station; Calculate the received power PR based on the transmitted signal data and received signal data; Based on the received power PR, calculate the battery life T; according to the transmitted signal data, received power PR and battery life T, calculate the communication efficiency KH; preset a communication efficiency threshold, compare the communication efficiency KH with the communication efficiency threshold, and judge whether the communication efficiency is abnormal according to the result. When the communication efficiency is abnormal, immediately trigger the alarm device; When the communication efficiency is normal, a three-dimensional rectangular coordinate system is established based on the safety inspector's positioning data; the safety inspector's i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ), and calculate the moving speed V between the two points respectively i , direction vector and the distance D between the two points i ; Based on the direction vector between two points Calculate the angle θ x ,θ y and θ z , and then calculate the change in direction angle Δθ x , Δθ y and Δθ z ; Based on the distance D between two points i Calculate the average distance D avg , and further calculate the distance deviation σ D ; According to the moving speed V between two points i , angle θ x ,θ y and θ z and the distance deviation σ D , calculate the comprehensive abnormal index FK; preset the comprehensive abnormal index threshold, compare the comprehensive abnormal index FK with the comprehensive abnormal index threshold, and judge whether the movement state of the safety inspector is abnormal according to the result; when the movement state of the safety inspector is abnormal, trigger an alarm signal; When the communication efficiency is normal and the movement state of the safety supervision personnel is normal, calculate the comprehensive received effective information volume IH of the safety supervision personnel according to the communication efficiency KH and the comprehensive anomaly index FK; Preset a comprehensive received effective information volume threshold, compare the comprehensive received effective information volume IH with the comprehensive received effective information volume threshold, and judge whether the received effective information volume is abnormal according to the result; when the received effective information volume is normal, the system continues to operate and monitor normally; when the received effective information volume is abnormal, immediately adjust the communication strategy.

2. The UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors according to claim 1 is characterized in that: The method for calculating the received power PR is: The transmitted signal data includes the transmitted power PT and the gain GT of the transmitting antenna; The received signal data includes the gain GR of the receiving antenna; Calculate the received power PR based on the transmitted power PT, the gain GT of the transmitting antenna and the gain GR of the receiving antenna. The formula is: where τ is the wavelength; d is the distance between the transmitter and the receiver; L is the system loss factor, and its value ranges from 0 to 1.

3. The UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors according to claim 2 is characterized in that: The method for judging whether the communication efficiency is abnormal is: The transmitted signal data also includes the data transmission rate R; Based on the received power PR, calculate the battery life T. The formula is: where C is the battery capacity of the positioning tag; V is the battery voltage of the positioning tag; k is an adjustment coefficient, and its value ranges from 0 to 1. Calculate the communication efficiency KH according to the data transmission rate R, received power PR and battery life T. The formula is: The communication efficiency threshold includes a first communication efficiency threshold KH1 and a second communication efficiency threshold KH2; When KH1 ≤ KH ≤ KH2, the communication efficiency is normal; When KH < KH1 or KH > KH2, the communication efficiency is abnormal, and the alarm device is triggered.

4. The UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors according to claim 3 is characterized in that: The method for constructing a three-dimensional rectangular coordinate system is: When the communication efficiency is normal, based on the positioning data of the safety supervision personnel, in the positioning scenario, select the UWB base station located at the center point as the origin (0, 0, 0); Select a horizontal channel structure in the safety supervision area as the x-axis, and stipulate the direction along the x-axis from the origin (0, 0, 0) as the positive direction; use the channel structure perpendicular to the x-axis direction as the y-axis direction; Use the direction perpendicular to the ground as the z-axis direction, and stipulate that the upward direction is the positive direction; establish a three-dimensional rectangular coordinate system according to the x-axis, y-axis and z-axis; Based on the three-dimensional rectangular coordinate system, RFID technology is used to obtain the safety inspectors' i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ).

5. The UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors according to claim 4 is characterized in that: Calculate the moving speed V between two points i The method is: According to t i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ), calculate the moving speed V between two points i , the calculation formula is:

6. The UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors according to claim 5 is characterized in that: Calculate the angle θ x ,θ y and θ z The method is: According to t i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ), calculate the direction vector between two points The calculation formula is: Based on the direction vector between two points Calculate the direction vector The angles θ with the x-axis, y-axis and z-axis respectively x ,θ y and θ z , the calculation formulas are: According to the angle θ x ,θ y and θ z , calculated at t i Time and t i+1 The change in the direction angle at the moment Δθ x , Δθ y and Δθ z , the calculation formulas are: Dth x =|θ xi+1 -θ xi | Dth y =|θ yi+1 -θ yi | Dth z =|θ zi+1 -θ zi |。 7. The UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors according to claim 6 is characterized in that: Calculate the distance deviation σ D The method is: According to t i The coordinate point at the time (x i ,y i , z i ) and t i+1 The coordinate point at the time (x i+1 ,y i+1 , z i+1 ), calculate the distance D between two points i , the calculation formula is: Based on the distance D between two points i , calculate the average distance D avg , the calculation formula is: Among them, D i is the distance between the i+1th coordinate point and the ith coordinate point, i is 1, 2, 3...n-1; n is the number of coordinate points, which is a positive integer; According to the distance D between two points i and the average distance D avg , calculate the distance deviation σ D , the calculation formula is:

8. The UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors according to claim 7 is characterized in that: The method for judging whether the movement state of the safety supervision personnel is abnormal is: According to the moving speed V between two points i , angle θ x ,θ y and θ z and the distance deviation σ D , calculate the comprehensive abnormal index FK, based on the formula: FK=ω1×V i +ω2×(θ x +θ y +θ z )+ω3×σ D Where ω1 is the moving speed V between the two points i The weight coefficient is 0.1~0.4; ω2 is θ x +θ y +θ z The weight coefficient is 0.2~0.5; ω3 is the distance deviation σ D The weight coefficient is 0.3-0.4; and ω1+ω2+ω3=1; The comprehensive anomaly index threshold includes a first comprehensive anomaly index threshold FK1 and a second comprehensive anomaly index threshold FK2; When FK1 ≤ FK ≤ FK2, judge that the movement state of the safety supervision personnel is normal; When FK < FK1 or FK > FK2, judge that the movement state of the safety supervision personnel is abnormal, and trigger an alarm signal.

9. The UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors according to claim 8 is characterized in that: The method for judging whether the comprehensive received effective information volume is abnormal is: When the communication efficiency is normal and the movement state of the safety inspector is normal, the comprehensive effective information received by the safety inspector IH is calculated according to the communication efficiency KH and the comprehensive abnormality index FK. The formula is: in, is the weight coefficient of communication efficiency KH, ranging from 0.5 to 0.7; is the weight coefficient of the comprehensive abnormal index FK, with a value of 0.3 to 0.5; and Preset comprehensive receiving effective information volume threshold IH th ; When IH ≥ IH th When IH <IH th When the amount of valid information received is judged to be abnormal, the communication strategy is adjusted immediately.

10. The UWB-based three-dimensional dynamic positioning and monitoring device for safety inspectors is characterized by: The method can be used to implement the UWB-based three-dimensional dynamic positioning and monitoring method for safety inspectors of any one of claims 1-9.

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