Limited space operator positioning method

Abstract

The invention relates to the technical field of limited space positioning, and discloses a limited space operator positioning method, which is based on a UWB positioning system, and comprises a plurality of UWB base stations and a plurality of UWB tags. The method specifically comprises the following steps: a UWB base station periodically sends a positioning signal to a limited space, and a UWB label receives the signal and records an arrival time; according to the signal arrival time and the signal intensity of each UWB base station in the limited space, a preset multilateral positioning algorithm is adopted to calculate the accurate position of the operator; the UWB tag transmits the positioning data to the background server through a network, and the background server processes and stores the data; and the background server analyzes and displays the positioning data, and displays the position and track of the personnel in real time through a visual interface. Based on the UWB positioning system, the accurate position of the operator is calculated by adopting the preset multilateral positioning algorithm according to the signal intensity of each UWB base station, the accurate positioning of the operator in a limited space is realized, and the safety of the operator is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of limited space positioning, and in particular to a method for positioning workers in a limited space. Background Art

[0002] Confined space refers to a closed or partially enclosed space that is not designed as a fixed workplace and where people can enter to work, which may easily cause accumulation of toxic and harmful, flammable and explosive substances or insufficient oxygen content.

[0003] Confined space operations must be supervised. Rapid search and positioning of workers in confined spaces, trajectory query and playback are critical to improving the efficiency of personnel management in confined spaces. However, confined space workplaces are usually closed or semi-closed, and external supervisors cannot observe the specific location of workers in confined spaces in real time, resulting in untimely rescue or blind rescue, causing unnecessary casualties. Establishing a personnel positioning system that can assist external supervisors and monitoring platforms in real-time monitoring of the specific location of workers in confined spaces and realizing real-time positioning of workers in confined spaces is an urgent problem to be solved in the process of safe confined space operations. Summary of the invention

[0004] The present invention provides a method for positioning workers in confined spaces. Based on the UWB positioning system, a preset multilateral positioning algorithm is used to calculate the exact position of workers according to the signal strength of each UWB base station, thereby achieving accurate positioning of workers in confined spaces and ensuring the safety of workers.

[0005] The present invention provides a method for positioning workers in a limited space, based on a UWB positioning system, wherein the UWB positioning system includes a plurality of UWB base stations and a plurality of UWB tags, wherein the UWB base stations are installed in the limited space, and the UWB tags are worn by workers; the method specifically includes:

[0006] The UWB base station periodically sends positioning signals into the limited space, and the UWB tag receives the signals and records the arrival time;

[0007] The precise location of the operator is calculated using a preset multilateral positioning algorithm based on the signal arrival time and signal strength of each UWB base station in a limited space;

[0008] The UWB tag transmits the positioning data to a backend server via a network, and the backend server processes and stores the data;

[0009] The backend server analyzes and displays the positioning data, and displays the location and trajectory of the personnel in real time through a visual interface.

[0010] Furthermore, the step of calculating the accurate position of the operator using a preset multi-lateration positioning algorithm according to the signal arrival time and signal strength of each UWB base station in the limited space includes:

[0011] Calculate the actual distance between the UWB base station and the UWB tag according to the signal strength between each UWB base station in the limited space;

[0012] The accurate position of the operator is calculated according to the actual distance between the UWB base station and the UWB tag.

[0013] Furthermore, the step of calculating the actual distance between the UWB base station and the UWB tag according to the signal strength between the UWB base stations in the limited space includes:

[0014] The link quality concept is adopted to reduce the impact of limited space on the UWB positioning system. The link quality is the quality of the information received by the UWB base station during information transmission. 0-245 is the upper and lower limits of the data quality. The correlation between the wireless signal strength received by the UWB base station and the link quality is expressed as:

[0015]

[0016] Among them, rssi represents the strength of the wireless signal received by the UWB base station; LQI represents the link quality;

[0017] According to the Shadowill model in statistics, the received wireless signal strength is transformed into the distance between the UWB base station and the UWB tag, which is recorded as:

[0018]

[0019] Where d represents the real distance; d0 is the unit distance, usually 1.5m; γ is the dynamic attenuation coefficient of wireless signal transmission, the size of which is related to the application environment of wireless network in limited space; X δ is random Gaussian distributed noise;

[0020] The actual distance between the UWB base station and the UWB tag is obtained by the above formula.

[0021] Furthermore, the step of calculating the accurate position of the operator according to the real distance between the UWB base station and the UWB tag includes:

[0022] During the positioning and tracking process, N distance values ​​are selected according to the strength of the received signal in the UWB positioning system. If the coordinate position of the limited space operator to be located is L(x, y), the coordinates of the UWB base station are B1(x1, y1), B2(x2, y2),…, B n (xn ,y n ), the measurement distance between the UWB base station and the UWB tag is d1, d2, ..., d n .

[0023] The following formula is obtained by arranging the distance data between N groups of UWB base stations and UWB tags:

[0024]

[0025] Recombining N groups of distance data, each group contains M related analytical expressions for cross-positioning, and generating a total of 100 combination patterns. Each combination pattern can form a linear equation group about x and y, that is, AX=B. Using the maximum likelihood estimation strategy to calculate the AX=B equation group, the following results are obtained:

[0026] X=(A T A) -1 A T B

[0027] Wherein, X is the exact position of the operator.

[0028] Furthermore, after the step of calculating the accurate position of the operator using a preset multilateral positioning algorithm according to the signal arrival time and signal strength of each UWB base station in the limited space, the gravitational search is used to optimize the coordinate value and output the most accurate coordinate position, specifically:

[0029] Gravitational search includes the law of universal gravitation and Newton's laws of motion, and the two laws are calculated in association to obtain the optimal solution to the problem; if the accurate position of the operator obtained exists in S-dimensional space, the mass of the a-th coordinate at time t is M a (t), the coordinate quality size is calculated using an adaptive function, which is calculated through link quality, including the weight values ​​of many influencing factors, and the following analytical formula is obtained:

[0030]

[0031] Among them, fit a represents the adaptability function, best(a) is the adaptability function with the highest strength, and worst(a) is the adaptability function with the lowest strength;

[0032] According to the law of universal gravitation, in the S-dimensional space, the gravitational force of coordinate b relative to coordinate a in time period t is:

[0033]

[0034] Among them, R represents the distance between two coordinates, x is the spatial orientation of the coordinates, is the deviation factor, G is the gravitational constant;

[0035] According to Newton's second law, the acceleration value of the worker in the confined space during the period t is calculated as:

[0036]

[0037] in, is the force exerted on the a-th coordinate in the S-dimensional space;

[0038] Finally, the position update process of the positioning tracking is calculated to accurately identify the positioning data of the limited space operator. The update process is:

[0039]

[0040] Among them, (rand) represents the size of the limited space, and V0(t) is the speed of the operator moving in time period t.

[0041] Furthermore, the UWB tag transmits the positioning data to the backend server through the network, and after the backend server processes and stores the data, the method further includes:

[0042] The backend server receives the location information of each operator and obtains the time data contained in each location information;

[0043] Matching the time data with the location information of the operator one by one;

[0044] When the backend manager selects an operator and a playback time period, the backend server outputs all location information of the operator within the playback time period;

[0045] Based on all the location information of the operator, the operator's movement trajectory is displayed in the form of a timeline.

[0046] Furthermore, after the backend server analyzes and displays the positioning data and displays the position and trajectory of the personnel in real time through a visual interface, the following steps are also included:

[0047] Integrate and link the real-time positioning data of operators with surveillance videos;

[0048] Connecting the UWB positioning system and the video server to each other to achieve docking between the video monitoring system and the UWB positioning system;

[0049] Based on the real-time location information and time data provided by the UWB positioning system, determine whether the operator has overstayed, and record the abnormal action status of the operator if the operator has overstayed;

[0050] Based on the abnormal action status of the operator, the monitoring video lens is automatically dispatched to lock the target object and shoot it in time;

[0051] The surveillance video is associated with the positioning data, and the surveillance image and positioning data are uploaded to the background through data transmission for early warning processing.

[0052] The present invention also provides a limited space operator positioning device, based on a UWB positioning system, the UWB positioning system includes multiple UWB base stations and multiple UWB tags, the UWB base stations are installed in the limited space, and the UWB tags are worn by the operators; the method specifically includes:

[0053] A recording module, used for the UWB base station to periodically send positioning signals into a limited space, and the UWB tag receives the signals and records the arrival time;

[0054] A calculation module is used to calculate the exact position of the operator using a preset multilateral positioning algorithm based on the signal arrival time and signal strength of each UWB base station in a limited space;

[0055] A transmission module, used for the UWB tag to transmit the positioning data to a backend server through a network, and the backend server processes and stores the data;

[0056] The display module is used for the background server to analyze and display the positioning data, and to display the location and trajectory of the personnel in real time through a visual interface.

[0057] The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0058] The present invention also provides a computer-readable storage medium on which a computer program is stored, and the computer program implements the steps of the above method when executed by a processor.

[0059] The beneficial effects of the present invention are:

[0060] In the UWB positioning system of the present invention, a UWB base station is installed in the limited space, a UWB tag is worn on an operator, the UWB base station periodically sends a positioning signal to the limited space, the UWB tag receives the signal and records the arrival time; a preset multilateral positioning algorithm is used to calculate the accurate position of the operator according to the signal arrival time and signal strength of each UWB base station in the limited space, the background server analyzes and displays the positioning data, and displays the position and trajectory of the personnel in real time through a visual interface, thereby realizing the precise positioning of the operator in the limited space; accurate personnel positioning can not only provide real-time feedback on the position of the operator, but also remotely monitor dangerous operations, eliminate potential intrusion risks while monitoring the workers' activity paths, thereby protecting the lives of personnel and ensuring the continuity of safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 The figure is a schematic diagram of a method flow according to an embodiment of the present invention.

[0062] Figure 2 FIG. 1 is a schematic diagram of a device structure according to an embodiment of the present invention.

[0063] Figure 3 The figure is a schematic diagram of the internal structure of a computer device according to an embodiment of the present invention.

[0064] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0065] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0066] like Figure 1 As shown, the present invention provides a method for positioning workers in a limited space, based on a UWB positioning system, wherein the UWB positioning system includes multiple UWB base stations and multiple UWB tags, wherein the UWB base stations are installed in the limited space at a certain density to preferentially cover key areas, and the UWB tags are worn on workers, and each worker has only one UWB tag and is bound to an identity relationship.

[0067] UWB (Ultra Wideband) positioning technology is a positioning technology that uses ultra-wideband, low-power, short-pulse signals. It can measure the time difference (TOF) of signal arrival in an ultra-short time, thereby calculating the position of the receiver through multiple positioning moments. This technology can accurately distinguish multipaths, and its clock accuracy is very high, reaching the nanosecond level. In positioning and ranging, it can achieve decimeter-level positioning accuracy.

[0068] The method specifically comprises:

[0069] S1, the UWB base station periodically sends a positioning signal into a limited space, and the UWB tag receives the signal and records the arrival time;

[0070] S2, calculate the exact position of the operator using a preset multilateral positioning algorithm based on the signal arrival time and signal strength of each UWB base station in the limited space;

[0071] Step S2 specifically includes:

[0072] S21, calculating the actual distance between the UWB base station and the UWB tag according to the signal strength between each UWB base station in the limited space;

[0073] Confined space is a relatively closed space. When the wireless system receives information, reflection, loss and other conditions will occur. The link quality concept is used to reduce the impact of confined space on the UWB positioning system. The link quality is the quality of the information received by the UWB base station during information transmission. 0-245 is the upper and lower limits of the data quality. The correlation between the strength of the wireless signal received by the UWB base station and the link quality is recorded as:

[0074]

[0075] Among them, rssi represents the strength of the wireless signal received by the UWB base station; LQI represents the link quality;

[0076] According to the Shadowill model in statistics, the received wireless signal strength is transformed into the distance between the UWB base station and the UWB tag, which is recorded as:

[0077]

[0078] Where d represents the real distance; d0 is the unit distance, usually 1.5m; γ is the dynamic attenuation coefficient of wireless signal transmission, the size of which is related to the application environment of wireless network in limited space; X δ is random Gaussian distributed noise;

[0079] The actual distance between the UWB base station and the UWB tag is obtained by the above formula.

[0080] S22. Calculate the accurate position of the operator according to the actual distance between the UWB base station and the UWB tag.

[0081] During the positioning and tracking process, N distance values ​​are selected according to the strength of the received signal in the UWB positioning system. If the coordinate position of the limited space operator to be located is L(x, y), the coordinates of the UWB base station are B1(x1, y1), B2(x2, y2),…, B n (x n,y n ), the measurement distance between the UWB base station and the UWB tag is d1, d2, ..., d n .

[0082] The following formula is obtained by arranging the distance data between N groups of UWB base stations and UWB tags:

[0083]

[0084] Recombining N groups of distance data, each group contains M related analytical expressions for cross-positioning, and generating a total of 100 combination patterns. Each combination pattern can form a linear equation group about x and y, that is, AX=B. Using the maximum likelihood estimation strategy to calculate the AX=B equation group, the following results are obtained:

[0085] X=(A T A) -1 A T B

[0086] Wherein, X is the exact position of the operator.

[0087] Multilateral positioning is used to obtain the coordinates of the operator in the limited space, but due to the complex external environment, there will be certain deviations. Therefore, after obtaining the accurate position of the operator, gravitational search is used to optimize the coordinate value and output the most accurate coordinate position, specifically:

[0088] Gravitational search includes the law of universal gravitation and Newton's laws of motion, and the two laws are calculated in association to obtain the optimal solution to the problem; if the accurate position of the operator obtained exists in S-dimensional space, the mass of the a-th coordinate at time t is M a (t), the coordinate mass size is calculated using an adaptive function. From Newtonian mechanics, we know that the greater the mass, the greater the inertia. Under the condition of fixed gravity, the movement will gradually slow down, proving that the movement will move towards the optimal coordinates. The adaptive function is calculated through link quality, including the weight values ​​of many influencing factors, and the following analytical formula is obtained:

[0089]

[0090] Among them, fit a represents the adaptability function, best(a) is the adaptability function with the highest strength, and worst(a) is the adaptability function with the lowest strength;

[0091] According to the law of universal gravitation, in the S-dimensional space, the gravitational force of coordinate b relative to coordinate a in time period t is:

[0092]

[0093] Among them, R represents the distance between two coordinates, x is the spatial orientation of the coordinates, is the deviation factor, G is the gravitational constant;

[0094] According to Newton's second law, the acceleration value of the worker in the confined space during the period t is calculated as:

[0095]

[0096] in, is the force exerted on the a-th coordinate in the S-dimensional space;

[0097] Finally, the position update process of the positioning tracking is calculated to accurately identify the positioning data of the limited space operator. The update process is:

[0098]

[0099] Among them, (rand) represents the size of the limited space, and V0(t) is the speed of the operator moving in time period t.

[0100] S3, the UWB tag transmits the positioning data to the backend server through the network, and the backend server processes and stores the data;

[0101] In one embodiment, after step S3, the method further includes:

[0102] 1) The backend server receives the location information of each operator and obtains the time data contained in each location information;

[0103] 2) matching the time data with the location information of the operator one by one;

[0104] 3) When the backend manager selects an operator and a playback time period, the backend server outputs all location information of the operator within the playback time period;

[0105] 4) Based on all the location information of the operator, the movement trajectory of the operator is displayed in the form of a timeline.

[0106] The UWB tag uploads the location information of the personnel to the background server and stores it in the database. Secondly, the background server receives the location information, processes the data, and stores it in the database. Finally, the manager can enter the playback time period in the front-end interface, parse the personnel location information of the corresponding time period from the background database, and display the movement trajectory of the personnel in the time period in the form of a timeline. At the same time, the UWB positioning system interface can display the location of personnel at different times in the form of a map. Through interface operation, users can have a deeper understanding of employees' behavioral dynamics, work mode, execution efficiency, and bottleneck problems during working hours.

[0107] S4. The backend server analyzes and displays the positioning data, and displays the location and trajectory of the personnel in real time through a visual interface.

[0108] In one embodiment, after step S4, the method further includes:

[0109] 1> Integrate and link the real-time positioning data of operators with the surveillance video;

[0110] 2> Connecting the UWB positioning system and the video server to each other to achieve the connection between the video monitoring system and the UWB positioning system;

[0111] 3> Based on the real-time location information and time data provided by the UWB positioning system, determine whether the operator has overstayed, and record the abnormal action status of the operator if the operator has overstayed;

[0112] 4> Based on the abnormal action status of the operator, the monitoring video lens is automatically dispatched to lock the target object and shoot in time;

[0113] 5> Associate the surveillance video with the positioning data, and upload the surveillance image and positioning data to the background through data transmission for early warning processing.

[0114] During the UWB personnel positioning management, video linkage is to integrate and link real-time positioning data with surveillance video, so as to achieve the purpose of more quickly and effectively troubleshooting personnel abnormalities. Based on the personnel positioning system, according to personnel location information and other data, a video surveillance system is built, and through background analysis, real-time positioning and surveillance video are integrated to achieve real-time visual monitoring while providing playback data within a certain period of time for tracing and analyzing historical events.

[0115] In the UWB positioning system of the present invention, a UWB base station is installed in the limited space, a UWB tag is worn on an operator, the UWB base station periodically sends a positioning signal to the limited space, the UWB tag receives the signal and records the arrival time; a preset multilateral positioning algorithm is used to calculate the accurate position of the operator according to the signal arrival time and signal strength of each UWB base station in the limited space, the background server analyzes and displays the positioning data, and displays the position and trajectory of the personnel in real time through a visual interface, thereby realizing the precise positioning of the operator in the limited space; accurate personnel positioning can not only provide real-time feedback on the position of the operator, but also remotely monitor dangerous operations, eliminate potential intrusion risks while monitoring the workers' activity paths, thereby protecting the lives of personnel and ensuring the continuity of safety.

[0116] The present invention realizes the personnel statistics function based on UWB on the basis of the positioning of the operating personnel, and realizes the accurate statistics of the personnel of the relevant parties through positioning data collection + data processing and analysis + personnel identification classification + activity statistics. First, the base station arranged in a limited space is used to collect the personnel location information in real time and transmit it to the background server. The UWB device uploads the location information to the background server; secondly, after the background server receives the positioning data, it will process and analyze the data. Through algorithm processing, the location data of each person is clustered, filtered and counted; thirdly, in terms of personnel identification and classification, according to the label information and other identity information of the personnel, such as personnel ID or work number, each positioning point is identified and classified, so that each person can be ensured to be unique in the statistical information, which is convenient for subsequent analysis and query; finally, the system performs personnel activity statistics, and statistically analyzes the activities of the personnel according to the positioning data and timestamp. The activity range, activity duration, stay time, etc. of the personnel in a specific time period, as well as the relative position relationship between the personnel can be counted.

[0117] In addition, based on the realization of personnel positioning, UWB positioning technology can provide personnel alarm function, which is mainly oriented to parameters including environmental parameters, personnel status parameters, and electronic fence parameters. First, through sensors, surveillance cameras and other equipment, the environmental information around the personnel, including temperature, humidity, smell, light, etc., is collected to form multi-dimensional monitoring data to provide support for subsequent alarm processing. Secondly, by monitoring the movement and behavior status of personnel, such as whether they are tilted, vibrated, or resting, the status of personnel is monitored and possible abnormal situations of personnel are predicted. Thirdly, according to the characteristics of safety regulations and personnel working environment, the alarm prohibited area is preset. If a person enters the prohibited area, the alarm mechanism is triggered. Finally, after setting the corresponding thresholds of the above alarm conditions, when the position, status or environmental data of the person triggers one or more alarm rules, the alarm processing program will be automatically started. The alarm program will first send an alarm message to other security devices (such as shouting system, access control system) in the monitoring area, and automatically report the relevant information to the background server.

[0118] like Figure 2 As shown, the present invention also provides a limited space operator positioning device, based on a UWB positioning system, the UWB positioning system includes multiple UWB base stations and multiple UWB tags, the UWB base stations are installed in the limited space, and the UWB tags are worn on the operators; the method specifically includes:

[0119] Recording module 1, used for the UWB base station to periodically send positioning signals into a limited space, and the UWB tag receives the signals and records the arrival time;

[0120] Calculation module 2, used to calculate the exact position of the operator using a preset multi-lateration positioning algorithm according to the signal arrival time and signal strength of each UWB base station in the limited space;

[0121] Transmission module 3, used for the UWB tag to transmit the positioning data to the backend server through the network, and the backend server processes and stores the data;

[0122] The display module 4 is used for the background server to analyze and display the positioning data, and to display the position and trajectory of the personnel in real time through a visual interface.

[0123] In one embodiment, the calculation module 2 includes:

[0124] A first calculation unit, configured to calculate a real distance between the UWB base station and the UWB tag according to the signal strength between the UWB base stations in a limited space;

[0125] The second calculation unit is used to calculate the accurate position of the operator according to the actual distance between the UWB base station and the UWB tag.

[0126] In one embodiment, the first computing unit includes:

[0127] The link quality concept is adopted to reduce the impact of limited space on the UWB positioning system. The link quality is the quality of the information received by the UWB base station during information transmission. 0-245 is the upper and lower limits of the data quality. The correlation between the wireless signal strength received by the UWB base station and the link quality is expressed as:

[0128]

[0129] Among them, rssi represents the strength of the wireless signal received by the UWB base station; LQI represents the link quality;

[0130] According to the Shadowill model in statistics, the received wireless signal strength is transformed into the distance between the UWB base station and the UWB tag, which is recorded as:

[0131]

[0132] Where d represents the real distance; d0 is the unit distance, usually 1.5m; γ is the dynamic attenuation coefficient of wireless signal transmission, the size of which is related to the application environment of wireless network in limited space; X δ is random Gaussian distributed noise;

[0133] The actual distance between the UWB base station and the UWB tag is obtained by the above formula.

[0134] In one embodiment, the second computing unit includes:

[0135] During the positioning and tracking process, N distance values ​​are selected according to the strength of the received signal in the UWB positioning system. If the coordinate position of the limited space operator to be located is L(x, y), the coordinates of the UWB base station are B1(x1, y1), B2(x2, y2),…, B n (x n ,y n ), the measurement distance between the UWB base station and the UWB tag is d1, d2, ..., d n .

[0136] The following formula is obtained by arranging the distance data between N groups of UWB base stations and UWB tags:

[0137]

[0138] Recombining N groups of distance data, each group contains M related analytical expressions for cross-positioning, and generating a total of 100 combination patterns. Each combination pattern can form a linear equation group about x and y, that is, AX=B. Using the maximum likelihood estimation strategy to calculate the AX=B equation group, the following results are obtained:

[0139] X=(A T A) -1 A T B

[0140] Wherein, X is the exact position of the operator.

[0141] In one embodiment, after calculating module 2, gravitational search is used to optimize the coordinate values ​​and output the most accurate coordinate position, specifically:

[0142] Gravitational search includes the law of universal gravitation and Newton's laws of motion, and the two laws are calculated in association to obtain the optimal solution to the problem; if the accurate position of the operator obtained exists in S-dimensional space, the mass of the a-th coordinate at time t is M a (t), the coordinate quality size is calculated using an adaptive function, which is calculated through link quality, including the weight values ​​of many influencing factors, and the following analytical formula is obtained:

[0143]

[0144] Among them, fit a represents the adaptability function, best(a) is the adaptability function with the highest strength, and worst(a) is the adaptability function with the lowest strength;

[0145] According to the law of universal gravitation, in the S-dimensional space, the gravitational force of coordinate b relative to coordinate a in time period t is:

[0146]

[0147] Among them, R represents the distance between two coordinates, x is the spatial orientation of the coordinates, is the deviation factor, G is the gravitational constant;

[0148] According to Newton's second law, the acceleration value of the worker in the confined space during the period t is calculated as:

[0149]

[0150] in, is the force exerted on the a-th coordinate in the S-dimensional space;

[0151] Finally, the position update process of the positioning tracking is calculated to accurately identify the positioning data of the limited space operator. The update process is:

[0152]

[0153] Among them, (rand) represents the size of the limited space, and V0(t) is the speed of the operator moving in time period t.

[0154] In one embodiment, it further includes:

[0155] An acquisition module, used for the background server to receive the location information of each operator, and to acquire the time data contained in each location information;

[0156] A corresponding module, used for making a one-to-one correspondence between the time data and the location information of the operator;

[0157] An output module, used for, when the backend manager selects an operator and a playback time period, the backend server outputs all the position information of the operator within the playback time period;

[0158] The trajectory module is used to display the movement trajectory of the operator in the form of a timeline based on all the location information of the operator.

[0159] In one embodiment, after the backend server analyzes and displays the positioning data and displays the position and trajectory of the personnel in real time through a visual interface, the process further includes:

[0160] The linkage module is used to integrate and link the real-time positioning data of operators with the surveillance video;

[0161] A connection module, used to connect the UWB positioning system and the video server to each other, so as to achieve the connection between the video monitoring system and the UWB positioning system;

[0162] An abnormality module, used to determine whether the operator has overstayed based on the real-time location information and time data provided by the UWB positioning system, and record the abnormality of the operator's action status when the operator has overstayed;

[0163] The scheduling module is used to automatically schedule the surveillance video lens based on the abnormal action status of the operator, so as to lock the target object and shoot it in time;

[0164] The early warning module is used to associate the monitoring video with the positioning data, and upload the monitoring screen and positioning data to the background through data transmission for early warning processing.

[0165] The above modules and units are used to execute the corresponding steps in the above method for positioning workers in a confined space. The specific implementation method thereof is described in the above method embodiment and will not be repeated here.

[0166] like Figure 3 As shown, the present invention also provides a computer device, which can be a server, and its internal structure can be as shown in Figure 3 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store all data required for the process of the method for locating personnel in a confined space. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the method for locating personnel in a confined space is implemented.

[0167] Those skilled in the art will understand that Figure 3 The structure shown in is merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied.

[0168] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, any of the above-mentioned methods for locating workers in a confined space is implemented.

[0169] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0170] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0171] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for positioning workers in a limited space, characterized in that: Based on a UWB positioning system, the UWB positioning system includes multiple UWB base stations and multiple UWB tags, the UWB base stations are installed in the limited space, and the UWB tags are worn by operators; the method specifically includes: The UWB base station periodically sends positioning signals into the limited space, and the UWB tag receives the signals and records the arrival time; The precise location of the operator is calculated using a preset multilateral positioning algorithm based on the signal arrival time and signal strength of each UWB base station in a limited space; The UWB tag transmits the positioning data to a backend server via a network, and the backend server processes and stores the data; The backend server analyzes and displays the positioning data, and displays the location and trajectory of the personnel in real time through a visual interface.

2. The method for positioning workers in a limited space according to claim 1, characterized in that: The step of calculating the accurate position of the operator using a preset multilateral positioning algorithm according to the signal arrival time and signal strength of each UWB base station in the limited space includes: Calculate the actual distance between the UWB base station and the UWB tag according to the signal strength between each UWB base station in the limited space; The accurate position of the operator is calculated according to the actual distance between the UWB base station and the UWB tag.

3. The method for positioning workers in a limited space according to claim 2, characterized in that: The step of calculating the actual distance between the UWB base station and the UWB tag according to the signal strength between the UWB base stations in the limited space includes: The link quality concept is adopted to reduce the impact of limited space on the UWB positioning system. The link quality is the quality of the information received by the UWB base station during information transmission. 0-245 is the upper and lower limits of the data quality. The correlation between the wireless signal strength received by the UWB base station and the link quality is expressed as: Among them, rssi represents the strength of the wireless signal received by the UWB base station; LQI represents the link quality; According to the Shadowillg model in statistics, the received wireless signal strength is transformed into the distance between the UWB base station and the UWB tag, which is recorded as: Where d represents the real distance; d0 is the unit distance, usually 1.5m; γ is the dynamic attenuation coefficient of wireless signal transmission, the size of which is related to the application environment of wireless network in limited space; X δ is random Gaussian distributed noise; The actual distance between the UWB base station and the UWB tag is obtained by the above formula.

4. The method for positioning workers in a limited space according to claim 3, characterized in that: The step of calculating the accurate position of the operator according to the real distance between the UWB base station and the UWB tag comprises: During the positioning and tracking process, N distance values ​​are selected according to the strength of the received signal in the UWB positioning system. If the coordinate position of the limited space operator to be located is L(x, y), the coordinates of the UWB base station are B1(x1, y1), B2(x2, y2), ..., B n (x n ,y n ), the measurement distances between the UWB base station and the UWB tag are d1, d2, ..., d n . The following formula is obtained by arranging the distance data between N groups of UWB base stations and UWB tags: Recombining N groups of distance data, each group contains M related analytical expressions for cross-positioning, and generating a total of 100 combination patterns. Each combination pattern can form a linear equation group about x and y, that is, AX=B. Using the maximum likelihood estimation strategy to calculate the AX=B equation group, the following results are obtained: X=(A T A) -1 A T B Wherein, X is the exact position of the operator.

5. The method for positioning workers in a limited space according to claim 4, characterized in that: After the step of calculating the accurate position of the operator using a preset multilateral positioning algorithm according to the signal arrival time and signal strength of each UWB base station in the limited space, the gravitational search is used to optimize the coordinate value and output the most accurate coordinate position, specifically: Gravitational search includes the law of universal gravitation and Newton's laws of motion, and the two laws are calculated in association to obtain the optimal solution to the problem; if the accurate position of the operator obtained exists in S-dimensional space, the mass of the a-th coordinate at time t is M a (t), the coordinate quality size is calculated using an adaptive function, which is calculated through link quality, including the weight values ​​of many influencing factors, and the following analytical formula is obtained: Among them, fit a represents the adaptability function, best(a) is the adaptability function with the highest strength, and worst(a) is the adaptability function with the lowest strength; According to the law of universal gravitation, in the S-dimensional space, the gravitational force of coordinate b relative to coordinate a in time period t is: Among them, R represents the distance between two coordinates, x is the spatial orientation of the coordinates, is the deviation factor, G is the gravitational constant; According to Newton's second law, the acceleration value of the worker in the confined space during the period t is calculated as: in, is the force exerted on the a-th coordinate in the S-dimensional space; Finally, the position update process of the positioning tracking is calculated to accurately identify the positioning data of the limited space operator. The update process is: Among them, (rand) represents the size of the limited space, and V0(t) is the speed of the operator moving in time period t.

6. The method for positioning workers in a confined space according to claim 1, characterized in that: The UWB tag transmits the positioning data to the backend server through the network, and after the backend server processes and stores the data, the method further includes: The backend server receives the location information of each operator and obtains the time data contained in each location information; Matching the time data with the location information of the operator one by one; When the backend manager selects an operator and a playback time period, the backend server outputs all location information of the operator within the playback time period; Based on all the location information of the operator, the operator's movement trajectory is displayed in the form of a timeline.

7. The method for positioning workers in a confined space according to claim 1, characterized in that: After the backend server analyzes and displays the positioning data and displays the position and trajectory of the personnel in real time through a visual interface, the process further includes: Integrate and link the real-time positioning data of operators with surveillance videos; Connecting the UWB positioning system and the video server to each other to achieve docking between the video monitoring system and the UWB positioning system; Based on the real-time location information and time data provided by the UWB positioning system, determine whether the operator has overstayed, and record the abnormal action status of the operator if the operator has overstayed; Based on the abnormal action status of the operator, the monitoring video lens is automatically dispatched to lock the target object and shoot it in time; The surveillance video is associated with the positioning data, and the surveillance image and positioning data are uploaded to the background through data transmission for early warning processing.

8. A limited space operator positioning device, characterized in that: Based on a UWB positioning system, the UWB positioning system includes multiple UWB base stations and multiple UWB tags, the UWB base stations are installed in the limited space, and the UWB tags are worn by operators; the method specifically includes: A recording module, used for the UWB base station to periodically send positioning signals into a limited space, and the UWB tag receives the signals and records the arrival time; A calculation module is used to calculate the exact position of the operator using a preset multilateral positioning algorithm based on the signal arrival time and signal strength of each UWB base station in a limited space; A transmission module, used for the UWB tag to transmit the positioning data to a backend server through a network, and the backend server processes and stores the data; The display module is used for the background server to analyze and display the positioning data, and to display the location and trajectory of the personnel in real time through a visual interface.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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