Intelligent wearable ground leakage early warning device and method

Abstract

The application discloses a smart wearable ground electric leakage early warning device and method, the method comprising the following steps: an intelligent calculation module reconstructs left and right foot broken line walking tracks according to signals of an acceleration sensor and a geomagnetic sensor; an electric field gradient analysis is performed on the left and right foot broken line walking tracks combined with acquired left and right foot voltage difference signals and stride voltage difference signals; when the intelligent calculation module finds an electric field mutation, a signal is sent to an early warning output module, an alarm is sent out through the early warning output module, and a position of an electric leakage power supply is output. The application can alarm and output electric leakage position information when a significant electric field mutation is found, early warning identification of a high-risk area is realized, and personal safety is protected.

Description

Technical Field

[0001] This application relates to the field of leakage current warning technology, and in particular to a smart wearable ground leakage current warning device and method. Background Technology

[0002] Currently, in scenarios such as working in high-voltage environments and disaster relief efforts during floods and earthquakes, it is impossible to accurately determine the location of leakage current in high-risk areas, thus threatening the personal safety of relevant personnel. Most existing wearable leakage current detection devices (such as wrist-worn electric field detectors) can only sense the presence or absence of the surrounding electric field, but cannot accurately provide the coordinates of the leakage current location, cannot form a continuous trajectory to guide personnel to avoid it, and lack the ability to dynamically locate the leakage source as a person walks. In addition, some devices, such as traditional buried electrode-type early warning devices, rely on environmental factors such as soil moisture and conductivity, have poor stability, and require pre-deployment, making them difficult to use in complex post-disaster sites. Moreover, existing leakage current detection devices are mostly based on single-point measurements and lack methods to reconstruct personnel position trajectories using motion sensors (such as acceleration and geomagnetism), and cannot combine voltage differences with personnel walking routes for gradient analysis. Even if some solutions introduce machine learning or predictive algorithms, they are mostly for macroscopic power grid fault early warning and lack the ability to perform microscopic "human-ground" interactive electric field gradient analysis. Summary of the Invention

[0003] In view of this, this application provides a smart wearable ground leakage early warning device and method, which can detect and warn of leakage environments that are harmful to the human body, so as to avoid electric shock injuries to the human body.

[0004] This application discloses an intelligent wearable ground leakage warning device, which consists of a voltage detection part and an electric field tracking part;

[0005] The voltage detection section consists of a left foot voltage detection circuit installed on the upper of the left shoe, a positive electrode and a negative electrode for the left foot located on the sole of the left shoe, a right foot voltage detection circuit installed on the upper of the right shoe, a positive electrode and a negative electrode for the right foot located on the sole of the right shoe, and a left and right foot step voltage difference detection circuit mounted on the waist belt; the left foot voltage detection circuit is located between the positive electrode and the negative electrode for the left foot; the right foot voltage detection circuit is located between the positive electrode and the negative electrode for the right foot; the left and right foot step voltage difference detection circuit is connected to the positive electrode for the left foot and the positive electrode for the right foot via a signal connection line;

[0006] The electric field tracking section includes an accelerometer, a geomagnetic sensor, an intelligent computing module, and an early warning output module. The intelligent computing module is connected to the left and right foot step voltage difference detection circuit, the left foot voltage detection circuit, the right foot voltage detection circuit, the accelerometer, the geomagnetic sensor, and the early warning output module, respectively.

[0007] Furthermore, the electric field tracking section also includes a power supply module;

[0008] The power supply module is connected to the left and right foot step voltage difference detection circuit, the left foot voltage detection circuit, the right foot voltage detection circuit, the intelligent calculation module, the acceleration sensor, the geomagnetic sensor, and the early warning output module through power supply wires, and is used to supply power to the left and right foot step voltage difference detection circuit, the left foot voltage detection circuit, the right foot voltage detection circuit, the intelligent calculation module, the acceleration sensor, the geomagnetic sensor, and the early warning output module;

[0009] The intelligent computing module is connected to the left and right foot step voltage difference detection circuit, the left foot voltage detection circuit, the right foot voltage detection circuit, the acceleration sensor, the geomagnetic sensor, and the early warning output module via signal connection lines.

[0010] This application also discloses a smart wearable ground leakage current early warning method, applicable to the aforementioned smart wearable ground leakage current early warning device, comprising:

[0011] Step 1: The intelligent computing module reconstructs the zigzag walking trajectory of the left and right feet based on the signals from the accelerometer and geomagnetic sensor;

[0012] Step 2: Combine the voltage difference signals of the left foot, the right foot, and the step voltage difference to perform electric field gradient analysis and obtain the two-dimensional electric field vector;

[0013] Step 3: Based on the left and right foot zigzag walking trajectory and the two-dimensional electric field vector, the location of the leakage current source is obtained. When the intelligent calculation module detects a sudden change in the electric field, it sends a signal to the early warning output module, which then issues an alarm and outputs the location of the leakage current source.

[0014] Further, step 1 includes:

[0015] Establish a rectangular coordinate system XOY, with due north as the positive direction of the Y-axis and due east as the positive direction of the X-axis. Determine the starting position of the human walking motion. = As the origin of the coordinate system;

[0016] From the starting point of human walking = Starting from here, the coordinates of each subsequent step in two-dimensional space are: ,in, , and For the first The x and y coordinates of each step, where n is the total number of steps;

[0017] The first was measured by the accelerometer. Step length Maximum acceleration within and minimum value The current step size is calculated using the following formula. :

[0018]

[0019] in, Indicates the empirical calibration coefficient;

[0020] The first was measured by a geomagnetic sensor. heading angle of the step The heading angle is the angle between the direction of the step and true north; through the heading angle and step length Reconstruct the zigzag walking trajectory of the left and right feet, and accumulate the data based on the direction and stride length of each step:

[0021]

[0022] When the left foot voltage detection circuit measures the voltage difference of the left foot When the acceleration decreases and the acceleration sensor detects an increase in acceleration, the step is determined to be taken with the left foot; when the right foot voltage detection circuit detects the voltage difference of the right foot... When the acceleration decreases and the acceleration sensor detects an increase in acceleration, it is determined that the step is taken with the right foot, thereby obtaining the relative position of the left and right feet and constructing the zigzag walking trajectory of the left and right feet.

[0023] Furthermore, during walking, the direction of each step of the left shoe is perpendicular to the line connecting the positive and negative electrodes of the left foot, and the direction of each step of the right shoe is perpendicular to the line connecting the positive and negative electrodes of the right foot.

[0024] Further, step 2 includes:

[0025] Step 21: Measure the step voltage difference between the positive electrodes of the left and right feet using the step voltage difference detection circuit. According to the step voltage difference And the distance between the positive electrode and the negative electrode of the left foot is The distance between the positive electrode and the negative electrode of the right foot is The longitudinal component of the electric field is obtained. ;

[0026] Step 22: Obtain the longitudinal component of the electric field and the transverse component of the electric field Two-dimensional electric field vectors are obtained through the electric field gradient model. .

[0027] Further, step 21 includes:

[0028] The voltage detection circuit for the left foot measured the voltage at the positive electrode of the left foot as follows: The voltage of the negative electrode of the left foot is The voltage difference between the two is the voltage difference at the left foot. This reflects the local lateral electric field distribution of the left foot; the voltage detection circuit of the right foot measures the voltage of the positive electrode of the right foot as... The voltage of the right foot negative electrode is The voltage difference between the two is the voltage difference at the right foot. This reflects the local lateral electric field distribution of the right foot;

[0029] When the stepping foot is the left foot, the step voltage difference The calculation formula is:

[0030]

[0031] When the right foot steps out, the step voltage difference... The calculation formula is:

[0032]

[0033] The longitudinal component of the electric field is obtained using the following formula. :

[0034]

[0035] in, Step size;

[0036] Step 22 includes:

[0037] When the foot steps out is the left foot, the transverse component of the electric field Expressed as:

[0038]

[0039] When the right foot steps out, the transverse component of the electric field Expressed as:

[0040]

[0041] Establish the following electric field gradient model, with a two-dimensional electric field vector. Expressed as the longitudinal component of the electric field and the transverse component of the electric field Superposition:

[0042] .

[0043] Furthermore, in step 3, based on the two-dimensional electric field vector and the two-dimensional spatial coordinates of each step This allows us to determine the location of the leakage current source.

[0044] The basis of the two-dimensional electric field vector and the two-dimensional spatial coordinates of each step The location of the leakage current source is obtained, including:

[0045] Multiple groups were measured during the human body's forward movement. , , Multiple two-dimensional electric field vectors were calculated. ;

[0046] Combined with position coordinates The location of the leakage current source can be calculated using the following formula. , ):

[0047]

[0048] in, The function to be minimized, To find the modulus sign;

[0049] Coordinates at each walking location The least squares method is used to estimate , The estimated value for:

[0050]

[0051] Will Substitute back into the formula for calculating the location of the leakage current source and eliminate... Transform into a variable containing only the independent variable The location of the leakage current source can be obtained by solving the following formula using gradient descent, grid search, or other optimization methods. :

[0052]

[0053] Furthermore, when using gradient descent, the target loss function is defined as follows: , respectively Find the partial derivative and set the learning rate. The location of the leakage source can be determined by iterating until the objective loss function converges. The target loss function and iterative update formula are as follows:

[0054]

[0055]

[0056]

[0057] in, For the derivative sign;

[0058] or,

[0059] When using the grid search method, within the search area D×D near the human body, the area is divided into grids at intervals of g, for a total of (D 2 / g 2 The location of ) candidate leakage current sources For the location of each candidate leakage power source Calculation function ,turn up The location of the leakage current source can be obtained by finding the minimum value. D represents the length and width of the search area.

[0060] Furthermore, it also includes:

[0061] When the leakage current source is AC, the voltage detection circuit on the left foot measures the voltage difference on the left foot. Take the peak value of the measured magnitude, and the voltage difference at the right pin. Take the peak value of the measured modulus.

[0062] Due to the adoption of the above technical solution, this application has the following advantages:

[0063] 1. This application achieves high-precision leakage current location and real-time early warning for wearable devices in complex environments. Its advantages lie in the synchronous acquisition of voltage measurements from the positive and negative electrodes on the left and right soles of the shoes, combined with acceleration and geomagnetic reconstruction of the broken-line walking trajectory, to achieve high-precision real-time location of the leakage current source on a two-dimensional plane. Based on the electric field gradient model and the least squares / gradient descent optimization algorithm, the leakage point coordinates can be continuously updated during the person's movement. By combining the pace of the steps with the step voltage difference, a dynamic electric field gradient vector field is formed, realizing dynamic mapping of the leakage current source. This device does not require pre-deployed electrodes or external large equipment, is comfortable to wear, and can be deployed quickly, overcoming the shortcomings of existing technologies such as coarse positioning, poor anti-interference, and bulky size.

[0064] 2. This application can trigger an alarm and output leakage location information when a significant electric field change is detected, enabling early warning identification of high-risk areas and preventing people from getting closer to the leakage location, thus protecting personal safety. This method has significant application value in scenarios such as working in high-voltage environments and flood and earthquake disaster relief. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0066] Figure 1This is a schematic diagram illustrating the structure and composition of a smart wearable ground leakage warning device according to an embodiment of this application;

[0067] Figure 2 This is a schematic diagram of the signal transmission and power supply of various parts of a smart wearable ground leakage warning device according to an embodiment of this application;

[0068] Figure 3 This is a schematic diagram of trajectory reconstruction for a smart wearable ground leakage warning device according to an embodiment of this application;

[0069] Figure 4 This is a flowchart illustrating a smart wearable ground leakage current early warning method according to an embodiment of this application;

[0070] Figure Descriptions: 1-Left and right foot step voltage difference detection circuit, 11-Left shoe, 110-Left foot voltage detection circuit, 111-Left foot positive electrode, 112-Left foot negative electrode, 113-Left shoe sole, 12-Right shoe, 120-Right foot voltage detection circuit, 121-Right foot positive electrode, 122-Right foot negative electrode, 123-Right shoe sole, 2-Waist belt, 3-Intelligent computing module, 4-Acceleration sensor, 5-Geomagnetic sensor, 6-Early warning output module, 7-Power supply module, 8-Signal connection line, 9-Power supply wire. Detailed Implementation

[0071] The present application will be further described in conjunction with the accompanying drawings and embodiments. The described embodiments are only some, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of the present application.

[0072] See Figure 1 and Figure 2 This application provides an embodiment of a smart wearable ground leakage warning device, which consists of a voltage detection part and an electric field tracking part;

[0073] The voltage detection section consists of a left foot voltage detection circuit 110 installed on the upper of the left shoe 11, a left foot positive electrode 111 and a left foot negative electrode 112 located on the left shoe sole 113, a right foot voltage detection circuit 120 installed on the upper of the right shoe 12, a right foot positive electrode 121 and a right foot negative electrode 122 located on the right shoe sole 123, and a left and right foot step voltage difference detection circuit 1 mounted on the waist belt 2; the left foot voltage detection circuit 110 is located between the left foot positive electrode 111 and the left foot negative electrode 112; the right foot voltage detection circuit 120 is located between the right foot positive electrode 121 and the right foot negative electrode 122; the left and right foot step voltage difference detection circuit 1 is connected to the left foot positive electrode 111 and the right foot positive electrode 121 through a signal connection line 8;

[0074] The electric field tracking section includes an accelerometer 4, a geomagnetic sensor 5, an intelligent computing module 3, and an early warning output module 6. The intelligent computing module 3 is connected to the left and right foot step voltage difference detection circuit 1, the left foot voltage detection circuit 110, the right foot voltage detection circuit 120, the accelerometer 4, the geomagnetic sensor 5, and the early warning output module 6, respectively.

[0075] Optionally, the electric field tracking section further includes a power supply module 7;

[0076] The power supply module 7 is connected to the left and right foot step voltage difference detection circuit 1, the left foot voltage detection circuit 110, the right foot voltage detection circuit 120, the intelligent calculation module 3, the acceleration sensor 4, the geomagnetic sensor 5, and the early warning output module 6 via power supply wires, and is used to supply power to the left and right foot step voltage difference detection circuit 1, the left foot voltage detection circuit 110, the right foot voltage detection circuit 120, the intelligent calculation module 3, the acceleration sensor 4, the geomagnetic sensor 5, and the early warning output module 6;

[0077] The intelligent computing module 3 is connected to the left and right foot step voltage difference detection circuit 1, the left foot voltage detection circuit 110, the right foot voltage detection circuit 120, the acceleration sensor 4, the geomagnetic sensor 5, and the early warning output module 6 via signal connection lines.

[0078] See Figure 4 This application also discloses an embodiment of a smart wearable ground leakage current early warning method, applicable to the smart wearable ground leakage current early warning device described in the above embodiments, comprising:

[0079] Step 1: The intelligent computing module 3 reconstructs the left and right foot zigzag walking trajectory based on the signals from the accelerometer 4 and the geomagnetic sensor 5;

[0080] Step 2: Combine the voltage difference signals of the left foot, the right foot, and the step voltage difference to perform electric field gradient analysis and obtain the two-dimensional electric field vector;

[0081] Step 3: Based on the left and right foot zigzag walking trajectory and the two-dimensional electric field vector, the location of the leakage power source is obtained. When the intelligent calculation module 3 detects a sudden change in the electric field, it sends a signal to the early warning output module 6, which then issues an alarm and outputs the location of the leakage power source.

[0082] Optionally, step 1 includes:

[0083] See Figure 3 Establish a rectangular coordinate system XOY, with due north as the positive direction of the Y-axis and due east as the positive direction of the X-axis, and mark the starting position of the human walking position. = As the origin of the coordinate system;

[0084] From the starting point of human walking = Starting from here, the coordinates of each subsequent step in two-dimensional space are: ,in, , and For the first The x and y coordinates of each step, where n is the total number of steps;

[0085] The accelerometer sensor 4 measured the first... Step length Maximum acceleration within and minimum value The current step size is calculated using the following formula. :

[0086]

[0087] in, Indicates the empirical calibration coefficient;

[0088] The geomagnetic sensor 5 measured the first heading angle of the step The heading angle is the angle between the step direction and true north, positive in the clockwise direction, and ranges from 0 to 360°; through the heading angle and step length Reconstruct the zigzag walking trajectory of the left and right feet, and accumulate the data based on the direction and stride length of each step:

[0089]

[0090] When the left foot voltage detection circuit 110 measures the voltage difference of the left foot When the acceleration decreases and the acceleration sensor 4 detects an increase in acceleration, it is determined that the step is taken with the left foot; when the right foot voltage detection circuit 120 detects the voltage difference of the right foot... When the acceleration decreases and the acceleration sensor 4 detects an increase in acceleration, it is determined that the step is taken with the right foot, thus obtaining the relative positions of the left and right feet and constructing a zigzag walking trajectory for the left and right feet. The zigzag walking trajectory for the left and right feet is composed of multiple lines connecting the relative positions of the left and right feet.

[0091] Optionally, calibration is required before using the device for walking. North is used as the Y-axis of the coordinate system, and the origin (0, 0) can be selected as the starting position. During walking, the direction of each step of the left shoe 11 is perpendicular to the line connecting the positive electrode 111 and the negative electrode 112 of the left foot (reference). Figure 3 Each step of the right shoe 12 is perpendicular to the line connecting the right foot positive electrode 121 and the right foot negative electrode 122; each step can move forward, backward, or sideways at any angle.

[0092] Optionally, step 2 includes:

[0093] Step 21: Measure the step voltage difference between the positive electrode 111 of the left foot and the positive electrode 121 of the right foot using the step voltage difference detection circuit 1. (Reflecting the longitudinal component of the electric field in the direction of human movement) (changes), based on step voltage difference And the distance between the positive electrode 111 and the negative electrode 112 of the left foot is The distance between the positive electrode 121 and the negative electrode 122 of the right foot is The longitudinal component of the electric field is obtained. ;

[0094] Step 22: Obtain the longitudinal component of the electric field and the transverse component of the electric field Two-dimensional electric field vectors are obtained through the electric field gradient model. .

[0095] Optionally, step 21 includes:

[0096] The voltage detection circuit for the left foot measured the voltage at the positive electrode of the left foot as follows: The voltage of the negative electrode of the left foot is The voltage difference between the two is the voltage difference at the left foot. This reflects the local lateral electric field distribution of the left foot; the voltage detection circuit of the right foot measures the voltage of the positive electrode of the right foot as... The voltage of the right foot negative electrode is The voltage difference between the two is the voltage difference at the right foot. This reflects the local lateral electric field distribution of the right foot; when the stepping foot is the left foot, the step voltage difference... The calculation formula is:

[0097]

[0098] When the right foot steps out, the step voltage difference... The calculation formula is:

[0099]

[0100] The longitudinal component of the electric field is obtained using the following formula. :

[0101]

[0102] in, Step size;

[0103] Step 22 includes:

[0104] When the foot steps out is the left foot, the transverse component of the electric field Expressed as:

[0105]

[0106] When the right foot steps out, the transverse component of the electric field Expressed as:

[0107]

[0108] Establish the following electric field gradient model, with a two-dimensional electric field vector. Expressed as the longitudinal component of the electric field and the transverse component of the electric field Superposition:

[0109]

[0110] Optionally, in step 3, based on the two-dimensional electric field vector and the two-dimensional spatial coordinates of each step This allows us to determine the location of the leakage current source.

[0111] The basis of the two-dimensional electric field vector and the two-dimensional spatial coordinates of each step The location of the leakage current source is obtained, including:

[0112] Multiple groups were measured during the human body's forward movement. , , Multiple two-dimensional electric field vectors were calculated. ;

[0113] Combined with position coordinates The location of the leakage current source can be calculated using the following formula. ):

[0114]

[0115] in, The function to be minimized, To find the modulus sign;

[0116] Coordinates at each walking location The least squares method is used to estimate , The estimated value for:

[0117]

[0118] Will Substitute back into the formula for calculating the location of the leakage current source and eliminate... Transform into a variable containing only the independent variable The location of the leakage current source can be obtained by solving the following formula using gradient descent, grid search, or other optimization methods. :

[0119]

[0120] Optionally, when using gradient descent, the target loss function is defined as follows: , respectively Find the partial derivative and set the learning rate. The location of the leakage source can be determined by iterating until the objective loss function converges. The target loss function and iterative update formula are as follows:

[0121]

[0122]

[0123]

[0124] in, For the derivative sign;

[0125] or,

[0126] When using the grid search method, within the search area D×D near the human body, the area is divided into grids at intervals of g, for a total of (D 2 / g 2 The location of 10 candidate leakage current sources For the location of each candidate leakage power source Calculation function ,turn up The location of the leakage current source can be obtained by finding the minimum value. D represents the length and width of the search area.

[0127] Optionally, it also includes:

[0128] When the leakage current source is AC, the voltage detection circuit 110 on the left foot measures the voltage difference on the left foot. Take the peak value of the measured magnitude, and the voltage difference at the right pin. Take the peak value of the measured modulus.

[0129] This application aims to detect and warn of hazardous leakage environments to prevent electric shock injuries. During operation, the user wears two shoes (left and right). Electrodes (positive and negative for the left foot, positive and negative for the right foot) are installed on the soles of both shoes, and detection circuits for the left and right feet are installed on the uppers of the shoes. Step detection circuits and a power supply module (battery) for both feet are installed at the waist and connected to single-foot detection circuits (left and right foot detection circuits) located at the feet via metal wires running through the trousers. The electric field tracking unit receives voltage signals from the three detection circuits and simultaneously acquires signals from an accelerometer and a geomagnetic sensor. Based on the accelerometer and geomagnetic sensor signals, it intelligently calculates the direction and distance of the user's walk. Simultaneously, it performs electric field gradient analysis on the acquired single-foot voltage difference signal and step voltage difference signal, along with the walking direction and distance. When a significant electric field gradient distribution is detected, an alarm is triggered, and the output signal includes information about the direction of potential leakage, preventing the user from approaching the leakage location and protecting personal safety. This method has significant application value in scenarios such as working in high-voltage environments and disaster relief during floods and earthquakes.

[0130] It should be noted that, for ease of description, this application uses "left foot" and "right foot" before some technical terms, such as "left foot positive electrode" and "right foot positive electrode," which indicate the positive electrode located on the left foot and the positive electrode located on the right foot. For example, "left foot voltage detection circuit" and "right foot voltage detection circuit" indicate that the actual voltage detection circuits are located on the left and right feet, respectively. For instance, "left and right foot step voltage difference detection circuit" indicates a detection circuit used to measure the voltage difference between the left and right feet. The structure of the voltage difference detection circuit in this application is not limited here, as long as it can achieve voltage measurement, etc.

[0131] The technical solution of this application will be described in detail below, taking into account specific application scenarios:

[0132] Suppose a rescue worker is walking in a flood-stricken area. First, calibration is performed, establishing a Cartesian coordinate system XOY, with due north as the positive direction of the Y-axis and due east as the positive direction of the X-axis. The starting position of the human body is then determined. = The specific technical solution, using the coordinate origin, is as follows:

[0133] (1) Reconstruct the zigzag walking trajectory of the left and right feet

[0134] Calibration to obtain initial position (x0,y0)=(0,0), then obtain acceleration data for 5 consecutive steps (including the maximum acceleration). and minimum value The walking coordinates are calculated by taking the heading angle and the walking angle.

[0135]

[0136] in, k Indicates the empirical calibration coefficient;

[0137] The acceleration signals for each step are shown in Table 1. k =0.5 (needs to be determined through calibration).

[0138] Table 1 Acceleration signals for each step

[0139]

[0140] Table 1. Acceleration signals for each step (continued)

[0141]

[0142] Table 1. Acceleration signals for each step (continued)

[0143]

[0144] The first was measured by a geomagnetic sensor. heading angle of the step The heading angle is the angle between the direction of the step and true north; through the heading angle and step length Reconstruct the zigzag walking trajectory of the left and right feet, and accumulate the data based on the direction and stride length of each step:

[0145]

[0146] When the left foot voltage detection circuit measures the voltage difference of the left foot When the acceleration decreases and the acceleration sensor detects an increase in acceleration, the step is determined to be taken with the left foot; when the right foot voltage detection circuit detects the voltage difference of the right foot... When the acceleration decreases and the acceleration sensor detects an increase in acceleration, it is determined that the step is taken with the right foot, thus obtaining the relative position of the left and right feet and constructing the zigzag walking trajectory of the left and right feet. During walking, the direction of each step of the left shoe is perpendicular to the line connecting the positive and negative electrodes of the left foot, and the direction of each step of the right shoe is perpendicular to the line connecting the positive and negative electrodes of the right foot.

[0147] The heading angle, step length, and trajectory coordinates for each step are shown in Table 2.

[0148] Table 2. Heading angle, step length, and trajectory coordinates for each step.

[0149]

[0150] Final trajectory (m): Left foot (0.00, 0.43) → Right foot (0.36, 0.73) → Left foot (0.91, 0.73) → Right foot (1.49, 0.73) → Left foot (2.10, 0.73) → Right foot (2.66, 0.17) → Left foot (2.66, -0.39) → Right foot (2.66, -0.97)

[0151] (2) Electric field gradient analysis: The step voltage difference between the positive electrodes of the left and right feet is measured by the step voltage difference detection circuit. According to the step voltage difference And the distance between the positive electrode and the negative electrode of the left foot is The distance between the positive electrode and the negative electrode of the right foot is The longitudinal component of the electric field is obtained. .

[0152] Specifically, the longitudinal electric field component is calculated for each step. and transverse electric field components The formula is as follows:

[0153] The voltage detection circuit for the left foot measured the voltage at the positive electrode of the left foot as follows: The voltage of the negative electrode of the left foot is The voltage difference between the two is the voltage difference at the left foot. This reflects the local lateral electric field distribution of the left foot; the voltage detection circuit of the right foot measures the voltage of the positive electrode of the right foot as... The voltage of the right foot negative electrode is The voltage difference between the two is the voltage difference at the right foot. This reflects the local lateral electric field distribution of the right foot; when the stepping foot is the left foot, the step voltage difference... The calculation formula is:

[0154]

[0155] When the right foot steps out, the step voltage difference... The calculation formula is:

[0156]

[0157] The longitudinal component of the electric field is obtained using the following formula. :

[0158]

[0159] When the foot steps out is the left foot, the transverse component of the electric field Expressed as:

[0160]

[0161] When the right foot steps out, the transverse component of the electric field Expressed as:

[0162]

[0163] Finally, an electric field gradient model is established, consisting of a two-dimensional electric field vector. Expressed as the longitudinal component of the electric field and the transverse component of the electric field Superposition:

[0164]

[0165] Multiple groups were measured during the human body's forward movement. , , Multiple two-dimensional electric field vectors were calculated. ;

[0166] The distance between the positive and negative electrodes inside the left foot is... The distance between the positive and negative electrodes inside the right foot is All are 0.1m.

[0167] In this implementation example, the actual location of the leakage current source is: s =(5,0.67), the leakage current is DC (V0=1000V), and the voltage and electric field data (unit: V / m) are shown in Table 3:

[0168] Table 3 Voltage and electric field data

[0169]

[0170] (3) Location function of leakage current source and solution

[0171] To estimate the location of the leakage current source, location coordinates are used. The location of the leakage current source can be calculated using the following formula. :

[0172]

[0173] in, The function to be minimized, To find the modulus sign;

[0174] Coordinates at each walking location The least squares method is used to estimate , The estimated value for:

[0175]

[0176] Will Substitute back into the formula for calculating the location of the leakage current source and eliminate... Transform into a variable containing only the independent variable The objective function is a function of . Using gradient descent to solve, the objective function is:

[0177]

[0178] Position ( , The gradient of ) is:

[0179]

[0180]

[0181] in, , .

[0182] Initialization parameters: Rescuers typically operate close to the point of electrical leakage, therefore the endpoint of the trajectory is used as the initial guessed location: 0 = (2.66, -0.97), set the learning rate to an adaptive value, with an initial value of α = 0.01, which is gradually decreased later, and the number of iterations is 500 to ensure full convergence.

[0183] Convergence result: After iteration, the optimal solution is obtained: =(4.98, 0.65).

[0184] Verification result: Based on the actual location =(5,0.67) Calculation error: Δx=0.02m, Δy=0.02m, the calculated error rate is about 0.4%, which is within a reasonable range. At this time, an alarm is issued indicating that there is a leakage ahead, reminding rescue personnel to detour.

[0185] This implementation example demonstrates how to reconstruct the left and right foot zigzag walking trajectories from raw sensor data and combine this with electric field gradient data to locate leakage current sources. In real-world scenarios, this method can provide rescue personnel with dynamic and highly accurate hazard warning capabilities.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and not to limit them. Although this application has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of this application. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this application should be covered within the protection scope of the claims of this application.

Claims

1. A smart wearable ground leakage current early warning method, characterized in that, include: Step 1: The intelligent computing module reconstructs the zigzag walking trajectory of the left and right feet based on the signals from the accelerometer and geomagnetic sensor; Step 2: Combine the voltage difference signals of the left foot, the right foot, and the step voltage difference to perform electric field gradient analysis and obtain the two-dimensional electric field vector; Step 3: Based on the left and right foot zigzag walking trajectory and the two-dimensional electric field vector, the location of the leakage current source is obtained. When the intelligent calculation module detects a sudden change in the electric field, it sends a signal to the early warning output module, which then issues an alarm and outputs the location of the leakage current source. In step 3, based on the two-dimensional electric field vector and the two-dimensional space coordinates of each step This allows us to determine the location of the leakage current source. The basis of the two-dimensional electric field vector and the two-dimensional space coordinates of each step The location of the leakage current source is obtained, including: Multiple groups were measured during the human body's forward movement. , , Multiple two-dimensional electric field vectors were calculated. ; Combined with position coordinates The location of the leakage current source can be calculated using the following formula. : in, The function to be minimized, To find the modulus sign; Coordinates at each walking location The least squares method is used to estimate , The estimated value for: Will Substitute back into the formula for calculating the location of the leakage current source and eliminate... Transform into a variable containing only the independent variable The location of the leakage current source can be obtained by solving the following formula using gradient descent, grid search, or other optimization methods. : 。 2. The intelligent wearable ground leakage current early warning method according to claim 1, characterized in that, Step 1 includes: Establish a rectangular coordinate system XOY, with due north as the positive direction of the Y-axis and due east as the positive direction of the X-axis. Determine the starting position of the human walking motion. = As the origin of the coordinate system; From the starting point of human walking = Starting from here, the coordinates of each subsequent step in two-dimensional space are: ,in, , and For the first The x and y coordinates of each step, where n is the total number of steps; The first was measured by the accelerometer. Step by step Maximum acceleration within and minimum value The current step size is calculated using the following formula. : in, Indicates the empirical calibration coefficient; The first was measured by a geomagnetic sensor. heading angle of the step The heading angle is the angle between the step direction and true north; through the heading angle and step length Reconstruct the zigzag walking trajectory of the left and right feet, and accumulate the data based on the direction and stride length of each step: When the left foot voltage detection circuit measures the voltage difference of the left foot When the acceleration decreases and the acceleration sensor detects an increase in acceleration, the step is determined to be taken with the left foot; when the right foot voltage detection circuit detects the voltage difference of the right foot... When the acceleration decreases and the acceleration sensor detects an increase in acceleration, it is determined that the step is taken with the right foot, thereby obtaining the relative position of the left and right feet and constructing the zigzag walking trajectory of the left and right feet.

3. The intelligent wearable ground leakage current early warning method according to claim 2, characterized in that, When walking, the direction of each step of the left shoe is perpendicular to the line connecting the positive and negative electrodes of the left foot, and the direction of each step of the right shoe is perpendicular to the line connecting the positive and negative electrodes of the right foot.

4. The intelligent wearable ground leakage current early warning method according to claim 1, characterized in that, Step 2 includes: Step 21: Measure the step voltage difference between the positive electrodes of the left and right feet using the step voltage difference detection circuit. According to the step voltage difference And the distance between the positive electrode and the negative electrode of the left foot is The distance between the positive electrode and the negative electrode of the right foot is The longitudinal component of the electric field is obtained. ; Step 22: Obtain the longitudinal component of the electric field and the transverse component of the electric field Two-dimensional electric field vectors are obtained through the electric field gradient model. .

5. The intelligent wearable ground leakage current early warning method according to claim 4, characterized in that, Step 21 includes: The voltage detection circuit for the left foot measured the voltage at the positive electrode of the left foot as follows: The voltage of the negative electrode of the left foot is The voltage difference between the two is the voltage difference at the left foot. This reflects the local lateral electric field distribution of the left foot; the voltage detection circuit of the right foot measures the voltage of the positive electrode of the right foot as... The voltage of the negative electrode of the right foot is The voltage difference between the two is the voltage difference at the right foot. This reflects the local lateral electric field distribution of the right foot; When the stepping foot is the left foot, the step voltage difference The calculation formula is: When the right foot steps out, the step voltage difference... The calculation formula is: The longitudinal component of the electric field is obtained using the following formula. : in, Step size; Step 22 includes: When the foot steps out is the left foot, the transverse component of the electric field Expressed as: When the right foot steps out, the transverse component of the electric field Expressed as: Establish the following electric field gradient model, with a two-dimensional electric field vector. Expressed as the longitudinal component of the electric field and the transverse component of the electric field Superposition: 。 6. The intelligent wearable ground leakage current early warning method according to claim 1, characterized in that, When using gradient descent, the target loss function is defined as follows: , respectively Find the partial derivative and set the learning rate. The location of the leakage source can be determined by iterating until the objective loss function converges. The target loss function and iterative update formula are as follows: in, For the derivative sign; or, When using the grid search method, within the search area D×D near the human body, the area is divided into grids at intervals of g, for a total of (D 2 / g 2 The location of ) candidate leakage current sources For the location of each candidate leakage power source Calculation function ,turn up The location of the leakage current source can be obtained by finding the minimum value. D represents the length and width of the search area.

7. The intelligent wearable ground leakage current early warning method according to claim 1, 2, 3, 5 or 6, characterized in that, Also includes: When the leakage current source is AC, the voltage detection circuit on the left foot measures the voltage difference on the left foot. Take the peak value of the measured magnitude, and the voltage difference at the right pin. Take the peak value of the measured modulus.

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