Intelligent Safety Management Methods and Devices for Construction Personnel Inside the TBM Tunnel

Abstract

This invention discloses an intelligent safety management method and device for construction personnel inside a TBM (Tunnel Boring Machine). The method involves selecting projection lines from the imported 3D TBM model, mapping the cross-sections of each standing platform along the tunnel length, and obtaining the real-time coordinates of each projection line in the positioning space. It also involves acquiring the positioning point information of the movable tag on the worker's safety helmet, obtaining the coordinates of the movable tag in the positioning space. The method calculates the spatial relationship between the real-time coordinates of each projection line and the coordinates of the movable tag, selecting the standing platform corresponding to the projection line whose spatial relationship meets the conditions as the worker's current active platform. The method monitors the relative positional change trend between the movable tag positioning point and the worker's current active platform in real time. When the relative positional change trend does not meet the safe construction conditions, it determines that the worker should remove their helmet before starting work. By monitoring whether workers remove their helmets before starting work, the method ensures the safety management of construction personnel inside the tunnel.

Description

Technical Field

[0001] This invention relates to the field of construction safety management technology, specifically to an intelligent safety management method and device for construction personnel inside a TBM (Tunnel Boring Machine). Background Technology

[0002] TBM (Transportation-Built-Built) construction methods are being implemented on a large scale in China, especially in pumped-storage power stations in recent years. The essence of TBM construction is tunneling operations. Currently, the common technical solution for personnel safety management is to use UWB (Ultra-Wideband) technology for personnel positioning. The specific methods are: 1. Installing battery-powered mobile tags on safety helmets; 2. Installing UWB signal-generating base stations inside the tunnel; 3. Using three-dimensional spatial calculations to determine the station range of construction personnel within the tunnel space, thereby controlling the scope of personnel activity and prohibiting them from working outside the designated station range.

[0003] Safety issues within tunnels often stem from falling debris from the tunnel ceiling. Therefore, construction management manuals strictly prohibit tunnel workers from removing their helmets during work. However, due to the high temperatures and poor air circulation within tunnels, workers frequently remove their helmets when spending extended periods inside. Currently, existing technology cannot detect this helmet-removal behavior. Therefore, the technical problem this invention aims to solve is how to detect workers removing their helmets during work. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent safety management method and device for construction personnel inside a TBM tunnel. By introducing the projection line of the TBM's working platform surface as a reference, and then coupling it with positioning data for calculation, the method can determine whether personnel have removed their helmets, thereby solving the problem of not being able to identify the phenomenon of helmet removal.

[0005] To achieve the above objectives, this application adopts the following approach:

[0006] On the one hand, this application provides an intelligent safety management method for construction personnel inside a TBM tunnel, specifically including the following steps:

[0007] S1. Import the 3D model of the TBM equipment, select the projection lines of the cross section of each standing platform in the TBM equipment along the tunnel length direction, map each projection line to the positioning space of the construction personnel, and obtain the real-time coordinate position of each projection line in the positioning space.

[0008] S2. Obtain the positioning point information of the active tag on the safety helmet of the construction worker, map the positioning point of the active tag to the positioning space, and obtain the coordinates of the active tag in the positioning space.

[0009] S3. Calculate the spatial relationship between the real-time coordinates of each projection line and the coordinates of the active label, and select the standing platform corresponding to the projection line whose spatial relationship meets the conditions as the current active platform of the construction personnel.

[0010] S4. Monitor the relative position change trend between the activity tag positioning point and the current activity platform of the construction personnel in real time. When the relative position change trend does not meet the safe construction conditions, determine that the construction personnel should remove their hats for construction.

[0011] In some specific implementation schemes, the process of obtaining the real-time coordinate position in step S1 is as follows:

[0012] S11. Based on the relative positional relationship between each standing platform, bind the projection lines of each standing platform into the same projection block;

[0013] S12. Acquire the real-time location information of the TBM device, associate the projection block with the real-time location information, map the real-time position of the projection block in the positioning space, and parse the real-time coordinate position of each projection line in the projection block in the positioning space according to the relative positional relationship between the projection lines.

[0014] In some specific implementations, projection line screening is included before step S3, and the specific process is as follows:

[0015] S31. Save each projection line and its real-time coordinate position to a projection line set;

[0016] S32. Based on the relative position of each projection line with the real-time coordinate position of the projection line and the coordinate of the active label along the tunnel height direction, filter each projection line in the projection line set. Remove the projection lines whose relative position in the positioning space is above the positioning point of the active label and their real-time coordinate positions from the projection line set to obtain the set of active platforms to be determined.

[0017] S33. Based on the spatial relationship between the real-time coordinates of each projection line and the coordinates of the activity label, select the standing platform corresponding to the projection line whose spatial relationship meets the conditions from the set of activity platforms to be determined as the current activity platform for the construction personnel.

[0018] In some specific implementation schemes, the specific process in step S3 is as follows:

[0019] Calculate the intersection distance between the real-time coordinates of each projection line and the coordinates of the active label (the shortest distance can be selected; since the platform is a surface and the label is a point, it can be understood as solving the distance from the point to the surface). 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.

[0020] In some specific implementation schemes, the specific process in step S3 is as follows:

[0021] For each projection line: calculate the normal vector of the projection plane where the projection line is located based on the real-time coordinate position of the projection line;

[0022] Calculate the intersection distance between the active label coordinates and the real-time coordinates, and obtain the coordinates of the projection point on the projection line from the active label positioning point. Calculate the first vector based on the active label coordinates and the intersection point coordinates.

[0023] When the normal vector of the projection line is parallel to the first vector, the standing platform corresponding to the projection line is taken as the current activity platform of the construction personnel.

[0024] In some specific implementation plans, the method for determining whether construction workers have removed their hats during construction is as follows:

[0025] S41. Calculate the shortest distance between the coordinates of the active tag in the positioning space and the real-time coordinates of the current active platform in real time, and store it in the relative position set of the construction personnel in sequence.

[0026] S42. Use a recursive method to iteratively compare the shortest distance at each time point in the set of relative positions of construction personnel, and convert the shortest distance into the trend of relative position changes.

[0027] S43. Starting from the current time, obtain the relative position change trend status of each time within a preset time range before the current time, and merge them to obtain the relative position change trend sequence.

[0028] S44. Statistically analyze the duration of each trend state in the relative position change trend sequence and the shortest distance corresponding to that trend state. Determine whether the duration of the trend state and the corresponding shortest distance meet the safe construction conditions, and determine whether construction personnel should remove their hats during construction.

[0029] In some specific implementation schemes, the process of converting the shortest distance into a relative positional change trend is as follows:

[0030] Determine the trend between the shortest distances of two adjacent moments. If the absolute value of the difference between the shortest distance of the previous moment and the shortest distance of the next moment is within the error range and the shortest distance of the previous moment is greater than the shortest distance of the next moment, then determine that the shortest distance of the previous moment is in a downward trend and convert the shortest distance of the previous moment into a downward label value corresponding to the downward trend.

[0031] 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 it is determined that the shortest distance at the previous moment is in an upward trend, and the shortest distance at the previous moment is converted into the upward label value corresponding to the upward trend.

[0032] 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 it is determined that the shortest distance at the previous moment has a stable trend, and the shortest distance at the previous moment is converted into a stable label value corresponding to a stable trend.

[0033] In some specific implementation schemes, step S44 is performed as follows:

[0034] Traverse the relative position change trend sequence. When the traversal reaches the point where the label value jumps from a decreasing label value to a stable label value and the stable label value appears continuously, if the duration of the stable trend state exceeds the preset duration, continue to determine whether the shortest distance corresponding to the stable trend state is less than the preset threshold. If so, determine that the construction personnel should remove their hats for construction.

[0035] In some specific implementation schemes, step S44 is performed as follows:

[0036] Traverse the sequence of relative position change trends. When traversing the consecutive decreasing label value and stationary label value, and when the label value jumps from decreasing label value to stationary label value, calculate the absolute value of the difference between the shortest distance corresponding to the decreasing label value and the shortest distance corresponding to the stationary label value.

[0037] Compare whether the shortest distance corresponding to the falling label 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 exceeds the preset duration, determine that the construction personnel should remove their hats for construction.

[0038] Secondly, this application provides an intelligent safety management device for TBM (tunnel boring machine) construction workers, including:

[0039] The TBM equipment positioning conversion module is used to import the three-dimensional model of the TBM equipment, select the projection lines of the cross section of each standing platform in the TBM equipment along the tunnel length direction, map each projection line to the positioning space of the construction personnel, and obtain the real-time coordinate position of each projection line in the positioning space.

[0040] The construction worker positioning conversion module is used to obtain the positioning point information of the active tag on the construction worker's safety helmet, 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;

[0041] The activity platform positioning module is used to calculate the spatial relationship between the real-time coordinates of each projection line and the coordinates of the activity label, and select the standing platform corresponding to the projection line whose spatial relationship meets the conditions as the current activity platform for the construction personnel.

[0042] The real-time monitoring module is used to monitor the relative position change trend between the activity tag positioning point and the construction personnel's current activity platform in real time. When the relative position change trend does not meet the safe construction conditions, it determines that the construction personnel should remove their hats to start construction.

[0043] Furthermore, if the shortest distance remains unchanged within the preset time range, it is determined that the construction worker has removed their hat to carry out the work.

[0044] The inventive concept of this application is as follows:

[0045] Construction workers may remove their helmets while working inside the tunnel. Locating workers inside the tunnel relies on the safety tags on their helmets, which also serve to protect them. Therefore, it is essential to identify whether workers are removing their helmets.

[0046] Inside the tunnel, UWB base stations are typically used to locate TBM equipment and construction workers, restricting the workers' activity range. This activity range can be used as the positioning space, and the positioning information of both the TBM equipment and the workers can be mapped into this space. On the TBM, workers typically operate from standing platforms, and the relative positions of these platforms remain constant. As the TBM advances deeper into the tunnel, the real-time position of both the TBM and the workers is updated simultaneously if they are on a platform. If the workers haven't removed their helmets, their relative positions in the positioning space remain largely unchanged. Therefore, when workers remove their helmets, the relative positional changes between the activity tag's location point and the standing platform can be used to determine if the workers have removed their helmets.

[0047] The beneficial effects of this invention are as follows:

[0048] This solution uses the projection line of the TBM's standing platform as a reference. The real-time coordinates of the projection line in the positioning space are calculated using the real-time position of the TBM. This coordinates are then coupled with the positioning data of construction workers to determine if workers are wearing helmets, thus solving the problem of not being able to identify helmet removal. This method is low-cost, requiring only the cleaning and extraction of TBM model data, and then adding a helmet removal recognition algorithm to the original positioning algorithm, without the need for additional sensing equipment. Adopting intelligent safety management technology for construction workers in tunnels has a positive advantage in improving safety management and risk prevention capabilities. By monitoring whether construction workers are wearing helmets during construction, the safety management of construction workers inside the tunnel is ensured. Attached Figure Description

[0049] Figure 1 A flowchart illustrating the intelligent safety management method for TBM (Tunnel Boring Machine) construction personnel provided in this embodiment of the invention;

[0050] Figure 2 This is a schematic diagram of the projection block extracted from the TBM 3D model provided in an embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram showing the relative distances between the positioning point of an active tag and each projection line within a certain positioning space, as provided in an embodiment of the present invention.

[0052] Figure 4 This is a schematic diagram illustrating the shortest distance between an active tag location point and the current active platform within a certain positioning space, as provided in an embodiment of the present invention. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention.

[0055] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0056] Furthermore, for clarity and brevity, descriptions of well-known structures, functions, and configurations may have been omitted. Those skilled 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 this disclosure.

[0057] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0058] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0059] Example 1

[0060] like Figure 1 As shown, this embodiment provides an intelligent safety management method for construction personnel inside a TBM tunnel, specifically including the following steps:

[0061] S1. Import the 3D model of the TBM equipment, select the projection lines of the cross section of each standing platform in the TBM equipment along the tunnel length direction, map each projection line to the positioning space of the construction personnel, and obtain the real-time coordinate position of each projection line in the positioning space.

[0062] like Figure 2 As shown, the relative positional relationship between each standing platform can be determined based on the 3D model of the TBM equipment. Based on this relative positional relationship, the real-time coordinate position of each standing platform in the positioning space can be calculated. This allows the standing platforms and construction personnel to be observed within the same positioning space. The specific process for obtaining the real-time coordinate position in step S1 is as follows:

[0063] S11. Based on the relative positional relationship between each standing platform (obtained from the 3D model), bind the projection lines of each standing platform into the same projection block;

[0064] S12. Acquire the real-time location information of the TBM device, associate the projection block with the real-time location information, map the real-time position of the projection block in the positioning space, and parse the real-time coordinate position of each projection line in the projection block in the positioning space according to the relative positional relationship between the projection lines.

[0065] S2. Obtain the location information of the active tag on the safety helmet of the construction worker, map the location of the active tag to the location space, and obtain the coordinates of the active tag in the location space; use UWB base station to locate the position of the active tag on the TBM equipment and the safety helmet of the construction worker, so as to calculate the projection line and the three-dimensional spatial position coordinates of the active tag location in the location space in real time.

[0066] The above steps place the standing platform and construction personnel in the same positioning space. The three-dimensional coordinates of the positioning space are constructed as follows: with the lower left corner of the positioning space as the origin O, the X-axis is along the tunneling direction (tunnel length direction), the Z-axis is the tunnel height direction, and the Y-axis is the tunnel width direction, as shown below. Figure 3The diagram (positioning space is the XOZ plane) illustrates an example scenario. Assuming there are four standing platforms (platforms 1, 2, 3, and 4), the real-time coordinates of the projection lines in the positioning space can be obtained based on their relative positions. It can be seen that the positioning point of the active label is above platform 1, at a distance of C. However, the positioning point of the active label is also very close to platform 2 above it, with an intersection distance of R. Using the shortest intersection distance could easily lead to positioning errors when filtering the current active platform. Therefore, a preliminary filtering of the standing platforms can be performed. Based on the relative relationship between the construction worker and the standing platform, the worker can only stand above a platform. Therefore, regardless of whether the worker is wearing a safety helmet, even if the helmet is strapped to their body, the active label of the safety helmet will always be positioned above the worker's current active platform. This characteristic can be used to filter out standing platforms located above the active label's positioning point (e.g., platforms 3 and 4). The filtering process for the projection lines corresponding to the standing platforms is as follows:

[0067] S31. Save each projection line and its real-time coordinate position to a projection line set;

[0068] S32. Based on the relative position of each projection line with the real-time coordinate position of the projection line and the coordinate of the active label along the tunnel height direction, filter each projection line in the projection line set. Remove the projection lines whose relative position in the positioning space is above the positioning point of the active label and their real-time coordinate positions from the projection line set to obtain the set of active platforms to be determined.

[0069] S33. Based on the spatial relationship between the real-time coordinates of each projection line and the coordinates of the activity label, select the standing platform corresponding to the projection line whose spatial relationship meets the conditions from the set of activity platforms to be determined as the current activity platform for the construction personnel.

[0070] S3. Calculate the spatial relationship between the real-time coordinates of each projection line and the coordinates of the active label, and select the standing platform corresponding to the projection line whose spatial relationship meets the conditions as the current active platform of the construction personnel.

[0071] 1. Under normal circumstances, such as Figure 4 As shown, the shortest distance is the intersection between the location of the activity tag and the worker's current activity platform. This is because the projection line of the activity tag location point and the current activity platform is always perpendicular. Therefore, the worker's current activity platform can be determined by calculating the distance from the activity tag location point to the corresponding projection line of each standing platform.

[0072] Calculate the intersection distance between the real-time coordinates of each projection line and the coordinates of the active label (the intersection distance can be selected as the shortest distance from the active positioning label to the projection line). 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.

[0073] 2. After observation Figure 3 It can be seen that the current active platform for the construction worker is only considered to be the platform when the projection of the active label's positioning point falls on the XOY projection plane of the projection line of the standing platform. Therefore, the method for determining the current active platform is as follows:

[0074] For each projection line: calculate the normal vector of the projection plane where the projection line is located based on the real-time coordinate position of the projection line;

[0075] Calculate the intersection distance between the active label coordinates and the real-time coordinates, and obtain the coordinates of the projection point on the projection line from the active label positioning point. Calculate the first vector based on the active label coordinates and the intersection point coordinates.

[0076] When the normal vector of the projection line is parallel to the first vector, the standing platform corresponding to the projection line is taken as the current activity platform of the construction personnel.

[0077] S4. Monitor the relative position change trend between the activity tag positioning point and the current activity platform of the construction personnel in real time. When the relative position change trend does not meet the safe construction conditions, determine that the construction personnel should remove their hats for construction.

[0078] Specifically, the method for determining whether construction workers are removing their hats during construction is as follows:

[0079] S41. Calculate the shortest distance between the active tag positioning point in the positioning space and the real-time coordinate position of the current active platform (i.e., the shortest straight-line distance from the active tag positioning point to the current active platform), and store it in the relative position set of construction personnel in sequence; when storing the shortest distance in the relative position set of construction personnel, record the storage time of the shortest distance as its collection time.

[0080] S42. Use a recursive method to iteratively compare the shortest distance at each time point in the set of relative positions of construction personnel, and convert the shortest distance into the trend of relative position changes.

[0081] The specific process of converting the shortest distance into a relative positional change trend is as follows:

[0082] Determine the trend between the shortest distances of two adjacent moments. If the absolute value of the difference between the shortest distance of the previous moment and the shortest distance of the next moment is within the error range and the shortest distance of the previous moment is greater than the shortest distance of the next moment, then determine that the shortest distance of the previous moment is in a downward trend and convert the shortest distance of the previous moment into a downward label value corresponding to the downward trend.

[0083] 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 it is determined that the shortest distance at the previous moment is in an upward trend, and the shortest distance at the previous moment is converted into the upward label value corresponding to the upward trend.

[0084] 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 it is determined that the shortest distance at the previous moment has a stable trend, and the shortest distance at the previous moment is converted into a stable label value corresponding to a stable trend.

[0085] S43. Starting from the current time, obtain the relative position change trend status of each time within a preset time range before the current time, and merge them to obtain the relative position change trend sequence.

[0086] S44. Statistically analyze the duration of each trend state in the relative position change trend sequence and the shortest distance corresponding to that trend state. Determine whether the duration of the trend state and the corresponding shortest distance meet the safe construction conditions, and determine whether construction personnel should remove their hats during construction.

[0087] 1. Determining whether construction workers have removed their helmets during construction can be done by checking if they have taken their helmets off their heads and are wearing them on other parts of their bodies. By analyzing the trend of the shortest distance change, it can be determined that the coordinates of the active tag positioning point exhibit a relative position change trend of jumping from a high position to a low position and remaining unchanged at the low position for a period of time. The specific determination process is as follows:

[0088] Traverse the relative position change trend sequence. When the traversal reaches the point where the label value jumps from a decreasing label value to a stable label value and the stable label value appears continuously, if the duration of the stable trend state exceeds the preset duration, continue to determine whether the shortest distance corresponding to the stable trend state is less than the preset threshold. If so, determine that the construction personnel should remove their hats for construction.

[0089] 2. In reality, the only parts of the body where a safety helmet can be placed are the neck and waist. Therefore, this can be determined by observing whether the construction worker has removed the safety helmet from their head and placed it in a specific position. The specific process is as follows:

[0090] Traverse the sequence of relative position change trends. When traversing the consecutive decreasing label value and stationary label value, and when the label value jumps from decreasing label value to stationary label value, calculate the absolute value of the difference between the shortest distance corresponding to the decreasing label value and the shortest distance corresponding to the stationary label value.

[0091] Compare whether the shortest distance corresponding to the falling label 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 exceeds the preset duration, determine that the construction personnel should remove their hats for construction.

[0092] The preset threshold can be obtained based on the correspondence between the activity tag corresponding to the safety helmet and the construction worker. A list of binding relationships between the construction worker and the activity tag of the safety helmet is obtained. The binding relationship list records the personal information of the construction worker registered when receiving the safety helmet. The personal information includes the height of the construction worker. The height value is converted into a height expression in the positioning space according to the scale of the positioning space 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 the part of the construction worker's body other than the head. When it is traversed from the rising tag value to the stable tag value and the stable tag value appears continuously, if the duration of the stable trend state exceeds the preset duration, it is further judged whether the shortest distance corresponding to the stable trend state exceeds the preset threshold. If so, it is judged that the construction worker is engaging in dangerous behavior by leaving the platform.

[0093] For example, suppose that the shortest distance calculated in real time during construction is stored sequentially according to the calculation time to obtain the current shortest distance and the historical shortest distance. The set S of the relative positions of the construction personnel is represented as: S[17, 17, 17, 17, 17, 17, 15, 15, 15, 15, 15, 15]. Using a recursive method, the data is compared cyclically to determine the upward or downward trend. It is determined 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. The shortest distance with a downward trend is converted to a relative position change trend state, that is, the downward label value is 0. Conversely, if it is in an upward trend, the shortest distance with an upward trend is assigned an upward label value of 2. If they are equal, it is in a stable trend, and the shortest distance with a stable upward trend is assigned a stable label value of 1. Following this pattern, the set of relative positions of construction workers can be converted to: [1,1,1,1,1,0,1,1, 1,1, 1], where 0 represents a downward trend, 1 represents a stable trend, and 2 represents an upward trend. Starting from the current collection time, obtain the status label value corresponding to the relative position change trend state of the shortest distance at each moment within a preset time range (e.g., 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 duration of consecutive occurrences from the first occurrence of "1". If the duration exceeds 1 minute, and the shortest distance corresponding to "1" is "15", and "15" is less than a preset threshold, then it is determined that the construction worker has removed their hat. In another 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". If the difference is 2, and "17" is within the preset threshold range, and "2" satisfies the preset difference, and the duration of "1" exceeds 1 minute, then it is determined that the construction worker has removed their hat.

[0094] Example 2

[0095] This embodiment provides an intelligent safety management device for construction workers inside a TBM tunnel, applying the method of Embodiment 1, including:

[0096] The TBM equipment positioning conversion module is used to import the three-dimensional model of the TBM equipment, select the projection lines of the cross section of each standing platform in the TBM equipment along the tunnel length direction, map each projection line to the positioning space of the construction personnel, and obtain the real-time coordinate position of each projection line in the positioning space.

[0097] The construction worker positioning conversion module is used to obtain the positioning point information of the active tag on the construction worker's safety helmet, 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;

[0098] The activity platform positioning module is used to calculate the spatial relationship between the real-time coordinates of each projection line and the coordinates of the activity label, and select the standing platform corresponding to the projection line whose spatial relationship meets the conditions as the current activity platform for the construction personnel.

[0099] The real-time monitoring module is used to monitor the relative position change trend between the activity tag positioning point and the construction personnel's current activity platform in real time. When the relative position change trend does not meet the safe construction conditions, it determines that the construction personnel should remove their hats to start construction.

[0100] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Based on the technical essence of the present invention, any simple modifications, equivalent substitutions, and improvements made to the above embodiments within the spirit and principles of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for intelligent safety management of construction personnel inside a TBM tunnel, characterized in that, Specifically, the following steps are included: S1. Import the 3D model of the TBM equipment, select the projection lines of the cross section of each standing platform in the TBM equipment along the tunnel length direction, map each projection line to the positioning space of the construction personnel, and obtain the real-time coordinate position 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 worker, map the positioning point of the active tag to the positioning space, and obtain the coordinates of the active tag in the positioning space. S3. Calculate the spatial relationship between the real-time coordinates of each projection line and the coordinates of the active label, and select the standing platform corresponding to the projection line whose spatial relationship meets the conditions as the current active platform of the construction personnel. S4. Monitor the relative position change trend between the activity tag positioning point and the current activity platform of the construction personnel in real time. When the relative position change trend does not meet the safe construction conditions, it is determined that the construction personnel should remove their hats for construction. The method for determining whether construction workers are removing their hats during construction is as follows: S41. Calculate the shortest distance between the coordinates of the active tag in the positioning space and the real-time coordinates of the current active platform in real time, and store it in the relative position set of the construction personnel in sequence. S42. Use a recursive method to iteratively compare the shortest distance at each time point in the set of relative positions of construction personnel, and convert the shortest distance into the trend of relative position changes. The specific process of converting the shortest distance into a relative positional change trend is as follows: Determine the trend between the shortest distances of two adjacent moments. If the absolute value of the difference between the shortest distance of the previous moment and the shortest distance of the next moment is within the error range and the shortest distance of the previous moment is greater than the shortest distance of the next moment, then determine that the shortest distance of the previous moment is in a downward trend and convert the shortest distance of 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 it is determined that the shortest distance at the previous moment is in an upward trend, and the shortest distance at the previous moment is converted into the 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 it is determined that the shortest distance at the previous moment has a stable trend, and the shortest distance at the previous moment is converted into a stable label value corresponding to a stable trend. S43. Starting from the current time, obtain the relative position change trend status of each time within a preset time range before the current time, and merge them to obtain the relative position change trend sequence. S44. Statistically analyze the duration of each trend state in the relative position change trend sequence and the shortest distance corresponding to that trend state. Determine whether the duration of the trend state and the corresponding shortest distance meet the safe construction conditions, and determine whether construction personnel should remove their hats during construction.

2. The intelligent safety management method for TBM tunnel construction personnel according to claim 1, characterized in that, The specific process of obtaining the real-time coordinate position in step S1 is as follows: S11. Based on the relative positional relationship between each standing platform, bind the projection lines of each standing platform into the same projection block; S12. Acquire the real-time location information of the TBM device, associate the projection block with the real-time location information, map the real-time position of the projection block in the positioning space, and parse the real-time coordinate position of each projection line in the projection block in the positioning space according to the relative positional relationship between the projection lines.

3. The intelligent safety management method for TBM tunnel construction personnel according to claim 2, characterized in that, Step S3 is preceded by projection line filtering, the specific process of which is as follows: S31. Save each projection line and its real-time coordinate position to the projection line set; S32. Based on the relative position of each projection line with the real-time coordinate position of the projection line and the coordinate of the active label along the tunnel height direction, filter each projection line in the projection line set. Remove the projection lines whose relative position in the positioning space is above the positioning point of the active label and their real-time coordinate positions from the projection line set to obtain the set of active platforms to be determined. S33. Based on the spatial relationship between the real-time coordinates of each projection line and the coordinates of the activity label, select the standing platform corresponding to the projection line whose spatial relationship meets the conditions from the set of activity platforms to be determined as the current activity platform for the construction personnel.

4. The intelligent safety management method for TBM tunnel construction personnel according to claim 1, characterized in that, The specific process in step S3 is as follows: Calculate the intersection distance between the real-time coordinates of each projection line and the coordinates of the active label. 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 for the construction personnel.

5. The intelligent safety management method for TBM tunnel construction personnel according to claim 1, characterized in that, The specific process in step S3 is as follows: For each projection line: calculate the normal vector of the projection plane where the projection line is located based on the real-time coordinate position of the projection line; Calculate the intersection distance between the active label coordinates and the real-time coordinates, and obtain the coordinates of the projection point on the projection line from the active label positioning point. Calculate the first vector based on the active label coordinates 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 taken as the current activity platform of the construction personnel.

6. The intelligent safety management method for TBM tunnel construction personnel according to claim 1, characterized in that, The specific process of step S44 is as follows: Traverse the relative position change trend sequence. When the traversal reaches the point where the label value jumps from a decreasing label value to a stable label value and the stable label value appears continuously, if the duration of the stable trend state exceeds the preset duration, continue to determine whether the shortest distance corresponding to the stable trend state is less than the preset threshold. If so, determine that the construction personnel should remove their hats for construction.

7. The intelligent safety management method for TBM tunnel construction personnel according to claim 1, characterized in that, The specific process of step S44 is as follows: Traverse the sequence of relative position change trends. When traversing the consecutive decreasing label value and stationary label value, and when the label value jumps from decreasing label value to stationary label value, calculate the absolute value of the difference between the shortest distance corresponding to the decreasing label value and the shortest distance corresponding to the stationary label value. Compare whether the shortest distance corresponding to the falling label 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 exceeds the preset duration, determine that the construction personnel should remove their hats for construction.

8. An intelligent safety management device for construction personnel inside a TBM tunnel, characterized in that, include: The TBM equipment positioning conversion module is used to import the three-dimensional model of the TBM equipment, select the projection lines of the cross section of each standing platform in the TBM equipment along the tunnel length direction, map each projection line to the positioning space of the construction personnel, and obtain the real-time coordinate position of each projection line in the positioning space. The construction worker positioning conversion module is used to obtain the positioning point information of the active tag on the construction worker's safety helmet, 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; The activity platform positioning module is used to calculate the spatial relationship between the real-time coordinates of each projection line and the coordinates of the activity label, and select the standing platform corresponding to the projection line whose spatial relationship meets the conditions as the current activity platform for the construction personnel. The real-time monitoring module is used to monitor the relative position change trend between the activity tag positioning point and the construction worker's current activity platform in real time. When the relative position change trend does not meet the safe construction conditions, it determines that the construction worker should remove his hat to start construction. The method for determining whether construction workers are removing their hats during construction is as follows: S41. Calculate the shortest distance between the coordinates of the active tag in the positioning space and the real-time coordinates of the current active platform in real time, and store it in the relative position set of the construction personnel in sequence. S42. Use a recursive method to iteratively compare the shortest distance at each time point in the set of relative positions of construction personnel, and convert the shortest distance into the trend of relative position changes. The specific process of converting the shortest distance into a relative positional change trend is as follows: Determine the trend between the shortest distances of two adjacent moments. If the absolute value of the difference between the shortest distance of the previous moment and the shortest distance of the next moment is within the error range and the shortest distance of the previous moment is greater than the shortest distance of the next moment, then determine that the shortest distance of the previous moment is in a downward trend and convert the shortest distance of 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 it is determined that the shortest distance at the previous moment is in an upward trend, and the shortest distance at the previous moment is converted into the 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 it is determined that the shortest distance at the previous moment has a stable trend, and the shortest distance at the previous moment is converted into a stable label value corresponding to a stable trend. S43. Starting from the current time, obtain the relative position change trend status of each time within a preset time range before the current time, and merge them to obtain the relative position change trend sequence. S44. Statistically analyze the duration of each trend state in the relative position change trend sequence and the shortest distance corresponding to that trend state. Determine whether the duration of the trend state and the corresponding shortest distance meet the safe construction conditions, and determine whether construction personnel should remove their hats during construction.

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