Safety helmet positioning method, device and system for large shipbuilding yard

Abstract

The invention relates to the technical field of safety helmet positioning, in particular to a safety helmet positioning method, device and system for a large shipbuilding yard. The method comprises the steps that a camera located on a crane collects the overall tool condition of a ship body; the overall tool condition is compared with the simulated construction progress model, and if the overall tool condition is consistent with the simulated construction progress model, the crane conducts hoisting of the next to-be-hoisted entity tool accessory according to the tool sequence; comparing the shape of the entity tool accessory to be hoisted with the shape of the corresponding simulation tool accessory, and if the shapes are consistent, judging whether an updating node is reached or not; if the updated node is reached, the number and layout point positions of the UWB equipment are called, and the corresponding number of UWB equipment is installed on the corresponding layout point positions of the entity tool accessory to be hoisted in advance; and hoisting a to-be-hoisted entity tool accessory to a designated position, and updating the simulated construction progress model. The problems that the overall demand quantity is large and the difficulty is high due to the fact that UWB equipment is integrally arranged at the initial stage of shipbuilding in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of helmet positioning, and in particular to a helmet positioning method, device and system for use in a large shipbuilding yard. Background Art

[0002] In the modern shipbuilding industry, with the continuous improvement of the construction technology of cruise ships and multi-layer large ships, ensuring the safety of workers during construction has become a crucial link. Such ships have complex structures, many layers, and the hull is mainly welded from thick steel plates. While these materials provide a strong hull, they also pose a significant shielding challenge to wireless communication signals. Especially when workers go deep into the hull, such as working under the deck, due to the obstruction of steel plates, traditional wireless positioning technology often has difficulty penetrating these barriers, making it difficult or even ineffective to track the real-time location of workers.

[0003] In order to overcome this problem, the shipbuilding industry has gradually introduced ultra-wideband (UWB) communication technology for personnel positioning. UWB is known for its high precision, short-range communication and strong anti-interference ability, and is very suitable for accurate positioning of personnel in complex environments. However, as mentioned above, it is not only technically difficult to deploy UWB equipment in all directions in the workspace before building the hull, or to complete the construction of the hull as a whole before installing UWB equipment, but also costly, because a large number of UWB base stations and receivers need to be installed to penetrate or bypass the shielding effect of the steel plate, which undoubtedly increases the economic burden of the project.

[0004] In view of this, overcoming the defects of the prior art is an urgent problem to be solved in the field of this technology. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the existing UWB equipment is difficult to deploy and the deployment method is too costly when building a hull.

[0006] The present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a method for positioning a helmet in a large shipbuilding yard, comprising:

[0008] Obtaining a three-dimensional model of the hull and the form of simulated tooling accessories, and determining the tooling sequence of the hull according to the three-dimensional model;

[0009] Setting an update node for the layout of physical tooling parts according to the tooling sequence, and the number and layout points of UWB devices on the physical tooling parts in the update node;

[0010] When the crane is lifting the physical tooling accessories, the following operations are performed:

[0011] The camera located on the crane collects the overall tooling conditions of the hull;

[0012] The overall tooling condition is compared with the simulated construction progress model. If they are consistent, the crane will hoist the next physical tooling accessory to be hoisted according to the tooling sequence;

[0013] Compare the shape of the physical tooling parts to be hoisted with the shape of the corresponding simulated tooling parts. If they are consistent, determine whether the update node has been reached; if the update node has been reached, retrieve the number and layout points of the UWB devices, and install the corresponding number of UWB devices on the corresponding layout points of the physical tooling parts to be hoisted in advance;

[0014] After the UWB device is set on the physical tooling accessory to be hoisted, the physical tooling accessory to be hoisted is hoisted at a designated position, and the simulated construction progress model is updated.

[0015] Preferably, the step of obtaining a three-dimensional model of the hull and simulating the form of the tooling accessories, and determining the tooling sequence of the hull according to the three-dimensional model specifically includes:

[0016] Set material properties for each structural component in the hull that has completed preliminary modeling;

[0017] Determine a ship hull structure belonging to metal materials, and generate one or more target construction areas according to whether the ship hull structure belonging to metal materials will constitute a closed area;

[0018] The one or more target construction areas are divided into tooling processes to form a tooling sequence for the hull.

[0019] Preferably, the updating node for setting the layout of the physical tooling accessories according to the tooling sequence, and the number and layout points of the UWB devices on the physical tooling accessories in the updating node, specifically include:

[0020] Setting the update node of the physical tooling accessory hoisting according to the tooling sequence;

[0021] Obtaining the form of simulated tooling accessories of one or more target construction areas in the update node;

[0022] Determine the number and layout locations of the UWB devices according to the form of the simulated tooling accessories, so as to determine the number and layout locations of the UWB devices on the corresponding physical tooling accessories;

[0023] The update node is represented by the assembly process of the specified physical tooling accessories in the tooling sequence.

[0024] Preferably, after determining the number and layout points of the UWB devices according to the form of the simulated tooling accessories, the helmet positioning method for a large shipbuilding yard further includes:

[0025] The analyzed form of the simulated tooling accessories, the number and layout points of the UWB devices in the update node are recorded on the server side and marked as update node related information, so as to determine the number and layout points of the UWB devices on the physical tooling accessories based on the update node related information during the hoisting process;

[0026] The update node related information also includes preset transmission link information of each UWB device after network establishment.

[0027] Preferably, after the UWB device is set on the physical tooling accessory to be hoisted, the physical tooling accessory to be hoisted is hoisted at a designated position, which specifically includes:

[0028] Generate a coordinate system for the working space and determine the coordinates of the physical tooling parts to be hoisted on the working space;

[0029] The crane hoists the physical tooling accessories to be hoisted at the specified position according to the determined coordinates.

[0030] Preferably, after determining whether the update node has been reached, the step further includes:

[0031] If the update node has not been reached, there is no need to install the UWB device on the physical tooling accessories to be hoisted. The physical tooling accessories to be hoisted can be directly hoisted at the designated location and the simulated construction progress model can be updated.

[0032] Preferably, when a UWB device is provided on the physical tooling accessory to be hoisted, the safety helmet positioning method for a large shipbuilding yard further includes:

[0033] Start the installed UWB devices, each of which establishes a UWB device sub-network on the physical tooling accessories according to the preset post-network transmission link information of each UWB device in the update node related information;

[0034] During the hoisting process of the physical tooling accessories, the signal scanning strength of the target UWB device connected to the hull UWB main network in the UWB device sub-network is monitored;

[0035] When the target UWB device is able to scan the signal sent by the UWB device located on the hull UWB main network, the signal strength of each UWB device in the UWB device sub-network is temporarily enhanced.

[0036] Preferably, the UWB device is powered by a battery and is connected to the physical tooling accessory using a magnetic device structure.

[0037] In a second aspect, the present invention provides a safety helmet positioning device for a large shipbuilding yard, which is applicable to the safety helmet positioning method for a large shipbuilding yard described in the first aspect, comprising: a safety helmet, a UWB device and a UWB base station, the UWB device is arranged on the hull, a UWB chip is arranged inside the safety helmet, the UWB device sends a signal to the UWB chip, the UWB chip receives the signal and sends a feedback signal to the UWB device, the feedback signal includes communication information between the UWB chip and the UWB device, the UWB device sends the communication information to the UWB base station, and the UWB base station analyzes the communication information to obtain the position information of the UWB chip.

[0038] In a third aspect, the present invention provides a safety helmet positioning system for a large shipbuilding yard, which is applicable to a safety helmet positioning method for a large shipbuilding yard described in the first aspect, comprising: a UWB positioning device, a UWB base station and a client;

[0039] The UWB positioning device is used to obtain the positioning information of the helmet; the UWB positioning device includes at least one UWB chip and at least four UWB devices; the UWB chip is integrated in the helmet and is used to simultaneously perform UWB communication with each UWB device when entering the positioning area; the UWB device is used to perform UWB communication with the UWB chip, obtain the communication time of the UWB chip and the UWB device performing UWB communication, and upload the communication time to the UWB base station through the network;

[0040] The UWB base station includes a position solving server, which is used to receive the communication time uploaded by each UWB device, obtain the distance between the UWB chip and each UWB device according to the communication time, so as to determine the coordinate information of the UWB chip, and send the coordinate information of the UWB chip to the client through the network;

[0041] The client is used to receive the coordinate information of the UWB chip sent by the position solving server, and to display the positioning point of the UWB chip in the global map by constructing a global map of the positioning area.

[0042] Compared with the prior art, the beneficial effects of the present invention are as follows: by obtaining a three-dimensional model of the hull, the three-dimensional model is disassembled, and each simulated tooling accessory forms a tooling sequence, and then the number and layout points of the UWB equipment to be installed are simulated and set in advance according to the tooling sequence; during the hoisting process, the physical tooling accessories are hoisted in sequence according to the tooling sequence formed by the simulated tooling accessories, and during the hoisting process, the UWB equipment is installed in sequence according to the preset layout points according to the tooling sequence of the hull. This method not only overcomes the existing problems of overall layout of UWB equipment in the early stage of shipbuilding, large overall demand and high difficulty, but also improves the reliability and flexibility of the UWB positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 It is a schematic diagram of the overall process of a safety helmet positioning method for a large shipbuilding yard provided by an embodiment of the present invention;

[0045] Figure 2 It is a schematic diagram of an applicable scenario of a safety helmet positioning method for a large shipbuilding yard provided by an embodiment of the present invention;

[0046] Figure 3 is a schematic diagram of UWB device communication for a safety helmet positioning method for a large shipyard provided by an embodiment of the present invention;

[0047] Figure 4 It is a specific flow chart of step 1 of a method for positioning a helmet for a large shipyard provided by an embodiment of the present invention;

[0048] Figure 5 is a specific flow chart of step 2 of a method for positioning a helmet for a large shipyard provided by an embodiment of the present invention;

[0049] Figure 6 It is a schematic diagram of transmission link information after preset network establishment of a method for positioning a helmet for a large shipyard provided by an embodiment of the present invention;

[0050] Figure 7 is a schematic diagram of step 3 of a safety helmet positioning method for a large shipbuilding yard provided by an embodiment of the present invention;

[0051] Figure 8It is a schematic diagram of a three-dimensional coordinate system of a working space of a safety helmet positioning method for a large shipyard provided by an embodiment of the present invention;

[0052] Fig. 9 It is a schematic diagram of the operation flow of a method for locating a helmet for a large shipyard provided by an embodiment of the present invention after installing a UWB device;

[0053] Fig.10 It is a schematic diagram of the overall structure of a safety helmet positioning device for a large shipbuilding yard provided by an embodiment of the present invention;

[0054] Fig.11 is a schematic diagram of a UWB chip for a helmet positioning method in a large shipyard provided by an embodiment of the present invention;

[0055] Fig.12 It is a schematic diagram of the overall structure of a helmet positioning system for a large shipbuilding yard provided by an embodiment of the present invention;

[0056] Fig.13 It is a schematic diagram of a UWB device for a safety helmet positioning method in a large shipyard provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0058] Unless the context requires otherwise, throughout the specification and claims, the term "including" is to be interpreted as open inclusion, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner, that is, although they may be carried in the embodiments or examples of the above terms due to reasons such as the order and position of appearance, it is not limited to that they can be carried in combination by one embodiment or example.

[0059] In the description of the present invention, it is necessary to understand that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0060] In the description of the present invention, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of "multiple" is two or more. In addition, for example, the same type of nouns may be described as two independent individuals by adding "A" and "B" at the end. In this case, the corresponding features defined as "A" and "B" are only used to distinguish the same type of individuals for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.

[0061] When describing some embodiments, the expressions "coupling", "coupling" and "connection" and their derivatives may be used. For example, when describing some embodiments, the term "connection" may be used to indicate that two or more components are in direct physical or electrical contact with each other. For another example, when describing some embodiments, the term "coupling" may be used to indicate that two or more components are in direct physical or electrical contact. However, the terms "connection" or "coupling" may also refer to two or more components that are not in direct contact with each other, but still cooperate or interact with each other, such as "optical path coupling", "wireless connection", etc. The embodiments disclosed herein are not necessarily limited to the contents of the present invention.

[0062] In the description of the present invention, the expression "A and / or B" (where A and B are used to formally represent specific characteristic contents) will be involved, and the corresponding expressions include the following three combinations: only A, only B, and a combination of A and B.

[0063] As used herein, "about," "substantially," or "approximately" includes the stated value and an average value that is within an acceptable range of deviation from the particular value as determined by one of ordinary skill in the art taking into account the measurements in question and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

[0064] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0065] Embodiment 1:

[0066] Embodiment 1 of the present invention provides a method for positioning a helmet for use in a large shipbuilding yard, such as Figure 1 As shown, including:

[0067] In step S1, a three-dimensional model of the hull and the shapes of the simulated tooling accessories are obtained, and the tooling sequence of the hull is determined according to the three-dimensional model.

[0068] In step S2, an update node of the layout of the physical tooling accessories is set according to the tooling sequence, and in the update node, the number and layout points of the UWB devices on the physical tooling accessories are set.

[0069] In this embodiment, step S1 and step S2 are the preparation process before hoisting, and the tooling sequence and tooling accessories that need to be set for the UWB device are determined through the aforementioned preparation process.

[0070] In one embodiment, the update node may be an operation that requires special operations or completion of a certain stage of assembly during the hull construction process. For example, UWB devices are pre-installed on certain specific physical tooling accessories of the hull, and the stage of starting to hoist these specific physical tooling accessories is an update node; and, the first layer of the hull structure is completely closed, and the second layer of the hull structure is started to be hoisted, that is, the stage of starting to hoist the first physical tooling accessory of the second layer of the hull structure is an update node, and so on; or, most of the hull structure has been built, and the stage of starting to hoist the bow is an update node.

[0071] The crane hoists the physical tooling accessories according to the tooling sequence. During the process of hoisting the physical tooling accessories, the crane executes steps S3 to S6.

[0072] In step S3, a camera located on the crane collects the overall tooling status of the hull.

[0073] Among them, the crane can specifically be a gantry crane.

[0074] In step S4, the overall tooling situation is compared with the simulated construction progress model. If they are consistent, the crane will hoist the next physical tooling accessory to be hoisted according to the tooling sequence.

[0075] The simulated construction progress model is composed of simulated tooling parts according to the tooling sequence, and its final form is the overall form after the hull is built. That is, the simulated construction progress model refers to the process of assembling all simulated tooling parts into a three-dimensional model in the system based on the three-dimensional model of the hull, simulated tooling parts and tooling sequence. During the hoisting process, as the assembly of each physical tooling part is completed, the simulated construction progress model generated in the system also automatically updates the assembly of the corresponding simulated tooling parts on the simulated three-dimensional model, and the physical tooling parts that have not been hoisted will not be displayed in the simulated three-dimensional model.

[0076] If the overall tooling situation is inconsistent with the simulated construction progress model, the system will issue an alarm and manual debugging will be performed.

[0077] In step S5, the shape of the physical tooling accessories to be hoisted is compared with the corresponding simulated tooling accessories. If they are consistent, it is determined whether the update node has been reached; if the update node has been reached, the number and layout points of the UWB devices are retrieved, and the corresponding number of UWB devices are pre-installed on the corresponding layout points of the physical tooling accessories to be hoisted.

[0078] In one embodiment, if there is an update node corresponding to the physical tooling accessory to be hoisted, it means that the physical tooling accessory to be hoisted needs to be pre-set with a UWB device (i.e., reach the update node), and the UWB device is pre-installed before hoisting. Specifically, it is necessary to retrieve the number and layout points of the UWB device according to the relevant information of the corresponding update node to pre-install the UWB device on the physical tooling accessory to be hoisted. The method of pre-installing the UWB device can avoid the loss of some signals of the UWB network originally in the hull after the physical tooling accessory is installed on the hull.

[0079] In one embodiment, if the shape of the physical tooling accessory to be hoisted is inconsistent with the shape of its corresponding simulated tooling accessory, the system will issue an alarm and manual debugging will be performed.

[0080] In one embodiment, after determining whether the update node has been reached in step S6, the following further includes: if the update node has not been reached, there is no need to install the UWB device on the physical tooling accessories to be hoisted, and the physical tooling accessories to be hoisted are directly hoisted at the designated position, and the simulated construction progress model is updated.

[0081] In one embodiment, the UWB device is powered by a battery and is connected to the physical tooling accessory using a magnetic device structure.

[0082] In step S6, after the UWB device is set on the physical tooling accessory to be hoisted, the physical tooling accessory to be hoisted is hoisted at a designated position, and the simulated construction progress model is updated.

[0083] To clarify the implementation scenario of the above method, Figure 2 As shown in FIG. 1 , it is a schematic diagram of a hull 1, a crane 2 and an operating platform 3 in a shipbuilding dock. The camera 4 is arranged on the crane. To ensure the clarity and accuracy of image acquisition, at least two cameras 4 are designed, which are arranged on the top and side of the crane respectively. Figure 3 As shown, it is a schematic diagram of installing a UWB device 5 in a hull and the UWB device 5 performing UWB communication.

[0084] In this embodiment, a three-dimensional model of the hull is obtained and disassembled to form a tooling sequence for each simulated tooling accessory, and then the number and layout points of the UWB devices to be installed are simulated and set in advance according to the tooling sequence; during the hoisting process, the physical tooling accessories are hoisted in sequence according to the tooling sequence formed by the simulated tooling accessories, and during the hoisting process, the UWB devices are installed in sequence according to the preset layout points and the tooling sequence of the hull. This method not only overcomes the existing problems of large overall demand and high difficulty in the initial stage of shipbuilding, but also improves the reliability and flexibility of the UWB positioning system.

[0085] like Figure 4 As shown, in the above step S1, the three-dimensional model of the hull and the form of the simulated tooling accessories are obtained, and the tooling sequence of the hull is determined according to the three-dimensional model, which specifically includes:

[0086] In step S101, material properties are set for each structural member in the hull that has completed preliminary modeling.

[0087] In step S102, a ship hull structure belonging to a metal material is determined, and one or more target construction areas are generated according to whether the ship hull structure belonging to a metal material will constitute a closed area.

[0088] The purpose of specifically pointing out the hull structure made of metal materials is that, since metal materials (such as steel plates) have a very strong shielding effect on signals, if the metal materials form a closed area, the staff in the closed area will not be located, and as mentioned above, the UWB device and the physical tooling accessories are connected with a magnetic device structure. Therefore, determining the hull structure belonging to metal materials is a preparation for the subsequent setting of the number and layout points of the UWB devices.

[0089] In step S103, the one or more target construction areas are split into tooling processes to form a tooling sequence for the hull.

[0090] In addition to the lifting of the metal hull structure described in the above steps, the tooling sequence also includes the assembly of non-metallic materials, such as independent wall panels between rooms on a cruise ship. Common independent wall panels include but are not limited to lightweight honeycomb panels, composite rock wool panels or aluminum honeycomb composite panels. Since the overall frame of the hull is mostly built with metal materials, the frame structure of non-metallic materials accounts for a very small proportion. Therefore, in this embodiment, physical tooling accessories of non-metallic structures are also included in the tooling sequence for installation. Due to their small number, they will not be elaborated here.

[0091] like Figure 5 As shown, in the above step S2, the update node of the layout of the physical tooling accessories is set according to the tooling sequence, and in the update node, the number and layout points of the UWB devices on the physical tooling accessories specifically include:

[0092] In step S201, the update node of the physical tooling accessory hoisting is set according to the tooling sequence.

[0093] The update node is represented by the assembly process of the specified physical tooling accessories in the tooling sequence.

[0094] In step S202, the form of simulated tooling accessories of one or more target construction areas in the update node is obtained.

[0095] Among them, the form of the simulated tooling accessories refers to establishing a three-dimensional model of the accessories based on the form and size of the physical tooling accessories, and assembling the three-dimensional model of the accessories to generate a three-dimensional model of the hull, wherein the three-dimensional model of the accessories is the form of the simulated tooling accessories described in this embodiment.

[0096] In step S203, the number and layout positions of the UWB devices are determined according to the form of the simulated tooling accessories, so as to determine the number and layout positions of the UWB devices on the corresponding physical tooling accessories.

[0097] Since different simulation tooling accessories may have different shapes, sizes or shapes, and different closed areas composed of multiple simulation tooling accessories made of metal materials may also be different, whether to install UWB devices on the simulation tooling accessories and the number and layout points of the installed devices are not uniform. It is necessary to determine the number and layout points of UWB devices based on the shape of the simulation tooling accessories and whether they form a closed area that can shield signals.

[0098] After determining the quantity and layout locations of the UWB devices based on the form of the simulated tooling accessories, the analyzed form of the simulated tooling accessories, the quantity and layout locations of the UWB devices in the update node are recorded on the server side and marked as update node related information, so that during the lifting process, the quantity and layout locations of the UWB devices on the physical tooling accessories can be determined based on the update node related information.

[0099] In one embodiment, the update node related information also includes the preset transmission link information of each UWB device after the network is established, so that UWB devices located at different locations can establish a UWB device sub-network based on the preset transmission link information after the network is established, so as to expand the scope of establishing communication with the hull UWB main network. For example, the UWB device located at the bottom layer of the hull establishes a UWB device sub-network with the UWB device located at the second to last layer of the hull, and the UWB device located at the second to last layer of the hull establishes a UWB device sub-network with the UWB device located at the third to last layer of the hull, and so on, forming a cascaded UWB device sub-network, ensuring that UWB devices far away from the hull UWB main network can establish communication with the hull UWB main network through the cascaded UWB device sub-network.

[0100] See also Figure 6 In the actual scenario, the transmission link includes the ship UWB main network, multiple UWB devices and a UWB chip in a helmet. The UWB device performs UWB communication with the UWB chip, obtains the communication time of the UWB chip and the UWB device, and uploads the communication time to the ship UWB main network through the network. The ship UWB main network obtains the distance between the UWB chip and each UWB device and the coordinate information of the UWB chip according to the time of the UWB chip and each UWB device performing UWB communication, thereby obtaining the position information of the staff wearing the helmet. Combined with the three-dimensional model of the ship, the specific position of the staff in the three-dimensional space of the ship is determined.

[0101] like Figure 7 As shown, in the above step S6, after the UWB device is set on the physical tooling accessory to be hoisted, the physical tooling accessory to be hoisted is hoisted at a designated position, which specifically includes:

[0102] In step S301, a coordinate system is generated for the working space, and the coordinates of the physical tooling parts to be hoisted in the working space are determined.

[0103] In one embodiment, Figure 8As shown in FIG. 1 , a schematic diagram of a three-dimensional coordinate system created for the work space is shown. Each simulated tooling accessory located in the coordinate system has its center position as the position coordinate of the simulated tooling accessory. Based on the mapping relationship, the coordinates of the physical tooling accessory in the work space can be determined according to the position coordinates of the simulated tooling accessory.

[0104] In step S302, the crane hoists the physical tooling accessory to be hoisted at a designated position according to the determined coordinates.

[0105] In this embodiment, after each lifting is completed, the overall tooling status of the hull is collected through a camera, and the simulated construction progress model is updated.

[0106] In one embodiment, Fig. 9 As shown, when the physical tooling accessory to be hoisted is provided with a UWB device, after the UWB device is installed, the safety helmet positioning method for a large shipyard further includes:

[0107] In step S411, the installed UWB devices are started, and each of the UWB devices establishes a UWB device sub-network on the physical tooling accessories according to the preset post-network transmission link information of each UWB device in the update node related information.

[0108] In step S412, during the hoisting process of the physical tooling accessories, the signal scanning strength of the target UWB device connected to the hull UWB main network in the UWB device sub-network is monitored.

[0109] The ship UWB main network refers to a UWB base station for processing positioning information, and the target UWB device refers to a UWB chip on a helmet worn by a worker. The UWB device subnet includes multiple UWB devices, the ship UWB main network communicates bidirectionally with the UWB devices in the UWB device subnet, and the target UWB device communicates bidirectionally with the UWB devices in the UWB device subnet.

[0110] In step S413, when the target UWB device is able to scan the signal sent by the UWB device located on the hull UWB main network, the signal strength of each UWB device in the UWB device sub-network is temporarily enhanced.

[0111] In one embodiment, the normal signal strength of the UWB device may be 8-10dBm, and the temporary enhancement of the signal strength of the UWB device may enhance the signal strength of the UWB device to 15-20dBm. The normal signal strength and enhanced signal strength of the UWB device in a specific situation may be obtained after testing based on the model of the UWB device actually used and the usage scenario.

[0112] In the actual application scenario, the UWB device installed on the physical tooling accessories is turned on before the crane starts to lift. During the lifting process, the UWB device and the target UWB device gradually approach each other. When the target UWB device can scan the signal sent by the UWB device located on the UWB main network of the hull, it means that the physical tooling accessories to be lifted are about to arrive at the designated position. When the physical tooling accessories are installed at the designated position, they need to be manually welded and other processing operations. During the welding and lifting process, electromagnetic, electric heating or vibration factors that affect the communication of the UWB device will be generated in the communication environment of the UWB device. By temporarily enhancing the signal strength of the UWB device, the problem of decreased signal stability caused by welding, vibration and other reasons when installing the physical tooling accessories is improved, thereby ensuring that the problem of loss of positioning information of the staff inside the hull caused by signal shielding caused by metal materials when installing the physical tooling accessories is solved. After the corresponding physical tooling accessories are welded, when entering the next physical tooling accessories, the signal strength of the UWB device is restored to normal strength.

[0113] According to the above scheme, the embodiment of the present invention also provides a safety helmet positioning device for a large shipyard, which is applicable to the safety helmet positioning method for a large shipyard described in the above scheme, such as Fig.10 and Fig.11 As shown, it includes: a UWB device 5, a safety helmet 6 and a UWB base station 7, the UWB device 5 is arranged on the hull, and a UWB chip 60 is arranged inside the safety helmet 6; the UWB device 5 sends a signal to the UWB chip 60, the UWB chip 60 receives the signal and sends a feedback signal to the UWB device 5, the feedback signal includes the communication information between the UWB chip 60 and the UWB device 5, the UWB device 5 sends the communication information to the UWB base station 7, and the UWB base station 7 analyzes the communication information to obtain the position information of the UWB chip 60.

[0114] The UWB base station 7 corresponds to the hull UWB main network mentioned above.

[0115] It is worth noting that, in the present embodiment, Figure 2 , Figure 3 and Fig.10The hull, crane, and UWB equipment installed and deployed on the hull shown are only schematic diagrams of an embodiment of the present invention. In actual application scenarios, the layout environment of the UWB equipment of the embodiment of the present invention is suitable for large multi-story cruise ships or cargo ships, etc., whose maximum deck length can reach several hundred meters. The UWB equipment is adaptively adjusted according to different actual operating scenarios. The ratio of the human body to the cabin presented in the figure is not a standard ratio, but is only a schematic diagram for showing the communication between the UWB chip in the operator's helmet and the UWB device; and the crane shape and the crane's operating platform shown in the figure are also only for illustration. The consideration for selecting a gantry crane type crane is that the gantry crane is a commonly used crane type for transporting accessories in shipyards. In addition, schematic diagrams of shipyards in actual scenarios can also be obtained by querying the Internet.

[0116] Embodiment 2:

[0117] The embodiment of the present invention provides a safety helmet positioning system for a large shipbuilding yard based on the embodiment 1, which is applicable to the safety helmet positioning method for a large shipbuilding yard described in the embodiment 1. Fig.12 As shown, it includes: a UWB positioning device, a UWB base station and a client.

[0118] The UWB positioning device is used to obtain the positioning information of the safety helmet; the UWB positioning device includes at least one UWB chip and at least four UWB devices; the UWB chip is integrated in the safety helmet, and is used to simultaneously perform UWB communication with each UWB device when entering the positioning area; the UWB device is used to perform UWB communication with the UWB chip, obtain the communication time of the UWB chip and the UWB device performing UWB communication, and upload the communication time to the UWB base station through the network.

[0119] Among them, in UWB communication, the communication time is specifically, the calculation of communication time is usually closely related to the flight time (Time of Flight, abbreviated as ToF) of the signal. The ToF ranging method is an important method in UWB positioning technology. It mainly uses the time the signal flies between two asynchronous transceivers to measure the distance between nodes. In this process, the UWB chip and UWB device will generate an independent timestamp from the start. Specifically, the communication time includes the following key time nodes:

[0120] Sending time (t1): The UWB device transmits a request pulse signal or data packet at a certain time (denoted as t1) on its timestamp.

[0121] Receiving time (t2): After receiving the signal, the UWB chip records the current timestamp (recorded as t2).

[0122] Response time (t3): The UWB chip then sends a response signal or data packet back to the UWB device. When the UWB device receives this response, it records the current timestamp again (recorded as t4).

[0123] In order to determine the flight time (TToF) of the signal in the air, it is necessary to calculate half of the total time difference between the signal being sent from the UWB device to the UWB chip and then returning from the UWB chip to the UWB device, that is, TToF = [(t4-t1)-(t3-t2)] / 2. Among them, (t4-t1) is the total round-trip time of the signal, and (t3-t2) is the time required for the UWB chip to process the signal.

[0124] The UWB base station includes a position solving server, which is used to receive the communication time uploaded by each UWB device, obtain the distance between the UWB chip and each UWB device according to the communication time to determine the coordinate information of the UWB chip, and send the coordinate information of the UWB chip to the client through the network.

[0125] Specifically, the position solving server calculates the distance between the UWB chip and each UWB device according to the communication time between the UWB chip and each UWB device, and then uses the trilateral measurement method to calculate the coordinate information of the UWB chip according to the distance between the UWB chip and each UWB device, and sends the coordinate information of the UWB chip to the client through the network.

[0126] For example, Fig.13 As shown, in a quadrilateral positioning area, at least four UWB devices are required to achieve complete coverage. The area surrounded by the four UWB devices is the positioning area where precise positioning can be achieved. The UWB chip is integrated in the helmet, and the precise positioning of the helmet can be achieved based on the precise positioning of the UWB chip. When entering the positioning area, the UWB chip simultaneously communicates with each UWB device and sends the UWB chip ID to the UWB device. The ID is used to uniquely mark the helmet. The UWB device is set at the edge of the positioning area. It has both UWB communication function and network communication function. According to the ID sent by the UWB chip at the same time, the time for the UWB chip to communicate with the UWB device can be measured, and the UWB chip ID and signal arrival time can be uploaded to the position solution server through the network communication function.

[0127] The position solving server receives the ID and communication time of the UWB chip uploaded by each UWB device through the network, and calculates the distance between the UWB chip and each UWB device, specifically, respectively calculates the time difference between the UWB chip and two UWB devices in each UWB device for UWB communication, obtains the distance difference between the UWB chip and the two UWB devices in each UWB device according to the product of the time difference of UWB communication and the speed of electromagnetic waves, and obtains the hyperbolic motion trajectory of the UWB chip relative to the two UWB devices; the position solving server then uses the trilateral measurement method to calculate the coordinate information of the UWB chip according to the distance between the UWB chip and each UWB device, specifically, intersects multiple groups of hyperbolic motion trajectories of the UWB chip relative to two UWB devices in each UWB device, and uses the trilateral measurement method to calculate the coordinate information of the UWB chip; finally, the position solving server sends the coordinate information of the UWB chip to the client through the network.

[0128] The client is used to receive the coordinate information of the UWB chip sent by the position solving server, and to display the positioning point of the UWB chip in the global map by constructing a global map of the positioning area.

[0129] If the system detects that the staff has not moved within the preset time or has lost their location information, the system will issue an alarm.

[0130] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for positioning a helmet in a large shipyard, characterized in that: include: Obtaining a three-dimensional model of the hull and the form of simulated tooling accessories, and determining the tooling sequence of the hull according to the three-dimensional model; Setting an update node for the layout of physical tooling parts according to the tooling sequence, and the number and layout points of UWB devices on the physical tooling parts in the update node; When the crane is lifting the physical tooling accessories, the following operations are performed: The camera located on the crane collects the overall tooling conditions of the hull; The overall tooling condition is compared with the simulated construction progress model. If they are consistent, the crane will hoist the next physical tooling accessory to be hoisted according to the tooling sequence; Compare the shape of the physical tooling parts to be hoisted with the shape of the corresponding simulated tooling parts. If they are consistent, determine whether the update node has been reached; If the update node is reached, the number and layout points of the UWB devices are retrieved, and the corresponding number of UWB devices are pre-installed on the corresponding layout points of the physical tooling accessories to be hoisted; After the UWB device is set on the physical tooling accessory to be hoisted, the physical tooling accessory to be hoisted is hoisted at a designated position, and the simulated construction progress model is updated.

2. The method for positioning a helmet for a large shipbuilding yard according to claim 1, characterized in that: The step of obtaining a three-dimensional model of the hull and simulating the form of the tooling accessories, and determining the tooling sequence of the hull according to the three-dimensional model, specifically includes: Set material properties for each structural component in the hull that has completed preliminary modeling; Determine a ship hull structure belonging to metal materials, and generate one or more target construction areas according to whether the ship hull structure belonging to metal materials will constitute a closed area; The one or more target construction areas are divided into tooling processes to form a tooling sequence for the hull.

3. The method for positioning a helmet for a large shipbuilding yard according to claim 2, characterized in that: The updating node for setting the layout of the physical tooling accessories according to the tooling sequence, and the number and layout points of the UWB devices on the physical tooling accessories in the updating node, specifically include: Setting the update node of the physical tooling accessory hoisting according to the tooling sequence; Obtaining the form of simulated tooling accessories of one or more target construction areas in the update node; Determine the number and layout locations of the UWB devices according to the form of the simulated tooling accessories, so as to determine the number and layout locations of the UWB devices on the corresponding physical tooling accessories; The update node is represented by the assembly process of the specified physical tooling accessories in the tooling sequence.

4. The method for positioning a helmet for a large shipbuilding yard according to claim 3, characterized in that: After determining the number and layout points of the UWB devices according to the form of the simulated tooling accessories, the helmet positioning method for a large shipbuilding yard further includes: The analyzed form of the simulated tooling accessories, the number and layout points of the UWB devices in the update node are recorded on the server side and marked as update node related information, so as to determine the number and layout points of the UWB devices on the physical tooling accessories based on the update node related information during the hoisting process; The update node related information also includes preset transmission link information of each UWB device after network establishment.

5. The method for positioning a helmet for a large shipbuilding yard according to claim 1, characterized in that: After the UWB device is set on the physical tooling accessory to be hoisted, the physical tooling accessory to be hoisted is hoisted at a designated position, which specifically includes: Generate a coordinate system for the working space and determine the coordinates of the physical tooling parts to be hoisted on the working space; The crane hoists the physical tooling accessories to be hoisted at the specified position according to the determined coordinates.

6. The method for positioning a helmet for a large shipbuilding yard according to claim 1, characterized in that: After determining whether the update node has been reached, the following steps are further included: If the update node has not been reached, there is no need to install the UWB device on the physical tooling accessories to be hoisted. The physical tooling accessories to be hoisted can be directly hoisted at the designated location and the simulated construction progress model can be updated.

7. The method for positioning a helmet for a large shipbuilding yard according to claim 1, characterized in that: When a UWB device is provided on the physical tooling accessory to be hoisted, the safety helmet positioning method for a large shipbuilding yard further includes: Start the installed UWB devices, each of which establishes a UWB device sub-network on the physical tooling accessories according to the preset post-network transmission link information of each UWB device in the update node related information; During the hoisting process of the physical tooling accessories, the signal scanning strength of the target UWB device connected to the hull UWB main network in the UWB device sub-network is monitored; When the target UWB device is able to scan the signal sent by the UWB device located on the hull UWB main network, the signal strength of each UWB device in the UWB device sub-network is temporarily enhanced.

8. The method for positioning a safety helmet for a large shipbuilding yard according to any one of claims 1 to 7, characterized in that: The UWB device is powered by a battery and is connected to the physical tooling accessories by a magnetic device structure.

9. A safety helmet positioning device for a large shipbuilding yard, applicable to the safety helmet positioning method for a large shipbuilding yard according to any one of claims 1 to 8, characterized in that: include: A safety helmet, a UWB device and a UWB base station, wherein the UWB device is arranged on the hull, a UWB chip is arranged inside the safety helmet, the UWB device sends a signal to the UWB chip, the UWB chip receives the signal and sends a feedback signal to the UWB device, the feedback signal includes communication information between the UWB chip and the UWB device, the UWB device sends the communication information to the UWB base station, and the UWB base station analyzes the communication information to obtain the location information of the UWB chip.

10. A safety helmet positioning system for a large shipbuilding yard, applicable to a safety helmet positioning method for a large shipbuilding yard as claimed in any one of claims 1 to 8, characterized in that: include: UWB positioning device, UWB base station and client; The UWB positioning device is used to obtain the positioning information of the helmet; the UWB positioning device includes at least one UWB chip and at least four UWB devices; the UWB chip is integrated in the helmet and is used to perform UWB communication with each UWB device when entering the positioning area; the UWB device is used to perform UWB communication with the UWB chip, obtain the communication time of the UWB chip and the UWB device performing UWB communication, and upload the communication time to the UWB base station through the network; The UWB base station includes a position solving server, which is used to receive the communication time uploaded by each UWB device, obtain the distance between the UWB chip and each UWB device according to the communication time, so as to determine the coordinate information of the UWB chip, and send the coordinate information of the UWB chip to the client through the network; The client is used to receive the coordinate information of the UWB chip sent by the position solving server, and to display the positioning point of the UWB chip in the global map by constructing a global map of the positioning area.

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