High-altitude illegal driving detection method and device based on ultra wide band technology

Abstract

The invention relates to the technical field of positioning beacons, in particular to a high-altitude illegal driving detection method and device based on the ultra wide band technology, and the method comprises the steps: S1, determining the coverage range of a high-altitude operation region, and determining the distribution position according to the coverage range of the high-altitude operation region; s2, dynamically adjusting the point distribution position according to the point distribution range; s3, after deployment, UWB beacons send UWB beacon signals according to the current height of the mechanical equipment; s4, receiving the UWB beacon signal by the deployed UWB base station to obtain the three-dimensional coordinate position of the UWB beacon; step S5, calibrating the UWB positioning system to obtain a calibrated UWB positioning system; s6, the calibrated UWB positioning system calculates the movement distance of the mechanical equipment in a preset time interval; and S7, monitoring the mechanical equipment in real time, and pushing a real-time monitoring result and giving an alarm. The UWB technology is adopted, and real-time monitoring and rapid early warning of the movement condition of the mechanical equipment are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning beacons, and in particular to a method and device for detecting high-altitude illegal driving based on ultra-wideband technology. Background Art

[0002] At present, during the operation of aerial work machinery and equipment, there is a risk that the equipment may move a distance exceeding the safety setting value on the horizontal plane due to improper operation or negligence. Therefore, real-time monitoring and control of the equipment's moving distance during aerial work has become the key to ensuring the safety of aerial work and the normal operation of the equipment.

[0003] Publication No. CN116879929A ​​discloses a system and method for monitoring the displacement of an optical cable junction box based on Beidou positioning, which relates to the field of displacement monitoring technology for optical cable junction boxes, including an optical cable junction box; through the operation of a driving mechanism, under the action of a connecting mechanism, the cleaning unit is driven to move to the Beidou high-precision positioning antenna, and has a lateral shaking shape. However, this solution can only achieve high-precision, high-real-time positioning and detection under specific conditions, and in terms of comprehensive performance and application adaptability, monitoring equipment based on related technologies cannot accurately detect and control the moving distance of the equipment in real time during high-altitude operations.

[0004] In terms of comprehensive performance and application adaptability, monitoring equipment based on relevant technologies cannot accurately detect and control the moving distance of the equipment during high-altitude operations in real time; and no effective solution has been proposed so far. Summary of the invention

[0005] To this end, the present invention provides a method and device for detecting high-altitude illegal driving based on ultra-wideband technology, so as to overcome the problem in the prior art in terms of comprehensive performance and application adaptability that the monitoring equipment based on related technologies cannot accurately detect and control the moving distance of the equipment during high-altitude operations in real time.

[0006] To achieve the above object, on the one hand, the present invention provides a method for detecting high-altitude illegal driving based on ultra-wideband technology, comprising:

[0007] Step S1, determining the coverage of the high-altitude working area, and determining the location of the points according to the coverage of the high-altitude working area;

[0008] Step S2, determining the point distribution range according to the point distribution position, and dynamically adjusting the point distribution position according to the point distribution range;

[0009] Step S3, deploying the UWB beacon according to the deployment location to obtain a deployed UWB beacon, and the deployed UWB beacon sends a UWB beacon signal according to the current height of the mechanical equipment;

[0010] Step S4, deploying the UWB base station according to the deployment location to obtain the deployed UWB base station, and receiving the UWB beacon signal by the deployed UWB base station to obtain the three-dimensional coordinate position of the UWB beacon;

[0011] Step S5, calibrating the UWB positioning system according to the three-dimensional coordinate position of the UWB beacon to obtain a calibrated UWB positioning system;

[0012] Step S6, inputting the three-dimensional coordinate position of the UWB beacon into a calibrated UWB positioning system, and the calibrated UWB positioning system calculates the movement distance of the mechanical device within a preset time interval;

[0013] Step S7, real-time monitoring of the mechanical equipment is performed according to the moving distance of the mechanical equipment within a preset time interval, and the real-time monitoring results are pushed and an alarm is issued.

[0014] Furthermore, in step S1, when determining the coverage range of the aerial work area, the size of the aerial work area is input into the three-dimensional simulation model to obtain a model of the aerial work area, and the aerial work area model is adjusted according to actual characteristics to obtain an adjusted model of the aerial work area, and the aerial work area coordinates of the adjusted model of the aerial work area are mapped to the real space, and the range of the real space is used as the coverage range of the aerial work area.

[0015] Furthermore, in the step S1, when determining the point layout position, the point layout position is determined according to the point layout type, wherein:

[0016] When the deployment type is a UWB base station, the coverage range of the high-altitude operation area is input into the UWB base station identification model, and the result output by the UWB base station identification model is obtained, and it is used as the UWB base station deployment position of the UWB base station;

[0017] When the point type is UWB beacon, the coverage range of the high-altitude working area is input into the UWB beacon recognition model, and the result output by the UWB beacon recognition model is obtained and used as the UWB beacon point location of the UWB beacon.

[0018] Furthermore, in the step S2, when determining the deployment range, the UWB base station deployment locations and the UWB beacon deployment locations are input into the three-dimensional simulation model, wherein:

[0019] The radiation area of ​​the UWB base station is delineated according to the location of the UWB base station and the direction of the UWB base station placement. The radiation area of ​​the UWB beacon is delineated according to the location of the UWB beacon and the radiation radius of the UWB beacon. The radiation area of ​​the UWB base station and the radiation area of ​​the UWB beacon are unioned according to geometric Boolean operations, and the area obtained after the union is used as the deployment range.

[0020] Furthermore, in step S2, when the dot positions are dynamically adjusted according to the dot range, the dot coverage rate Y is calculated according to the dot range U, and Y=U / U0 is set, where U0 is the preset dot range, and the dot coverage rate Y is compared with the preset dot coverage rate Y0, and the effectiveness of the dot is judged according to the comparison result, wherein:

[0021] When Y≤Y0, the effectiveness of the point distribution is judged to be low;

[0022] When Y>Y0, the point distribution is judged to be highly effective;

[0023] In step S2, when the effectiveness of the point distribution is low, the point distribution position is dynamically adjusted, the point distribution coverage rate Y is compared with the preset point distribution coverage rate Y0, and the dynamic adjustment method of the point distribution position is determined according to the comparison result, wherein:

[0024] When 0.5×Y0<Y≤Y0, it is determined that the dynamic adjustment method is to adjust the placement direction of the UWB base station;

[0025] When Y≤0.5×Y0, it is determined that the dynamic adjustment method is to increase the number of UWB beacons.

[0026] Furthermore, in step S3, when the UWB beacon signal is sent, the current height H of the mechanical equipment is compared with the preset height H0, and a risk judgment is made according to the comparison result, wherein:

[0027] When H<H0, it is determined that the current height H of the mechanical equipment does not reach the preset height H0, and it is determined that there is no risk;

[0028] When H≥H0, it is determined that the current height H of the mechanical device reaches the preset height H0, and it is determined that there is a risk. The UWB beacon signal is sent according to the current height of the mechanical device and the moving distance of the mechanical device is calculated.

[0029] Furthermore, in step S4, the reception time of the same UWB beacon signal in each UWB base station is obtained and used as the delay. The distance d between the same UWB beacon signal and each UWB base station is calculated according to the delay t, and d=v×t is set, where v is the signal propagation speed. According to the position of the UWB base station and the distance d between the same UWB beacon signal and each UWB base station, the three-dimensional coordinate position of the UWB beacon is obtained by the triangulation principle.

[0030] Furthermore, in step S5, when calibrating the UWB positioning system, the three-dimensional coordinate position pUWBX of the UWB beacon in the UWB positioning system and the positioning result pUWBY of the UWB base station are weighted to obtain a weighted positioning result p, and p=αpUWBX+βpUWBY is set, where α is the UWB beacon weighting coefficient, β is the UWB base station weighting coefficient, α+β=1, and the weighted positioning result p is set as the output result of the UWB positioning system to obtain a calibrated UWB positioning system.

[0031] Further, in the step S6, when calculating the moving distance of the mechanical device within the preset time interval, the weighted positioning result output by the calibrated UWB positioning system at the first time point and the weighted positioning result output at the second time point are obtained, and the moving distance d is calculated according to the weighted positioning result output at the first time point and the weighted positioning result output at the second time point, and the setting

[0032] In step S7, when the mechanical equipment is monitored in real time, the moving distance X is compared with the preset moving distance X0, and the mechanical equipment is monitored in real time according to the comparison result, wherein:

[0033] When X≤X0, it is determined that the driving behavior of the mechanical equipment during high-altitude operation is not in violation of regulations;

[0034] When X>X0, the driving behavior of the mechanical equipment during high-altitude operation is determined to be illegal, and the weighted positioning result output at the second time point is pushed to the user monitoring terminal as the location information of the mechanical equipment, the mobile mechanical equipment is suspended and a violation alarm is issued.

[0035] On the other hand, the present invention also provides a high-altitude illegal driving detection device based on ultra-wideband technology, comprising:

[0036] a beacon group, which consists of a first beacon, a second beacon, a third beacon, a fourth beacon, a fourth beacon and a fifth beacon, for sending a UWB beacon signal;

[0037] A mechanical equipment group, which consists of a first mechanical equipment, a second mechanical equipment, a third mechanical equipment, a fourth mechanical equipment, a fifth mechanical equipment and a sixth mechanical equipment, and is used to provide a traveling device for an operator to perform aerial work;

[0038] The base station group, which is composed of a first base station, a second base station, a third base station, a fourth base station, a fifth base station and a sixth base station, is used to receive UWB beacon signals and obtain the three-dimensional coordinate position of the UWB beacon.

[0039] Compared with the prior art, the beneficial effect of the present invention is that the method uses UWB beacons installed on mechanical equipment and UWB base stations arranged around the work site to measure the time and distance information of signal propagation, and uses arrival time difference and multi-intelligent base station positioning algorithm to achieve accurate monitoring and positioning of the position of mechanical equipment, thereby providing accurate position tracking and real-time monitoring for high-altitude operations, helping to ensure operational safety and improve work efficiency; the method determines the coverage range of the high-altitude operation area through step S1, and determines the point location according to the coverage range of the high-altitude operation area, so as to ensure that the coverage areas between UWB base stations overlap and improve positioning accuracy; the method determines the point range according to the point location through step S2, and dynamically adjusts the point location according to the point range, so as to ensure that each mechanical equipment is equipped with a UWB beacon; the method deploys the UWB beacon according to the point location through step S3 to obtain a deployed UWB beacon, and the deployed UWB beacon sends the UWB beacon signal according to the current height of the mechanical equipment, so as to ensure that the tag is fixed reliably and does not affect The method deploys the UWB base station according to the deployment location through step S4 to obtain the deployed UWB base station, and the deployed UWB base station receives the UWB beacon signal to obtain the three-dimensional coordinate position of the UWB beacon, so as to realize accurate monitoring and positioning of the device position; the method calibrates the UWB positioning system according to the three-dimensional coordinate position of the UWB beacon through step S5 to obtain a calibrated UWB positioning system, so as to ensure that the communication connection between each UWB beacon and the UWB base station is stable and the position information is accurate; the method inputs the three-dimensional coordinate position of the UWB beacon into the calibrated UWB positioning system through step S6, and the calibrated UWB positioning system calculates the moving distance of the mechanical equipment within the preset time interval, so as to monitor and control the moving distance of the equipment in high-altitude operation in real time; the method monitors the mechanical equipment in real time according to the moving distance of the mechanical equipment within the preset time interval through step S7, pushes the real-time monitoring results and issues an alarm, so as to monitor the position and status of each mechanical equipment in real time and remind the operator to respond in time.

[0040] In particular, step S1 determines the coverage of the high-altitude working area to ensure that the UWB beacon signal is fully covered in the target area, avoiding dead angles and blind spots, thereby improving the reliability and stability of the system. By determining the location of the points according to the coverage of the high-altitude working area, over-deployment or under-deployment is avoided, ensuring efficient use of resources and reducing the cost of the overall project.

[0041] In particular, when determining the coverage of the high-altitude working area in step S2, the size of the high-altitude working area is input into the three-dimensional simulation model, which helps to reasonably arrange UWB base stations and UWB beacons, reduce unnecessary mechanical equipment, and reduce costs.

[0042] In particular, the step S2 determines the point range according to the point positions, and dynamically adjusts the point positions according to the point range, so as to achieve accurate monitoring and tracking of the position of mechanical equipment and ensure the safety and efficiency of aerial operations.

[0043] In particular, the step S3 installs the UWB beacon on the mechanical equipment for high-altitude operations and prominently marks the position of the beacon on the mechanical equipment, thereby facilitating identification by operators, wherein the operators refer to technicians responsible for configuring and maintaining the UWB base station; the UWB beacon sends the UWB beacon signal according to the current height of the mechanical equipment to facilitate timely monitoring and tracking of the position of the mechanical equipment.

[0044] In particular, step S4 deploys UWB base stations according to the deployment locations to obtain deployed UWB base stations, which receive UWB beacon signals to obtain the three-dimensional coordinate position of the UWB beacon, thereby collecting real-time operating data of aerial work machinery and equipment, such as position, speed and load, for data analysis and monitoring, to help improve equipment operating efficiency and lifespan.

[0045] In particular, step S5 obtains a calibrated UWB positioning system by calibrating the UWB positioning system according to the three-dimensional coordinate position of the UWB beacon, so as to ensure stable communication and accurate signal transmission between the UWB beacon and the UWB base station, thereby improving the reliability and accuracy of the UWB positioning system and ensuring the safety and efficiency of high-altitude operations.

[0046] In particular, the step S6 calculates the moving distance of the mechanical equipment within a preset time interval to monitor the moving distance of the mechanical equipment during high-altitude operation in real time, thereby ensuring the safety of high-altitude operation and normal operation of the equipment.

[0047] In particular, step S7 integrates the UWB positioning system into the existing monitoring system to monitor the position and status of each device in real time, and provide real-time device location information and alarm functions, so as to facilitate monitoring and adjusting the position of mechanical equipment during high-altitude operations to ensure that it operates in the correct position. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Schematic diagram of the flow of the high-altitude illegal driving detection method based on ultra-wideband technology in this embodiment;

[0049] Figure 2Schematic diagram of the structure of the high-altitude illegal driving detection device based on ultra-wideband technology in this embodiment. DETAILED DESCRIPTION

[0050] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; 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.

[0051] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0052] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0053] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] See also Figure 1 As shown, it is a high-altitude illegal driving detection method based on ultra-wideband technology in this embodiment, and the method includes:

[0055] Step S1, determining the coverage of the high-altitude working area, and determining the location of the points according to the coverage of the high-altitude working area;

[0056] Step S2, determining the point distribution range according to the point distribution position, and dynamically adjusting the point distribution position according to the point distribution range;

[0057] Step S3, deploying the UWB beacon according to the deployment location to obtain a deployed UWB beacon, and the deployed UWB beacon sends a UWB beacon signal according to the current height of the mechanical equipment;

[0058] Step S4, deploying the UWB base station according to the deployment location to obtain the deployed UWB base station, and receiving the UWB beacon signal by the deployed UWB base station to obtain the three-dimensional coordinate position of the UWB beacon;

[0059] Step S5, calibrating the UWB positioning system according to the three-dimensional coordinate position of the UWB beacon to obtain a calibrated UWB positioning system;

[0060] Step S6, inputting the three-dimensional coordinate position of the UWB beacon into a calibrated UWB positioning system, and the calibrated UWB positioning system calculates the movement distance of the mechanical device within a preset time interval;

[0061] Step S7, real-time monitoring of the mechanical equipment is performed according to the moving distance of the mechanical equipment within a preset time interval, and the real-time monitoring results are pushed and an alarm is issued.

[0062] Specifically, the method uses UWB beacons installed on mechanical equipment and UWB base stations arranged around the work site to measure the time and distance information of signal propagation, and uses arrival time difference and multi-intelligent base station positioning algorithm to accurately monitor and locate the position of mechanical equipment, thereby providing accurate position tracking and real-time monitoring for high-altitude operations, helping to ensure operational safety and improve work efficiency; the method determines the coverage range of the high-altitude operation area through step S1, and determines the point locations according to the coverage range of the high-altitude operation area, so as to ensure that the coverage areas between UWB base stations overlap and improve positioning accuracy; the method determines the point range according to the point locations through step S2, and dynamically adjusts the point locations according to the point range, so as to ensure that each mechanical equipment is equipped with a UWB beacon; the method deploys the UWB beacon according to the point locations through step S3 to obtain a deployed UWB beacon, and the deployed UWB beacon sends the UWB beacon signal according to the current height of the mechanical equipment, so as to ensure that the tag is fixed reliably and does not affect the normal operation of the equipment. operation and facilitate identification by operators; the method deploys the UWB base station according to the deployment location through step S4 to obtain the deployed UWB base station, and the deployed UWB base station receives the UWB beacon signal to obtain the three-dimensional coordinate position of the UWB beacon, so as to realize accurate monitoring and positioning of the equipment position; the method calibrates the UWB positioning system according to the three-dimensional coordinate position of the UWB beacon through step S5 to obtain a calibrated UWB positioning system, so as to ensure that the communication connection between each UWB beacon and the UWB base station is stable and the position information is accurate; the method inputs the three-dimensional coordinate position of the UWB beacon into the calibrated UWB positioning system through step S6, and the calibrated UWB positioning system calculates the moving distance of the mechanical equipment within the preset time interval, so as to monitor and control the moving distance of the equipment in high-altitude operation in real time; the method monitors the mechanical equipment in real time according to the moving distance of the mechanical equipment within the preset time interval through step S7, pushes the real-time monitoring results and issues an alarm, so as to monitor the position and status of each mechanical equipment in real time and remind the operator to respond in time.

[0063] Specifically, in step S1, when determining the coverage range of the aerial work area, the size of the aerial work area is input into the three-dimensional simulation model to obtain a model of the aerial work area. The aerial work area model is adjusted according to actual characteristics to obtain an adjusted model of the aerial work area. The aerial work area coordinates of the adjusted model of the aerial work area are mapped to the real space, and the range of the real space is used as the coverage range of the aerial work area.

[0064] Specifically, the size of the aerial work area refers to the actual size data representing the aerial work area, including the height, width and length of the aerial work area. This embodiment does not limit the method for obtaining the size of the aerial work area. Those skilled in the art can freely set it according to actual conditions, and only need to meet the actual acquisition requirements of the size of the aerial work area. For example, it can be set to use field surveys and plane drawings as the method for obtaining the size of the aerial work area. The three-dimensional simulation model refers to a model that maps the actual height, width and length of the aerial work area to computer virtual data. The actual characteristics refer to data with the actual working environment as the content, such as actual working demand data, safety data and aerial work site characteristic data. This embodiment does not limit the method for adjusting the aerial work area model. Those skilled in the art can freely set it according to actual conditions, and only need to meet the consideration requirements of the actual characteristics. For example, it can be set that when the preset area in the aerial work area is displayed as a high-risk area in the safety data, the high-risk area is removed from the aerial work area. The coverage range refers to the range that can cover the UWB beacon and the signal can be normally received by the UWB base station. The real space refers to the actual real size space mapped according to the coordinates of the aerial work area.

[0065] Specifically, in the step S1, the coverage of the high-altitude working area can be determined by information interaction with the user, and the coverage of the high-altitude working area can also be determined by camera image acquisition. Taking the determination of the coverage of the high-altitude working area by information interaction with the user as an example, the step S1 pushes the user interaction window through the terminal, and collects the coverage of the high-altitude working area input by the user. The coverage of the high-altitude working area refers to the geographical coordinate range of the area where the high-altitude work is performed.

[0066] Specifically, in step S1, when determining the point layout position, the point layout position is determined according to the point layout type, wherein:

[0067] When the deployment type is a UWB base station, the coverage range of the high-altitude operation area is input into the UWB base station identification model, and the result output by the UWB base station identification model is obtained, and it is used as the UWB base station deployment position of the UWB base station;

[0068] When the point type is UWB beacon, the coverage range of the high-altitude working area is input into the UWB beacon recognition model, and the result output by the UWB beacon recognition model is obtained and used as the UWB beacon point location of the UWB beacon.

[0069] Specifically, the deployment location is a location where UWB beacons are installed and UWB base stations are placed within the coverage range of the high-altitude working area, including UWB base station deployment locations and UWB beacon deployment locations. The deployment type refers to the type of installation point within the coverage range of the high-altitude working area, including UWB beacons and UWB base stations. The UWB base station recognition model refers to a neural network model that identifies the UWB base station deployment location based on the coverage range of the high-altitude working area. This embodiment does not limit the construction method of the UWB base station recognition model, and those skilled in the art can freely set it according to actual conditions, as long as the recognition requirements for the UWB base station deployment location are met. For example, historical UWB base station deployment data can be set as UWB The base station recognition model construction data is divided into 70% of the UWB base station recognition model construction data as the UWB base station recognition model training set, and 30% of the UWB base station recognition model construction data as the UWB base station recognition model test set. The convolutional neural network model is trained according to the UWB base station recognition model training set, and the trained convolutional neural network model is tested according to the UWB base station recognition model test set. The trained convolutional neural network model with a test accuracy of 98% is output as the UWB base station recognition model, and the trained convolutional neural network model with a test accuracy of less than 98% is continuously trained until the test accuracy reaches 98%, and the training convolutional neural network model is output as the UWB base station recognition model. The post-convolutional neural network model is output as a UWB base station recognition model. The UWB beacon recognition model refers to a neural network model that identifies the location of the UWB beacon according to the coverage of the high-altitude working area. The present embodiment does not limit the construction method of the UWB beacon recognition model. Those skilled in the art can freely set it according to the actual situation. It only needs to meet the recognition requirements of the location of the UWB beacon. For example, the historical UWB beacon distribution data can be set as the UWB beacon recognition model construction data, and the UWB beacon recognition model construction data is divided, and 70% of the UWB beacon recognition model construction data is used as the UWB beacon recognition model training set, and 30% of the UWB beacon recognition model construction data is used as the UWB beacon recognition model training set. B beacon recognition model test set, train the convolutional neural network model according to the UWB beacon recognition model training set, test the trained convolutional neural network model according to the UWB beacon recognition model test set, output the trained convolutional neural network model with a test accuracy of 98% as the UWB beacon recognition model, continue to train the trained convolutional neural network model with a test accuracy that does not reach 98%, and output the trained convolutional neural network model as the UWB beacon recognition model after the test accuracy reaches 98%. A UWB base station refers to a base station that receives positioning data from a UWB beacon and is responsible for performing result calculations, and a UWB beacon refers to a signal that performs signal marking and is responsible for sending location information.

[0070] Specifically, step S1 determines the coverage of the high-altitude working area to ensure full coverage of the UWB beacon signal in the target area, avoiding dead ends and blind spots, thereby improving the reliability and stability of the system. By determining the location of the points according to the coverage of the high-altitude working area, over-deployment or under-deployment is avoided, ensuring efficient use of resources and reducing the cost of the overall project.

[0071] Specifically, in step S2, when determining the deployment range, the UWB base station deployment locations and the UWB beacon deployment locations are input into the three-dimensional simulation model, wherein:

[0072] The radiation area of ​​the UWB base station is delineated according to the location of the UWB base station and the direction of the UWB base station placement. The radiation area of ​​the UWB beacon is delineated according to the location of the UWB beacon and the radiation radius of the UWB beacon. The radiation area of ​​the UWB base station and the radiation area of ​​the UWB beacon are unioned according to geometric Boolean operations, and the area obtained after the union is used as the deployment range.

[0073] Specifically, the UWB base station placement direction refers to the direction in which the UWB base station is placed based on the position of the UWB beacon; the UWB base station radiation area refers to the effective coverage range in which the UWB base station can receive the UWB beacon signal; the UWB beacon radiation area refers to the effective coverage range of the UWB beacon transmission signal, and the geometric Boolean operation is a set of mathematical operations used to calculate and operate geometric shapes.

[0074] It can be understood that the present embodiment does not limit the method for determining the point distribution range in the three-dimensional simulation model, and those skilled in the art can freely set it according to the actual situation, and it only needs to meet the requirement of determining the range of each point distribution, such as setting Unity3D; the present embodiment does not limit the tool for taking the union of multiple point distribution ranges, and those skilled in the art can freely set it according to the actual situation, and it only needs to meet the requirement of determining the union of all point distribution ranges, such as setting MATLAB.

[0075] Specifically, when determining the coverage of the high-altitude working area, step S2 inputs the size of the high-altitude working area into the three-dimensional simulation model, which helps to reasonably arrange UWB base stations and UWB beacons, reduce unnecessary mechanical equipment, and reduce costs.

[0076] Specifically, in step S2, when the point positions are dynamically adjusted according to the point range, the point coverage rate Y is calculated according to the point range U, and Y=U / U0 is set, where U0 is the preset point range, and the point coverage rate Y is compared with the preset point coverage rate Y0, and the effectiveness of the point distribution is judged according to the comparison result, wherein:

[0077] When Y≤Y0, the effectiveness of the point distribution is judged to be low;

[0078] When Y>Y0, the point placement is judged to be highly effective.

[0079] Specifically, the preset point distribution range refers to taking the union of the UWB base station radiation area and the UWB beacon radiation area according to geometric Boolean operations, and taking the area obtained after taking the union as the preset value of the point distribution range. This embodiment does not limit the preset value of the preset point distribution range. Technical personnel in this field can freely set it according to actual conditions, and only need to meet the requirements for point distribution coverage evaluation. For example, the preset point distribution range can be set to 500 meters.

[0080] Specifically, in step S2, when the effectiveness of the point distribution is low, the point distribution position is dynamically adjusted, the point distribution coverage rate Y is compared with the preset point distribution coverage rate Y0, and the dynamic adjustment method of the point distribution position is determined according to the comparison result, wherein:

[0081] When 0.5×Y0<Y≤Y0, it is determined that the dynamic adjustment method is to adjust the placement direction of the UWB base station;

[0082] When Y≤0.5×Y0, it is determined that the dynamic adjustment method is to increase the number of UWB beacons.

[0083] It can be understood that the present embodiment does not limit the adjustment method of the placement direction of the UWB base station, and those skilled in the art can freely set it according to actual conditions, and only need to meet the demand for expanding the coverage range. For example, the horizontal direction of the UWB base station can be adjusted to ensure that the main beam direction of the UWB base station antenna is aligned with the area to be covered. The vertical direction of the UWB base station can also be adjusted to adjust the pitch angle of the UWB base station antenna according to actual needs. The present embodiment does not limit the increase in the number of UWB beacons, and those skilled in the art can freely set it according to actual conditions, and only need to meet the demand for expanding the coverage range. For example, 2 beacons can be set. The present embodiment does not limit the placement position of the UWB beacon, and those skilled in the art can freely set it according to actual conditions, and only need to meet the demand for high-precision positioning of mechanical equipment. It can be set on the left-right symmetrical axis of the top of the aerial work machinery and equipment.

[0084] Specifically, step S2 determines the point range according to the point positions, and dynamically adjusts the point positions according to the point range to achieve accurate monitoring and tracking of the position of mechanical equipment and ensure the safety and efficiency of aerial operations.

[0085] Specifically, in step S3, when the UWB beacon signal is sent, the current height H of the mechanical equipment is compared with the preset height H0, and a risk judgment is made according to the comparison result, wherein:

[0086] When H<H0, it is determined that the current height H of the mechanical equipment does not reach the preset height H0, and it is determined that there is no risk;

[0087] When H≥H0, it is determined that the current height H of the mechanical device reaches the preset height H0, and it is determined that there is a risk. The UWB beacon signal is sent according to the current height of the mechanical device and the moving distance of the mechanical device is calculated.

[0088] Specifically, the preset height H0 refers to the preset value of the height at which the mechanical equipment reaches high altitude operation, and the UWB beacon signal refers to the three-dimensional coordinate position information with the position of the mechanical equipment deployed by the UWB beacon as the content.

[0089] It can be understood that the present embodiment does not limit the type of mechanical equipment, and those skilled in the art can freely set it according to actual conditions, and only need to meet the needs of collecting coordinate data, such as stipulating that the mechanical equipment is a scissors-type aerial work vehicle; the present embodiment does not limit the set value of the preset height, and those skilled in the art can freely set it according to actual conditions, and only need to meet the needs of distinguishing whether the mechanical equipment meets the requirements of aerial work, such as setting it to 1m; the present embodiment does not limit the set time for sending the position signal, and those skilled in the art can freely set it according to actual conditions, and only need to meet the needs of regularity and timeliness of sending the position information, such as setting it to every millisecond; the present embodiment does not limit the setting method for sending the UWB beacon signal, and those skilled in the art can freely set it according to actual conditions, and only need to meet the needs of sending the position information, such as setting the UWB beacon to send a short pulse signal with specific time, amplitude and frequency characteristics in the radio spectrum.

[0090] Specifically, step S3 installs the UWB beacon on the mechanical equipment for high-altitude operations and prominently marks the location of the beacon on the mechanical equipment to facilitate identification by operators, wherein the operators refer to technicians responsible for configuring and maintaining the UWB base station; the UWB beacon sends the UWB beacon signal according to the current height of the mechanical equipment to facilitate timely monitoring and tracking of the location of the mechanical equipment.

[0091] Specifically, in step S4, the reception time of the same UWB beacon signal in each UWB base station is obtained and used as the delay. The distance d between the same UWB beacon signal and each UWB base station is calculated according to the delay t, and d=v×t is set, where v is the signal propagation speed. According to the position of the UWB base station and the distance d between the same UWB beacon signal and each UWB base station, the three-dimensional coordinate position of the UWB beacon is obtained by the triangulation principle.

[0092] Specifically, the time delay refers to the time from when the UWB beacon sends a signal to when the UWB base station receives the UWB beacon signal. The triangulation principle is to determine an unknown distance or position by utilizing the relationship between the angles and side lengths in a geometric triangle.

[0093] It is understandable that this embodiment does not limit the number of the UWB base stations, and those skilled in the art can freely set it according to actual conditions, as long as the requirement of calculating the three-dimensional coordinates of the UWB base station according to the triangulation positioning method is met, such as being set to 3.

[0094] Specifically, step S4 deploys UWB base stations according to the deployment locations to obtain deployed UWB base stations, which receive UWB beacon signals to obtain the three-dimensional coordinate position of the UWB beacon, thereby collecting real-time operating data of aerial work machinery and equipment, such as position, speed and load, for data analysis and monitoring, to help improve equipment operating efficiency and lifespan.

[0095] Specifically, in step S5, when calibrating the UWB positioning system, the three-dimensional coordinate position pUWBX of the UWB beacon in the UWB positioning system and the positioning result pUWBY of the UWB base station are weighted to obtain a weighted positioning result p, and p=αpUWBX+βpUWBY is set, where α is the UWB beacon weighting coefficient, β is the UWB base station weighting coefficient, α+β=1, and the weighted positioning result p is set as the output result of the UWB positioning system to obtain a calibrated UWB positioning system.

[0096] Specifically, the UWB positioning system refers to an algorithm system that can output a positioning result after inputting the three-dimensional coordinate position of the UWB beacon and the positioning result of the UWB base station. The positioning result of the UWB base station refers to the positioning result of the same beacon received by each UWB base station, and the positioning result refers to the result of positioning the mechanical equipment corresponding to the UWB beacon.

[0097] It can be understood that this embodiment does not limit the set values ​​of the UWB beacon weighting coefficient α and the UWB base station weighting coefficient β. Those skilled in the art can make adjustments based on actual environmental factors as long as the requirement of α+β=1 is met. For example, the UWB beacon weighting coefficient α can be set to 0.3, and the UWB base station weighting coefficient β can be set to 0.7.

[0098] Specifically, step S5 calibrates the UWB positioning system according to the three-dimensional coordinate position of the UWB beacon to obtain a calibrated UWB positioning system to ensure stable communication and accurate signal transmission between the UWB beacon and the UWB base station, thereby improving the reliability and accuracy of the UWB positioning system and ensuring the safety and efficiency of high-altitude operations.

[0099] Specifically, in step S6, when calculating the moving distance of the mechanical device within the preset time interval, the weighted positioning result output by the calibrated UWB positioning system at the first time point and the weighted positioning result output at the second time point are obtained, and the moving distance d is calculated according to the weighted positioning result output at the first time point and the weighted positioning result output at the second time point, and the setting Among them, (x1, y1, z1) is the three-dimensional coordinates of the weighted positioning result output at the first time point, and (x2, y2, z2) is the three-dimensional coordinates of the weighted positioning result output at the second time point.

[0100] Specifically, the preset time interval refers to the time interval difference between the first time point and the second time point, the first time point refers to the preset preceding time point, the second time point refers to the current time point, and the moving distance refers to the distance moved by the mechanical equipment within the preset time interval.

[0101] Specifically, step S6 calculates the moving distance of the mechanical equipment within a preset time interval to monitor the moving distance of the mechanical equipment during high-altitude operations in real time, thereby ensuring the safety of high-altitude operations and the normal operation of the equipment.

[0102] Specifically, in step S7, when the mechanical equipment is monitored in real time, the moving distance X is compared with the preset moving distance X0, and the mechanical equipment is monitored in real time according to the comparison result, wherein:

[0103] When X≤X0, it is determined that the driving behavior of the mechanical equipment during high-altitude operation is not in violation of regulations;

[0104] When X>X0, the driving behavior of the mechanical equipment during high-altitude operation is determined to be illegal, and the weighted positioning result output at the second time point is pushed to the user monitoring terminal as the location information of the mechanical equipment, the mobile mechanical equipment is suspended and a violation alarm is issued.

[0105] Specifically, the preset moving distance refers to a preset value of the moving distance that reflects the violation of the driving behavior of the mechanical equipment during high-altitude operations. The user monitoring terminal refers to a terminal that displays the location information of the mechanical equipment. This embodiment does not specifically limit the type of the user monitoring terminal. Technical personnel in this field can freely set it according to actual conditions, and only need to meet the push requirements of the user. For example, the user monitoring terminal can be set as a mobile phone terminal. This embodiment does not specifically limit the method of violation alarm. Technical personnel in this field can freely set it according to actual conditions, and only need to meet the violation alarm prompt requirements of the user. For example, the violation alarm method can be set as a high-frequency flashing red light. The user refers to a person who purchases and uses the UWB positioning system.

[0106] Specifically, step S7 integrates the UWB positioning system into the existing monitoring system to monitor the position and status of each device in real time, and provide real-time device location information and alarm functions, so as to monitor and adjust the position of mechanical equipment during high-altitude operations to ensure that it operates in the correct position.

[0107] See also Figure 2 As shown, it is a structural schematic diagram of the high-altitude illegal driving detection device based on ultra-wideband technology in this embodiment, and the device includes:

[0108] A beacon group, which consists of a first beacon 7, a second beacon 9, a third beacon 11, a fourth beacon 13, a fourth beacon 15 and a fifth beacon 17, for sending UWB beacon signals;

[0109] A mechanical equipment group, which consists of a first mechanical equipment 8, a second mechanical equipment 10, a third mechanical equipment 12, a fourth mechanical equipment 14, a fifth mechanical equipment 16 and a sixth mechanical equipment 18, is used to provide a traveling device for an operator to perform aerial work;

[0110] The base station group, which is composed of a first base station 1, a second base station 2, a third base station 3, a fourth base station 4, a fifth base station 5 and a sixth base station 6, is used to receive UWB beacon signals and obtain the three-dimensional coordinate position of the UWB beacon.

[0111] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A high-altitude illegal driving detection method based on ultra-wideband technology, characterized in that: include: Step S1, determining the coverage of the high-altitude working area, and determining the location of the points according to the coverage of the high-altitude working area; Step S2, determining the point distribution range according to the point distribution position, and dynamically adjusting the point distribution position according to the point distribution range; Step S3, deploying the UWB beacon according to the deployment location to obtain a deployed UWB beacon, and the deployed UWB beacon sends a UWB beacon signal according to the current height of the mechanical equipment; Step S4, deploying the UWB base station according to the deployment location to obtain the deployed UWB base station, and receiving the UWB beacon signal by the deployed UWB base station to obtain the three-dimensional coordinate position of the UWB beacon; Step S5, calibrating the UWB positioning system according to the three-dimensional coordinate position of the UWB beacon to obtain a calibrated UWB positioning system; Step S6, inputting the three-dimensional coordinate position of the UWB beacon into a calibrated UWB positioning system, and the calibrated UWB positioning system calculates the movement distance of the mechanical device within a preset time interval; Step S7, real-time monitoring of the mechanical equipment is performed according to the moving distance of the mechanical equipment within a preset time interval, and the real-time monitoring results are pushed and an alarm is issued.

2. The high-altitude illegal driving detection method based on ultra-wideband technology according to claim 1 is characterized in that: In step S1, when determining the coverage range of the aerial work area, the size of the aerial work area is input into the three-dimensional simulation model to obtain a model of the aerial work area. The aerial work area model is adjusted according to actual characteristics to obtain an adjusted model of the aerial work area. The aerial work area coordinates of the adjusted model of the aerial work area are mapped to the real space, and the range of the real space is used as the coverage range of the aerial work area.

3. The high-altitude illegal driving detection method based on ultra-wideband technology according to claim 1 is characterized in that: In step S1, when determining the point layout position, the point layout position is determined according to the point layout type, wherein: When the deployment type is a UWB base station, the coverage range of the high-altitude operation area is input into the UWB base station identification model, and the result output by the UWB base station identification model is obtained, and it is used as the UWB base station deployment position of the UWB base station; When the point type is UWB beacon, the coverage range of the high-altitude working area is input into the UWB beacon recognition model, and the result output by the UWB beacon recognition model is obtained and used as the UWB beacon point location of the UWB beacon.

4. The high-altitude illegal driving detection method based on ultra-wideband technology according to claim 3 is characterized in that: In step S2, when determining the deployment range, the UWB base station deployment locations and the UWB beacon deployment locations are input into the three-dimensional simulation model, wherein: The radiation area of ​​the UWB base station is delineated according to the location of the UWB base station and the direction of the UWB base station placement. The radiation area of ​​the UWB beacon is delineated according to the location of the UWB beacon and the radiation radius of the UWB beacon. The radiation area of ​​the UWB base station and the radiation area of ​​the UWB beacon are unioned according to geometric Boolean operations, and the area obtained after the union is used as the deployment range.

5. The high-altitude illegal driving detection method based on ultra-wideband technology according to claim 3 is characterized in that: In step S2, when the dot positions are dynamically adjusted according to the dot range, the dot coverage rate Y is calculated according to the dot range U, and Y=U / U0 is set, where U0 is the preset dot range. The dot coverage rate Y is compared with the preset dot coverage rate Y0, and the effectiveness of the dot is judged according to the comparison result, wherein: When Y≤Y0, the effectiveness of the point distribution is judged to be low; When Y>Y0, the point distribution is judged to be highly effective; In step S2, when the effectiveness of the point distribution is low, the point distribution position is dynamically adjusted, the point distribution coverage rate Y is compared with the preset point distribution coverage rate Y0, and the dynamic adjustment method of the point distribution position is determined according to the comparison result, wherein: When 0.5×Y0<Y≤Y0, it is determined that the dynamic adjustment method is to adjust the placement direction of the UWB base station; When Y≤0.5×Y0, it is determined that the dynamic adjustment method is to increase the number of UWB beacons.

6. The high-altitude illegal driving detection method based on ultra-wideband technology according to claim 5 is characterized in that: In step S3, when the UWB beacon signal is sent, the current height H of the mechanical equipment is compared with the preset height H0, and a risk judgment is made according to the comparison result, wherein: When H<H0, it is determined that the current height H of the mechanical equipment does not reach the preset height H0, and it is determined that there is no risk; When H≥H0, it is determined that the current height H of the mechanical device reaches the preset height H0, and it is determined that there is a risk. The UWB beacon signal is sent according to the current height of the mechanical device and the moving distance of the mechanical device is calculated.

7. The high-altitude illegal driving detection method based on ultra-wideband technology according to claim 6 is characterized in that: In step S4, the reception time of the same UWB beacon signal in each UWB base station is obtained and used as the delay. The distance d between the same UWB beacon signal and each UWB base station is calculated according to the delay t, and d=v×t is set, where v is the signal propagation speed. According to the position of the UWB base station and the distance d between the same UWB beacon signal and each UWB base station, the three-dimensional coordinate position of the UWB beacon is obtained by the triangulation principle.

8. The high-altitude illegal driving detection method based on ultra-wideband technology according to claim 7 is characterized in that: In step S5, when calibrating the UWB positioning system, the three-dimensional coordinate position pUWBX of the UWB beacon in the UWB positioning system and the positioning result pUWBY of the UWB base station are weighted to obtain a weighted positioning result p, and p=αpUWBX+βpUWBY is set, where α is the UWB beacon weighting coefficient, β is the UWB base station weighting coefficient, α+β=1, and the weighted positioning result p is set as the output result of the UWB positioning system to obtain a calibrated UWB positioning system.

9. The high-altitude illegal driving detection method based on ultra-wideband technology according to claim 8 is characterized in that: In step S6, when calculating the moving distance of the mechanical device within the preset time interval, the weighted positioning result output by the calibrated UWB positioning system at the first time point and the weighted positioning result output at the second time point are obtained, and the moving distance d is calculated according to the weighted positioning result output at the first time point and the weighted positioning result output at the second time point, and the setting In step S7, when the mechanical equipment is monitored in real time, the moving distance X is compared with the preset moving distance X0, and the mechanical equipment is monitored in real time according to the comparison result, wherein: When X≤X0, it is determined that the driving behavior of the mechanical equipment during high-altitude operation is not in violation of regulations; When X>X0, the driving behavior of the mechanical equipment during high-altitude operation is determined to be illegal, and the weighted positioning result output at the second time point is pushed to the user monitoring terminal as the location information of the mechanical equipment, the mobile mechanical equipment is suspended and a violation alarm is issued.

10. A device applied to the high-altitude illegal driving detection method based on ultra-wideband technology as described in any one of claims 1 to 9, characterized in that: The high-altitude illegal driving detection device comprises: A beacon group, which consists of a first beacon, a second beacon, a third beacon, a fourth beacon, a fifth beacon and a sixth beacon, and is used to send a UWB beacon signal; A mechanical equipment group, which is composed of a first mechanical equipment, a second mechanical equipment, a third mechanical equipment, a fourth mechanical equipment, a fifth mechanical equipment and a sixth mechanical equipment, and is used to provide a traveling device for an operator to perform aerial work; The base station group, which is composed of a first base station, a second base station, a third base station, a fourth base station, a fifth base station and a sixth base station, is used to receive UWB beacon signals and obtain the three-dimensional coordinate position of the UWB beacon.

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