Intelligent safety management method and device for construction personnel in TBM (tunnel boring machine)

Abstract

The invention discloses an intelligent safety management method and device for construction personnel in a TBM (Tunnel Boring Machine), and the method comprises the steps: selecting projection lines of each standing platform along the section of the length direction of a tunnel from an imported TBM three-dimensional model, obtaining the real-time coordinate position of each projection line in a positioning space, obtaining the information of a movable label positioning point on a safety helmet of the construction personnel, and carrying out the positioning of the movable label positioning point; obtaining a movable label coordinate of the movable label positioning point in the positioning space; calculating the spatial position relationship between the real-time coordinate position of each projection line and the coordinates of the activity label, and selecting the standing platform corresponding to the projection line of which the spatial position relationship meets the condition as the current activity platform of the constructor; and the relative position change trend between the movable label positioning point and the current movable platform of the constructor is monitored in real time, and when the relative position change trend does not meet the safety construction condition, it is judged that the constructor conducts uncapping construction. Whether a constructor carries out uncapping construction or not is monitored, and construction safety management of the constructor in a hole is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of construction safety management, and particularly to an intelligent safety management method and device for construction personnel in TBM tunnel construction. Background Art

[0002] The TBM method is being widely implemented in China, especially in pumped-storage power stations in recent years. The essence of the TBM method is to carry out in-tunnel operations. At present, for personnel safety management, the general technical solution is to use UWB (Ultra Wideband) technology for personnel positioning. The specific practices are as follows: 1. Install a battery-powered active tag on the safety helmet; 2. Install a base station capable of emitting UWB signals in the tunnel; 3. Through three-dimensional space calculation and positioning, determine the range of the station number interval of the construction personnel in the tunnel space, so as to control the activity range of the construction personnel and prohibit the construction personnel from operating in the non-prescribed station number interval.

[0003] Safety problems in the tunnel often come from falling objects on the top of the tunnel. Therefore, the construction management manual strictly prohibits tunnel personnel from removing their helmets for construction. However, due to problems such as high temperature and poor air circulation in the tunnel, when construction personnel stay in the tunnel for a long time, the phenomenon of removing their helmets for construction occurs from time to time. However, the existing technology at present is still unable to detect the state of construction personnel removing their helmets for construction. Therefore, the technical problem to be solved by the present invention is how to realize the detection of construction personnel removing their helmets for construction. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent safety management method and device for construction personnel in TBM tunnel construction. By introducing the projection line of the operation platform surface of the TBM as a reference, and then performing coupled calculation with the positioning data, the determination of personnel removing their helmets is carried out, so as to solve the problem of unable to identify the phenomenon of removing helmets.

[0005] To achieve the above purpose, the present application adopts the following solutions: On the one hand, the present application provides an intelligent safety management method for construction personnel in TBM tunnel construction, which specifically includes the following steps: S1. Import the three-dimensional model of the TBM equipment, select the projection lines of each standing platform along the tunnel length direction section in the TBM equipment, map each projection line to the positioning space of the construction personnel, and obtain the real-time coordinate positions of each projection line in the positioning space; S2. Obtain the positioning point information of the active tag on the safety helmet of the construction personnel, map the active tag positioning point to the positioning space, and obtain the active tag coordinates of the active tag positioning point in the positioning space; S3. Calculate the spatial position relationship between the real-time coordinate positions of each projection line and the active tag coordinates, and select the standing platform corresponding to the projection line whose spatial position relationship meets the conditions from each projection line as the current active platform of the construction personnel; S4. Real - time monitor the change trend of the relative position between the activity label positioning point and the current activity platform of the construction worker. When the change trend of the relative position does not meet the safe construction conditions, it is determined that the construction worker is working without a helmet.

[0006] In some specific implementation schemes, the specific process of obtaining the real - time coordinate position in step S1 is as follows: S11. According to the relative position relationship between each standing platform, bind the projection lines of each standing platform into the same projection block; S12. Real - time obtain the real - time position information of the TBM device, associate the projection block with the real - time position information, map the real - time position of the projection block in the positioning space, and parse out the real - time coordinate positions of each projection line in the projection block in the positioning space according to the relative position relationship between the projection lines.

[0007] In some specific implementation schemes, projection line screening is also included before step S3, and the specific process is as follows: S31. Save each projection line and its real - time coordinate position to the projection line set; S32. Screen each projection line in the projection line set according to the relative position in the tunnel height direction between the real - time coordinate position of each projection line and the activity label coordinate, and eliminate the projection lines and their real - time coordinate positions whose relative positions in the positioning space are above the activity label positioning point from the projection line set to obtain the set of standing platforms to be determined; S33. Select the standing platform corresponding to the projection line with a spatial position relationship meeting the conditions from the set of standing platforms to be determined as the current activity platform of the construction worker according to the spatial position relationship between the real - time coordinate positions of each projection line and the activity label coordinate.

[0008] In some specific implementation schemes, the specific process in step S3 is as follows: Calculate the intersection distance (the shortest distance can be selected. Since the platform is a plane and the label is a point, it can be understood as solving the distance from a point to a plane) between the real - time coordinate position of each projection line and the activity label coordinate respectively, and take the intersection distance as the spatial position relationship. Select the standing platform corresponding to the projection line with the shortest intersection distance as the current activity platform of the construction worker.

[0009] In some specific implementation schemes, the specific process in step S3 is as follows: For each projection line: According to the real - time coordinate position of the projection line, calculate the normal vector of the projection plane where the projection line is located; Calculate the intersection distance between the activity label coordinate and the real - time coordinate position, and obtain the projection point coordinates of the activity label positioning point projected onto the projection line. Calculate the first vector according to the activity label coordinate and the intersection point coordinates; When the normal vector of the projection line is parallel to the first vector, the standing platform corresponding to the projection line is used as the current activity platform of the construction worker.

[0010] In some specific implementation schemes, the method for judging whether a construction worker removes their safety helmet is as follows: S41. Calculate in real time the shortest distance between the activity label positioning point in the positioning space and the real-time coordinate position of the current activity platform, and store it in the construction worker relative position set in sequence; S42. Use the recursive method to loop and compare the shortest distances at each moment in the construction worker relative position set, and convert the shortest distance into a relative position change trend state; S43. Taking the current moment as the starting point, obtain the relative position change trend states corresponding to each moment within a preset time range before the current moment, and merge them to obtain a relative position change trend sequence; S44. Count the time length for which each trend state in the relative position change trend sequence persists and the shortest distance corresponding to this trend state, and judge whether the time length of the trend state and the corresponding shortest distance meet the safe construction conditions, and judge whether the construction worker removes their safety helmet.

[0011] In some specific implementation schemes, the specific process of converting the shortest distance into a relative position change trend state is as follows: Judge the trend between the shortest distances at two adjacent previous and subsequent moments. If the absolute value of the difference between the shortest distance at the previous moment and the shortest distance at the subsequent moment is within the error range and the shortest distance at the previous moment is greater than the shortest distance at the subsequent moment, then judge that the shortest distance at the previous moment shows a downward trend state, and convert the shortest distance at the previous moment into a downward label value corresponding to the downward trend; If the absolute value of the difference between the shortest distance at the previous moment and the shortest distance at the subsequent moment is within the error range and the shortest distance at the previous moment is less than the shortest distance at the subsequent moment, then judge that the shortest distance at the previous moment shows an upward trend state, and convert the shortest distance at the previous moment into an upward label value corresponding to the upward trend; If the absolute value of the difference between the shortest distance at the previous moment and the shortest distance at the subsequent moment is within the error range, then judge that the shortest distance at the previous moment shows a stable trend, and convert the shortest distance at the previous moment into a stable label value corresponding to the stable trend.

[0012] In some specific implementation schemes, the specific process of step S44 is as follows: Traverse the relative position change trend sequence. When it is traversed to a jump from a downward label value to a stable label value and this stable label value appears continuously, if the time length for which the stable trend state persists at this time exceeds the preset time length, continue to judge whether the shortest distance corresponding to this stable trend state is less than the preset threshold. If so, judge that the construction worker removes their safety helmet.

[0013] In some specific embodiments, the specific process of step S44 is as follows: Traverse the relative position change trend sequence. When encountering consecutive decreasing label values and stable label values, and when jumping from a decreasing label value to a stable label value, calculate the absolute value of the difference between the shortest distance corresponding to the current decreasing label value and the shortest distance corresponding to the stable label value. Compare whether the shortest distance corresponding to the decreasing label value is within the preset threshold range and whether the absolute value of the difference satisfies the preset difference. If so, when the duration of the stable trend state exceeds the preset time length, it is determined that the construction worker is working without a helmet.

[0014] In a second aspect, the present application provides an intelligent safety management device for construction workers in a TBM tunnel, including: A TBM equipment positioning conversion module, which is used to import the 3D model of the TBM equipment, select the projection lines of each standing platform along the tunnel length direction section in the TBM equipment, and map each projection line into the positioning space of the construction worker to obtain the real-time coordinate positions of each projection line in the positioning space. A construction worker positioning conversion module, which is used to obtain the active label positioning point information on the safety helmet of the construction worker, map the active label positioning point into the positioning space, and obtain the active label coordinates of the active label positioning point in the positioning space. An active platform positioning module, which is used to calculate the spatial position relationship between the real-time coordinate positions of each projection line and the active label coordinates, and select the standing platform corresponding to the projection line whose spatial position relationship meets the conditions from each projection line as the current active platform of the construction worker. A real-time monitoring module, which is used to monitor the relative position change trend between the active label positioning point and the current active platform of the construction worker in real time. When the relative position change trend does not meet the safe construction conditions, it is determined that the construction worker is working without a helmet.

[0015] And when the shortest distance remains unchanged within the preset time range, it is determined that the construction worker is working without a helmet.

[0016] The inventive concept of the present application is: When construction workers are working in a tunnel, they may work without a helmet. The positioning of construction workers in the tunnel depends on the active label on the safety helmet, and at the same time, the safety helmet also plays a role in protecting construction workers. Therefore, it is very necessary to identify whether construction workers are working without a helmet.

[0017] In a tunnel, generally, UWB base stations are used to locate TBM equipment and construction workers, and the activity range of the construction workers is restricted. This activity range can be used as the positioning space. Then, the positioning information of the TBM equipment and construction workers is all mapped into the positioning space for representation. On the TBM equipment, construction workers often carry out construction operations on the standing platforms of the TBM equipment. Moreover, the relative positional relationship between the standing platforms in the TBM equipment is relatively unchanged. As the TBM equipment advances into the tunnel, when the construction worker is on the standing platform of the TBM, the real-time position of the TBM equipment and the position of the construction worker will be updated simultaneously. If the construction worker does not take off their safety helmet, the relative positional relationship in the positioning space will not change much. Therefore, when the construction worker is working without a safety helmet, it is possible to determine whether the construction worker is working without a safety helmet based on the relative positional change relationship between the activity tag positioning point and the standing platform.

[0018] The beneficial effects of the present invention are as follows: This solution introduces the projection line of the standing platform surface of the TBM as a reference, calculates the real-time coordinate position of the projection line in the positioning space through the real-time position of the TBM equipment, and then performs a coupling calculation with the positioning data of the construction worker to determine whether the worker has taken off their safety helmet, thus solving the problem of inability to identify the phenomenon of taking off the safety helmet. This method has low cost. It only needs to clean and extract the TBM model data, and then add a safety helmet removal recognition algorithm on the basis of the original positioning algorithm, without the need to add additional sensing devices. By adopting the intelligent technology for the safety management of construction workers in the tunnel, it has a positive promoting advantage in improving safety management and risk prevention and control capabilities. By monitoring whether the construction worker is working without a safety helmet, the safety management of the construction worker during construction in the tunnel is ensured. Description of the Drawings

[0019] Figure 1 It is a flow chart of the intelligent safety management method for TBM construction workers in the tunnel provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of a projection block extracted from the TBM three-dimensional model provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the relative distance between the activity tag positioning point and each projection line in a certain positioning space provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the shortest distance between the activity tag positioning point and the current activity platform in a certain positioning space provided by an embodiment of the present invention. Detailed Embodiments

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way restricts the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0021] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0022] At the same time, it should be understood that, for the sake of convenience of description, the sizes of the various parts shown in the drawings are not drawn in actual proportional relationships.

[0023] In addition, for the sake of clarity and conciseness, the descriptions of well-known structures, functions, and configurations may be omitted. Those of ordinary skill in the art will recognize that various changes and modifications can be made to the examples described herein without departing from the spirit and scope of the present disclosure.

[0024] The techniques, methods, and devices known to those of ordinary skill in the relevant fields may not be discussed in detail, but where appropriate, the said techniques, methods, and devices should be regarded as part of the authorization specification.

[0025] In all the examples shown and discussed here, any specific value should be construed as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0026] Embodiment 1 As Figure 1 shown, this embodiment provides an intelligent safety management method for construction personnel in the TBM tunnel, which specifically includes the following steps: S1. Import the three-dimensional model of the TBM equipment, select the projection lines of each standing platform along the tunnel length direction section in the TBM equipment, and map each projection line to the positioning space of the construction personnel to obtain the real-time coordinate positions of each projection line in the positioning space; As Figure 2 shown, according to the three-dimensional model of the TBM equipment, the relative position relationship between each standing platform can be known. According to the relative position relationship, the real-time coordinate positions of each standing platform in the positioning space can be calculated in the positioning space, so that the standing platform and the construction personnel can be observed in the same positioning space. The specific process of obtaining the real-time coordinate positions in step S1 is as follows: S11. Bind the projection lines of each standing platform into the same projection block according to the relative position relationship between the standing platforms (obtained from the 3D model). S12. Obtain the real-time position information of the TBM device in real time, associate the projection block with the real-time position information, map the real-time position of the projection block in the positioning space, and parse the real-time coordinate positions of each projection line in the projection block in the positioning space according to the relative position relationship between the projection lines.

[0027] S2. Obtain the information of the active label positioning points on the safety helmets of the construction workers, map the active label positioning points into the positioning space to obtain the active label coordinates of the active label positioning points in the positioning space; use UWB base stations to position the active label positions of the TBM device and the safety helmets of the construction workers to calculate the three-dimensional space position coordinates of the projection lines and the active label positioning points in the positioning space in real time. The above steps place the standing platform and the construction workers in the same positioning space. The three-dimensional coordinates of the positioning space are constructed as follows: taking the lower left corner of the positioning space as the coordinate origin O, the tunneling direction (tunnel length direction) as the X-axis, the tunnel height direction as the Z-axis, and the tunnel width direction as the Y-axis. As Figure 3 shown (the positioning space is the XOZ plane), an example scenario is given. In this positioning space, it can be seen that there are four standing platforms (standing platforms 1, 2, 3, and 4). According to the relative position relationship of the four standing platforms, the real-time coordinate positions of the projection lines in the positioning space can be obtained. At this time, it can be seen that the positioning point of the active label is above standing platform 1, and the distance from standing platform 1 is C, but the positioning point of the active label is also very close to standing platform 2 above the active label, and the intersection distance is R. In this way, if the shortest intersection distance is used, it is easy to have positioning errors when screening the current active platform. Therefore, the standing platforms can be preliminarily screened first. According to the relative relationship between the construction workers and the standing platforms, the construction workers can only stand above the standing platforms. Therefore, whether the construction workers wear the safety helmets on their heads or not, even if the safety helmets are tied to their bodies, the active label positioning of the safety helmets will definitely be above the current active platform of the construction workers. Therefore, this feature can be used to screen out the standing platforms above the active label positioning points (such as standing platforms 3 and 4). The screening process of the projection lines corresponding to the standing platforms is as follows: S31. Save each projection line and its real-time coordinate position into the projection line set separately. S32. Screen each projection line in the projection line set according to the relative position in the tunnel height direction between the real-time coordinate position of each projection line and the active label coordinates, and remove the projection lines and their real-time coordinate positions whose relative positions in the positioning space are above the active label positioning point from the projection line set to obtain the set of standing platforms to be determined for the active platform. S33. Select the standing platform corresponding to the projection line whose spatial position relationship meets the conditions from the set of movable platforms to be determined as the current movable platform of the construction worker according to the spatial position relationship between the real-time coordinate positions of each projection line and the coordinates of the movable tag.

[0028] S3. Calculate the spatial position relationship between the real-time coordinate positions of each projection line and the coordinates of the movable tag, and select the standing platform corresponding to the projection line whose spatial position relationship meets the conditions from each projection line as the current movable platform of the construction worker; 1. Generally, as Figure 4 shown, the intersection distance from the positioning point of the movable tag of the construction worker to the current movable platform of the construction worker is the shortest. This is because a perpendicular line can always be obtained from the positioning point of the movable tag to the projection line of the current movable platform. Therefore, the current movable platform of the construction worker can be determined by calculating the distance from the positioning point of the movable tag to the projection lines of each standing platform: Calculate the intersection distance (the intersection distance can be the shortest distance from the movable positioning tag to the projection line) between the real-time coordinate positions of each projection line and the coordinates of the movable tag respectively, and use the intersection distance as the spatial position relationship. Select the standing platform corresponding to the projection line with the shortest intersection distance as the current movable platform of the construction worker.

[0029] 2. Through observation Figure 3 it can be seen that only when the projection point of the positioning point of the movable tag falls on the XOY projection plane where the projection line of the standing platform is located, the standing platform corresponding to the projection line at this time is the current movable platform of the construction worker. Therefore, the method for determining the current movable platform is: For each projection line: According to the real-time coordinate position of the projection line, calculate the normal vector of the projection plane where the projection line is located; Calculate the intersection distance between the coordinates of the movable tag and the real-time coordinate position, and obtain the coordinates of the projection point of the positioning point of the movable tag projected onto the projection line. Calculate the first vector according to the coordinates of the movable tag and the intersection point coordinates; When the normal vector of the projection line is parallel to the first vector, select the standing platform corresponding to the projection line as the current movable platform of the construction worker.

[0030] S4. Real-time monitor the relative position change trend between the positioning point of the movable tag and the current movable platform of the construction worker. When the relative position change trend does not meet the safe construction conditions, it is judged that the construction worker is working without a hat.

[0031] Specifically, the method for judging that the construction worker is working without a hat is: S41. Calculate the shortest distance between the activity label positioning point and the real - time coordinate position of the current activity platform in the positioning space (i.e., the shortest straight - line distance from the activity label positioning point to the current activity platform) in real - time, and store it in the construction worker relative - position set in sequence; when storing the shortest distance in the construction worker relative - position set, record the storage time of the shortest distance as its acquisition moment. S42. Use the recursive method to loop and compare the shortest distances at each moment in the construction worker relative - position set, and convert the shortest distance into a relative - position change trend state. The specific process of converting the shortest distance into a relative - position change trend state is as follows: Judge the trend between the shortest distances at two adjacent previous and subsequent moments. If the absolute value of the difference between the shortest distance at the previous moment and the shortest distance at the subsequent moment is within the error range and the shortest distance at the previous moment is greater than the shortest distance at the subsequent moment, then judge that the shortest distance at the previous moment shows a downward trend state, and convert the shortest distance at the previous moment into a downward label value corresponding to the downward trend. If the absolute value of the difference between the shortest distance at the previous moment and the shortest distance at the subsequent moment is within the error range and the shortest distance at the previous moment is less than the shortest distance at the subsequent moment, then judge that the shortest distance at the previous moment shows an upward trend state, and convert the shortest distance at the previous moment into an upward label value corresponding to the upward trend. If the absolute value of the difference between the shortest distance at the previous moment and the shortest distance at the subsequent moment is within the error range, then judge that the shortest distance at the previous moment shows a stable trend, and convert the shortest distance at the previous moment into a stable label value corresponding to the stable trend.

[0032] S43. Taking the current moment as the starting point, obtain the relative - position change trend states corresponding to each moment within a preset time range before the current moment, and merge them to obtain a relative - position change trend sequence. S44. Count the time length for which each trend state in the relative - position change trend sequence persists and the shortest distance corresponding to this trend state, judge whether the time length of the trend state and the corresponding shortest distance meet the safe - construction conditions, and judge whether the construction worker is working without a helmet.

[0033] 1. To judge whether a construction worker is working without a helmet, it can be determined by whether the construction worker takes the safety helmet off the head and wears it on other parts of the body. In this way, by judging the change trend of the shortest distance, it can be known that the activity label coordinates of the activity label positioning point show a relative - position change trend of jumping from a high place to a low place and remaining unchanged at the low place for a period of time. The specific judgment process is as follows: Traverse the relative position change trend sequence. When it is traversed to the situation where it jumps from a decreasing tag value to a stable tag value and this stable tag value appears continuously, if the duration of the stable trend state at this time exceeds the preset time length, continue to judge whether the shortest distance corresponding to this stable trend state is less than the preset threshold. If so, it is judged that the construction worker removes the safety helmet for construction.

[0034] 2. In fact, the parts of the body where the safety helmet can be placed are nothing but the neck, waist and other positions. Therefore, it can be judged by whether the construction worker takes the safety helmet off the head and places it at a specific position. The specific process is as follows: Traverse the relative position change trend sequence. When it is traversed to the continuously appearing decreasing tag value and stable tag value, and when it jumps from the decreasing tag value to the stable tag value, calculate the absolute value of the difference between the shortest distance corresponding to the decreasing tag value and the shortest distance corresponding to the stable tag value at this time; Compare whether the shortest distance corresponding to the decreasing tag value is within the preset threshold range and whether the absolute value of the difference meets the preset difference. If so, when the duration of the stable trend state exceeds the preset time length, it is judged that the construction worker removes the safety helmet for construction.

[0035] Among them, the preset threshold can be obtained according to the corresponding relationship between the activity tag of the safety helmet and the construction worker. Obtain the binding relationship list of the construction worker and the activity tag of the safety helmet. The binding relationship list records the personal information of the construction worker registered when the construction worker receives the safety helmet. The personal information includes the height of the construction worker. Convert the height value to the height expression in the positioning space according to the scale of the positioning space, so as to determine the preset threshold; the preset difference can be understood as the difference between the height of the construction worker and the height of the activity tag of the safety helmet when the safety helmet is placed on other parts of the construction worker's body except the head. When it is traversed to the situation where it jumps from an increasing tag value to a stable tag value and this stable tag value appears continuously, if the duration of the stable trend state at this time exceeds the preset time length, continue to judge whether the shortest distance corresponding to this stable trend state exceeds the preset threshold. If so, it is judged that the construction worker has a dangerous behavior of leaving the platform for construction.

[0036] For example, assume that the shortest distances calculated in real time during the construction operation are stored in chronological order of calculation to obtain the shortest distance at the current moment and the historical shortest distances. The set S of the relative positions of the construction workers is expressed as: S[17, 17, 17, 17, 17, 17, 15, 15, 15, 15, 15, 15]; using the recursive method to loop and compare, determine the rising and falling trends of the data, and determine whether the shortest distance A1 at the previous moment is greater than the shortest distance A2 at the next moment. If A1 is greater than A2, it means that A1 is in a downward trend, and convert the shortest distance with this downward trend into the relative position change trend state, that is, the downward label value is 0. On the contrary, if it is in an upward trend, assign the upward label value of 2 to the shortest distance with this upward trend. If they are equal, it is in a stable trend, and assign the stable label value of 1 to the shortest distance with this stable upward trend. Then, according to this rule, convert the set of relative positions of the construction workers into: [1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1], where 0 represents the downward trend, 1 represents the stable trend, and 2 represents the upward trend. Taking the current acquisition moment as the starting point, obtain the state label values corresponding to the relative position change trend states of the shortest distances at each moment within the preset time range (for example, it can be 3 minutes), and obtain the relative position change trend sequence [1, 0, 1, 1, 1, 1, 1]; traverse the relative position change trend sequence. When a transition from "0" to "1" occurs, start counting the continuous maintenance duration from the first occurrence of "1". When the maintenance duration exceeds 1 minute, and at this time the shortest distance corresponding to "1" is "15" and "15" is less than the preset threshold, it is determined that the construction worker is working without a hat; in another judgment method, when a transition from "0" to "1" occurs, calculate the difference between the shortest distance "17" corresponding to "0" and the shortest distance "15" corresponding to "1" at this time, which is 2. At this time, if: "17" is within the preset threshold range, "2" meets the preset difference, and the maintenance duration of "1" exceeds 1 minute, it is determined that the construction worker is working without a hat at this time.

[0037] Embodiment 2 This embodiment provides an intelligent safety management device for construction workers in the TBM tunnel, applying the method of Embodiment 1, including: The TBM equipment positioning conversion module is used to import the three-dimensional model of the TBM equipment, select the projection lines of each standing platform in the TBM equipment along the tunnel length direction section, and map each projection line into the positioning space of the construction workers to obtain the real-time coordinate positions of each projection line in the positioning space; The construction worker positioning conversion module is used to obtain the information of the active label positioning points on the safety helmets of the construction workers, and map the active label positioning points into the positioning space to obtain the active label coordinates of the active label positioning points in the positioning space; The active platform positioning module is used to calculate the spatial position relationship between the real-time coordinate positions of each projection line and the coordinates of the active tag, and select the standing platform corresponding to the projection line whose spatial position relationship meets the conditions from each projection line as the current active platform of the construction worker; The real-time monitoring module is used to monitor the change trend of the relative position between the active tag positioning point and the current active platform of the construction worker in real time. When the change trend of the relative position does not meet the safe construction conditions, it is determined that the construction worker is working without a helmet.

[0038] The above is only a preferred embodiment of the present invention, and does not impose any form of limitation on the present invention. Based on the technical essence of the present invention, any simple modifications, equivalent replacements, and improvements made to the above embodiments within the spirit and principles of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. An intelligent safety management method for construction personnel in the TBM tunnel, characterized in that, Specifically, it includes the following steps: S1. Import the 3D model of the TBM equipment, select the projection lines of each standing platform in the TBM equipment along the tunnel length direction section, map each projection line into the positioning space of the construction personnel, and obtain the real-time coordinate positions of each projection line in the positioning space; S2. Obtain the information of the active tag positioning points on the safety helmets of the construction personnel, map the active tag positioning points into the positioning space, and obtain the active tag coordinates of the active tag positioning points in the positioning space; S3. Calculate the spatial position relationship between the real-time coordinate positions of each projection line and the active tag coordinates, and select the standing platform corresponding to the projection line whose spatial position relationship meets the conditions from each projection line as the current active platform of the construction personnel; S4. Real-time monitor the relative position change trend between the active tag positioning points and the current active platform of the construction personnel. When the relative position change trend does not meet the safe construction conditions, it is judged that the construction personnel are working without a helmet.

2. The intelligent safety management method for construction personnel in the TBM tunnel according to claim 1, wherein The specific process of obtaining the real-time coordinate positions in step S1 is as follows: S11. According to the relative position relationship between each standing platform, bind the projection lines of each standing platform into the same projection block; S12. Real-time obtain the real-time position information of the TBM equipment, associate the projection block with the real-time position information, map the real-time position of the projection block in the positioning space, and parse out the real-time coordinate positions of each projection line in the projection block in the positioning space according to the relative position relationship between the projection lines.

3. The intelligent safety management method for construction personnel in the TBM tunnel according to claim 2, wherein, Before step S3, it also includes projection line screening, and the specific process is as follows: S31. Save each projection line and its real-time coordinate position to the projection line set; S32. Screen each projection line in the projection line set according to the relative position between the real-time coordinate position of each projection line and the active tag coordinates along the tunnel height direction, and remove the projection lines and their real-time coordinate positions whose relative positions in the positioning space are above the active tag positioning points from the projection line set to obtain the set of standing platforms to be determined for the active platform; S33. According to the spatial position relationship between the real-time coordinate positions of each projection line and the active tag coordinates, select the standing platform corresponding to the projection line whose spatial position relationship meets the conditions from the set of standing platforms to be determined for the active platform as the current active platform of the construction personnel.

4. The intelligent safety management method for construction personnel in the TBM tunnel according to claim 1, characterized in that, The specific process in step S3 is as follows: Respectively calculate the intersection distance between the real-time coordinate position of each projection line and the active tag coordinates, use the intersection distance as the spatial position relationship, and select the standing platform corresponding to the projection line with the shortest intersection distance as the current active platform of the construction personnel.

5. The intelligent safety management method for construction personnel in the TBM tunnel according to claim 1, wherein, The specific process in step S3 is as follows: For each projection line: According to the real-time coordinate position of the projection line, calculate the normal vector of the projection plane where the projection line is located; Calculate the intersection distance between the active tag coordinates and the real-time coordinate position, and obtain the projection point coordinates of the active tag positioning point projected onto the projection line. Calculate the first vector according to the active tag coordinates and the intersection point coordinates; When the normal vector of the projection line is parallel to the first vector, use the standing platform corresponding to the projection line as the current active platform of the construction personnel.

6. The intelligent safety management method for construction personnel in the TBM tunnel according to claim 1, characterized in that The method for judging that the construction personnel are working without a helmet is: S41. Calculate the shortest distance between the active tag coordinates of the activity tag in the positioning space and the real-time coordinate position of the current active platform in real time, and store them in the construction worker relative position set in sequence; S42. Use the recursive method to loop and compare the shortest distances at each moment in the construction worker relative position set, and convert the shortest distances into relative position change trend states; S43. Starting from the current moment, obtain the relative position change trend states corresponding to each moment within the preset time range before the current moment, and merge them to obtain a relative position change trend sequence; S44. Count the time lengths for which each trend state in the relative position change trend sequence persists and the shortest distance corresponding to the trend state, and determine whether the time length of the trend state and the corresponding shortest distance meet the safe construction conditions, and determine whether the construction worker is working without a hat.

7. The intelligent safety management method for construction personnel in the TBM tunnel according to claim 6, characterized in that, The specific process of converting the shortest distance into a relative position change trend state is as follows: Judge the trend between the shortest distances at two adjacent moments before and after. If the absolute value of the difference between the shortest distance at the previous moment and the shortest distance at the next moment is within the error range and the shortest distance at the previous moment is greater than the shortest distance at the next moment, then judge that the shortest distance at the previous moment is in a downward trend state, and convert the shortest distance at the previous moment into a downward label value corresponding to the downward trend; If the absolute value of the difference between the shortest distance at the previous moment and the shortest distance at the next moment is within the error range and the shortest distance at the previous moment is less than the shortest distance at the next moment, then judge that the shortest distance at the previous moment is in an upward trend state, and convert the shortest distance at the previous moment into an upward label value corresponding to the upward trend; If the absolute value of the difference between the shortest distance at the previous moment and the shortest distance at the next moment is within the error range, then judge that the shortest distance at the previous moment is in a stable trend, and convert the shortest distance at the previous moment into a stable label value corresponding to the stable trend.

8. The intelligent safety management method for construction personnel in the TBM tunnel according to claim 7, characterized in that, The specific process of step S44 is as follows: Traverse the relative position change trend sequence. When it is traversed that there is a jump from a downward label value to a stable label value and the stable label value appears continuously, if the time length for which the stable trend state persists at this time exceeds the preset time length, continue to judge whether the shortest distance corresponding to the stable trend state is less than the preset threshold. If so, then judge that the construction worker is working without a hat.

9. The intelligent safety management method for construction personnel in the TBM tunnel according to claim 7, characterized in that, The specific process of step S44 is as follows: Traverse the relative position change trend sequence. When there are continuously appearing downward label values and stable label values and there is a jump from a downward label value to a stable label value, calculate the absolute value of the difference between the shortest distance corresponding to the downward label value and the shortest distance corresponding to the stable label value at this time; Compare whether the shortest distance corresponding to the downward label value is within the preset threshold range and whether the absolute value of the difference meets the preset difference. If so, then when the time length for which the stable trend state persists exceeds the preset time length, judge that the construction worker is working without a hat.

10. The intelligent safety management device for construction personnel in the TBM tunnel is characterized in that, It includes: A TBM equipment positioning conversion module, which is used to import the three-dimensional model of the TBM equipment, select the projection lines of each standing platform in the TBM equipment along the tunnel length direction section, and map each projection line to the positioning space of the construction worker to obtain the real-time coordinate positions of each projection line in the positioning space; The construction personnel positioning conversion module is used to obtain the positioning point information of the active tag on the safety helmet of the construction personnel, map the positioning points of the active tag into the positioning space, and obtain the active tag coordinates of the positioning points of the active tag in the positioning space; The active platform positioning module is used to calculate the spatial position relationship between the real-time coordinate positions of each projection line and the active tag coordinates, and select the standing platform corresponding to the projection line whose spatial position relationship meets the conditions from each projection line as the current active platform of the construction personnel; The real-time monitoring module is used to monitor the relative position change trend between the positioning point of the active tag and the current active platform of the construction personnel in real time. When the relative position change trend does not meet the safe construction conditions, it is judged that the construction personnel are working without wearing a helmet.

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