Method and system for positioning personnel in wind driven generator

Abstract

The invention discloses a method and a system for positioning personnel in a wind driven generator, and belongs to the field of wind power generation. The positioning system comprises a positioning information acquisition module used for acquiring positioning label information and sending the positioning label information to a positioning coordinate calculation module; the position coordinate calculation module is used for identifying the category of the positioning label information, selecting a positioning algorithm according to the category of the positioning label information, and calculating the position coordinate of the personnel; the position display module is used for displaying the position coordinates of the personnel in the three-dimensional model of the wind driven generator to realize visualization of the position information of the personnel; and the danger early warning module is used for judging whether the personnel enter a dangerous area or not according to the position coordinates of the personnel, and sending out an early warning signal when judging that the personnel enter the dangerous area. According to the positioning system, the positions of personnel in the fan can be accurately positioned in real time, the functions of visual display of personnel position information, historical track playback, dangerous area early warning and the like are realized, and the operation and maintenance safety of the fan is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular to a method and system for positioning personnel inside a wind turbine. Background Art

[0002] As the capacity of wind turbines continues to increase, tower height and nacelle volume also increase, making internal structures more complex. During wind turbine operation and maintenance, workers need to enter the tower and nacelle to perform inspections and maintenance. However, due to the narrow interior space, complex structure, dim lighting, and the risks of working at height, personnel safety issues are becoming increasingly prominent. Traditional safety measures, such as safety belts and safety ropes, have limitations and cannot provide real-time information on personnel location, making it difficult to effectively ensure personnel safety.

[0003] The complex environment inside a wind turbine presents numerous technical challenges for positioning personnel. First, towers can reach heights of 80 to 150 meters, making traditional horizontal positioning algorithms ill-suited to signal attenuation in the vertical dimension. Field measurements show RSSI positioning errors can reach ±3 meters in the vertical direction. Second, because the tower and nacelle are all-metal structures, signal reflectivity exceeds 90%, causing metal multipath interference and resulting in Time of Arrival (TOA) measurement errors as high as 30ns. In a typical indoor environment, TOA errors are typically less than 5ns. Furthermore, during wind turbine operation, tower vibrations can reach 0.5 to 2 mm, directly impacting the stability of the signal propagation path. Finally, when operating in high-altitude, confined spaces, positioning accuracy must reach ±0.5 meters, far exceeding the ±1.5 meters required in typical indoor environments. Furthermore, this accuracy must also meet the 200ms emergency response requirement of the EN50308 standard.

[0004] Therefore, it is necessary to develop a system and method that can accurately locate the position of personnel inside wind turbines in real time, so as to improve the operation and maintenance safety of wind turbines and reduce the occurrence rate of safety accidents. Summary of the Invention

[0005] To overcome the above-mentioned shortcomings, the present invention aims to provide a method and system for locating personnel inside a wind turbine, which can accurately locate the position of personnel inside the wind turbine in real time, and realize functions such as visual display of personnel position information, historical trajectory playback, and dangerous area warning, thereby effectively improving the safety of wind turbine operation and maintenance.

[0006] To achieve the above object, the present invention provides the following technical solutions: The present invention provides a personnel positioning system inside a wind turbine, comprising: The positioning information acquisition module is used to obtain the positioning tag information and send the positioning tag information to the positioning coordinate calculation module; The location coordinate calculation module is used to identify the category of the positioning tag information, select the positioning algorithm according to the category of the positioning tag information, and calculate the location coordinates of the person; A position display module is used to display the personnel's position coordinates inside the three-dimensional model of the wind turbine to visualize the personnel's position information; The danger warning module is used to determine whether a person has entered a danger zone based on the person's location coordinates, and to issue a warning signal when it is determined that a person has entered a danger zone.

[0007] It also includes a data processing module for filtering and denoising the calculated position coordinates of the personnel and then sending them to the position display module; The historical trajectory playback module is used to store the historical location information of personnel entering the wind turbine, which facilitates the tracing and analysis of accidents.

[0008] The positioning information acquisition module includes a positioning tag and a positioning base station; The positioning tag is used to send signals, and people entering the wind turbine wear the positioning tag; The positioning base station is deployed inside the wind turbine and is used to receive the signal sent by the positioning tag, generate positioning tag information, and send the positioning tag information to the position coordinate calculation module; the positioning tag information includes signal strength, the time when the signal arrives at the positioning base station, and the signal identifier, and the signal identifier includes UWB-tower or Bluetooth-cabin; The positioning base station adopts UWB base station, Bluetooth base station and RFID base station to form a hybrid networking positioning system.

[0009] The positioning base station is deployed inside the wind turbine. The specific deployment strategy is as follows: The interior of the wind turbine includes a vertical section of the tower, a cabin area and a transition platform; Deploy UWB base stations from the bottom of the vertical section of the tower, with the spacing between UWB base stations ≤ 30 meters; In the cabin area, a dual-mode Bluetooth base station and an RFID base station are used. One Bluetooth base station is deployed for every 200 square meters in the cabin area, and one RFID base station is deployed at each entrance to the key equipment area. A TOA auxiliary base station is set up on the transition platform, and at least two TOA auxiliary base stations are deployed on the transition platform.

[0010] The positioning algorithms set by the position coordinate calculation module include TOA positioning algorithm, TDOA positioning algorithm, RSSI positioning algorithm and vibration amplitude compensation algorithm.

[0011] The danger warning module includes a danger judgment module and an alarm module; the danger judgment module is used to determine the warning level according to the distance between the position coordinates of the personnel and the boundary of the danger zone; the alarm module is used to issue an alarm prompt according to the warning level.

[0012] The present invention provides a method for locating personnel inside a wind turbine, comprising: Get positioning tag information; Identify the category of the positioning tag information, select a positioning algorithm based on the category of the positioning tag information, and calculate the location coordinates of the person; Display the personnel's location coordinates inside the 3D model of the wind turbine to visualize the personnel's location information; The system determines whether a person has entered a dangerous area based on their location coordinates, and issues an early warning signal if it determines that the person has entered a dangerous area.

[0013] The positioning tag information includes the acquired signal strength, the time when the signal arrives at the positioning base station, and the signal identifier, where the signal identifier includes UWB-tower or Bluetooth-cabin; The identifying the category of the positioning tag information, selecting a positioning algorithm according to the category of the positioning tag information, and calculating the position coordinates of the person include: When the identification positioning tag information is UWB-tower, the TOA algorithm is used to calculate the personnel's position coordinates based on the time the signal reaches the UWB base station. At the same time, when the transition platform amplitude is detected to be ≥0.5mm, the vibration amplitude compensation algorithm is used to correct the time difference of the signal reaching different UWB base stations, and the TDOA algorithm is used to calculate the personnel's position coordinates. When the identification positioning tag information is Bluetooth-cabin, the RSSI positioning algorithm is used to calculate the personnel's location coordinates based on the signal strength reaching the Bluetooth base station. At the same time, when a sudden change in the signal is detected and the fluctuation of the signal strength is greater than 5dBm, a redundancy check is performed to obtain the time when the signal reaches the UWB base station adjacent to the cabin, and the TOA algorithm is used to calculate the personnel's location coordinates. If the deviation between the personnel's location coordinates obtained by the TOA algorithm and the personnel's location coordinates obtained by the RSSI algorithm is greater than 0.5m, the personnel's location coordinates obtained by the TOA algorithm are used as the final location coordinates.

[0014] The position coordinates of the personnel are displayed inside the three-dimensional model of the wind turbine to realize the visualization of the personnel position information, specifically: Establish the mapping relationship between the wind turbine physical coordinate system and the three-dimensional model coordinate system, and determine the coordinate transformation parameters; Converting the position coordinates of the personnel into the three-dimensional model space coordinates according to the conversion parameters; The three-dimensional model space coordinates are rendered into dynamic marker points at the corresponding coordinate positions inside the three-dimensional model of the wind turbine to visualize the personnel location information.

[0015] The method of judging whether a person has entered a dangerous area based on the person's position coordinates and issuing an early warning signal when it is judged that the person has entered a dangerous area is as follows: The warning level is determined based on the distance between the person's location coordinates and the boundary of the danger zone; the warning level is divided into three levels, and the specific classification requirements are as follows: If a person enters within 10 to 50 meters outside the boundary of the danger zone, it will be a Level 1 warning; If a person enters within 10m of the danger zone boundary, it will be a Level 2 warning; If a person enters the dangerous area, it will be a level 3 warning; The first-level warning uses sound prompts, the second-level warning uses sound prompts and light prompts, and the third-level warning uses sound prompts, light prompts and SMS notifications.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The positioning system provided by the present invention is equipped with a positioning information acquisition module and a position coordinate calculation module, which can collect, process, and display personnel location information in real time, helping managers to keep abreast of personnel dynamics and ensure personnel safety and work efficiency. In complex environments, the position coordinate calculation module in the positioning system is equipped with a high-precision positioning algorithm, and the positioning algorithm is determined in combination with the type of positioning tag, significantly improving positioning accuracy and reducing errors caused by environmental interference or equipment limitations. This high-precision positioning capability ensures that managers can accurately and quickly understand the location of personnel, facilitating real-time response to emergencies. The positioning system also includes a position display module that can intuitively display personnel location information within the three-dimensional model of the wind turbine, facilitating managers to quickly locate personnel, greatly improving response speed and decision-making efficiency. The positioning system is equipped with a danger warning module. When personnel enter a designated danger zone, the positioning system automatically issues a warning message, promptly reminding relevant personnel to pay attention to safety. Especially in complex, high-risk environments, the real-time warning mechanism can reduce the occurrence of accidents and ensure the safety of the working environment.

[0017] Furthermore, the positioning system also features a historical trajectory playback module, enabling it to store historical location information and support historical trajectory playback. This not only facilitates post-accident tracing and analysis but also provides valuable historical data for optimizing personnel scheduling and safety measures. By replaying historical trajectory, managers can analyze patterns in personnel behavior, thereby improving the scientific nature and predictability of safety management. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a structural block diagram of the personnel positioning system inside the wind turbine of the present invention.

[0020] Figure 2 This is a flow chart of a method for locating personnel inside a wind turbine according to the present invention; Figure 3 This is a schematic diagram of the deployment of positioning base stations of the personnel positioning system inside a wind turbine according to the present invention. DETAILED DESCRIPTION

[0021] To facilitate understanding of the features and effects of the present invention by those skilled in the art, the following provides a general description and definition of the terms and expressions used in the specification and claims. Unless otherwise indicated, all technical and scientific terms used herein have the ordinary meanings as understood by those skilled in the art regarding the present invention. In the event of conflict, the definitions in this specification shall prevail.

[0022] The theories or mechanisms described and disclosed herein, whether correct or incorrect, should not limit the scope of the present invention in any way, that is, the present invention can be implemented without being limited by any specific theory or mechanism.

[0023] All features, such as values, amounts, contents, and concentrations, described herein as numerical ranges or percentage ranges are provided for simplicity and convenience only. Accordingly, the description of numerical ranges or percentage ranges should be considered to include and specifically disclose all possible subranges and individual values within the range (including integers and fractions).

[0024] In this document, unless otherwise specified, “include,” “including,” “contains,” “has” or similar terms cover the meanings of “consisting of” and “mainly consisting of,” for example, “A includes a” covers the meanings of “A includes a and other” and “A only includes a.”

[0025] In this document, for the sake of brevity, not all possible combinations of the various technical features in each embodiment or example are described. Therefore, as long as there are no contradictions in the combination of these technical features, the various technical features in each embodiment or example can be combined in any way, and all possible combinations should be considered to be within the scope of this specification.

[0026] like Figure 1As shown, the personnel positioning system inside a wind turbine provided by the present invention includes: The positioning information acquisition module is used to obtain the positioning tag information and send the positioning tag information to the positioning coordinate calculation module; The location coordinate calculation module is used to identify the category of the positioning tag information, select the positioning algorithm according to the category of the positioning tag information, and calculate the location coordinates of the person; The data processing module is used to filter and remove noise from the calculated personnel position information to improve the positioning accuracy of the personnel's position coordinates; A position display module is used to display the processed personnel position coordinates inside the three-dimensional model of the wind turbine to realize the visualization of personnel position information; The historical trajectory playback module is used to store the historical location information of personnel entering the wind turbine, which facilitates the tracing and analysis of accidents.

[0027] The danger warning module is used to determine whether a person has entered a dangerous area. If it is determined that a person has entered a dangerous area, an early warning signal will be issued to remind relevant personnel to pay attention to safety.

[0028] In some embodiments, the positioning information acquisition module includes a positioning tag and a positioning base station; the positioning tag is used to send signals regularly, and people entering the wind turbine wear the positioning tag.

[0029] In some embodiments, a positioning base station is deployed inside the wind turbine to receive signals from positioning tags, generate positioning tag information, and send this positioning tag information to the position coordinate calculation module. The positioning tag information includes the acquired signal strength, the time the signal arrives at the positioning base station, and the signal identifier, which may include UWB-tower or Bluetooth-nacelle. The positioning base station utilizes a hybrid positioning system composed of UWB, Bluetooth, and RFID.

[0030] like Figure 3 As shown, positioning base stations are deployed inside the wind turbine. The number of base stations deployed must ensure full signal coverage. The specific deployment strategy is as follows: The interior of the wind turbine includes the vertical section of the tower, the nacelle area and the transition platform; Deploy UWB base stations from the bottom of the vertical section of the tower, with a spacing of ≤30 meters. The metal penetration loss of the UWB base stations is <6dB / m, leveraging the high penetration of the UWB base stations to solve long-distance coverage issues. A dual-mode base station consisting of a Bluetooth base station and an RFID base station is used in the cabin area. The Bluetooth base station is used for dynamic positioning with a positioning accuracy of ±0.5m. The RFID base station is used for identity verification in the key equipment area. When personnel need to enter the gearbox restricted area, permission verification is required. One Bluetooth base station is deployed for every 200 square meters in the cabin area, and one RFID base station is deployed at each entrance to the key equipment area.

[0031] A TOA auxiliary base station is set up on the transition platform. The TOA auxiliary base station is used to eliminate the timing error caused by mechanical vibration. At least two TOA auxiliary base stations are deployed on the transition platform to eliminate vibration interference.

[0032] Personnel entering the wind turbine wear positioning tags, which can periodically send positioning signals to the positioning base station through one or both of UWB, Bluetooth and RFID.

[0033] In some embodiments, the communication path between the positioning information acquisition module and the position coordinate calculation module includes wired or wireless communication to transmit the positioning tag information to the monitoring center; wired communication methods include optical fiber or Ethernet, and wireless communication methods include WiFi or 4G / 5G. The positioning algorithm configured in the position coordinate calculation module includes the TOA positioning algorithm, the TDOA positioning algorithm, the RSSI positioning algorithm, and the vibration amplitude compensation algorithm, and the positioning algorithm is selected based on the signal identification of the positioning tag information.

[0034] In some embodiments, the danger warning module includes a danger judgment module and an alarm module. The danger judgment module is used to determine the warning level based on the distance between the person's position and the boundary of the danger zone. Specifically, there are three levels of warnings, namely: If a person enters within 10 to 50 meters outside the boundary of the danger zone, it will be a Level 1 warning; If a person enters within 10m of the danger zone boundary, it will be a Level 2 warning; When people enter the danger zone, it is a level three warning.

[0035] The alarm module is used to issue alarm prompts based on the warning level. Alarm prompts include audio, lighting, and text message notifications. The audio prompt is achieved by installing a speaker inside the wind turbine to play a warning tone; the lighting prompt is achieved by installing a warning light inside the wind turbine to flash; and the text message notification is achieved by sending the warning information to the personnel's mobile phone. Level 1 warnings use audio prompts, level 2 warnings use audio and lighting prompts, and level 3 warnings use audio, lighting, and text message notifications.

[0036] The position coordinate calculation module, data processing module, position display module, historical trajectory playback module, and danger warning module are integrated into the monitoring center, which can be deployed on a local server or cloud platform.

[0037] like Figure 2 As shown, the method for locating personnel inside a wind turbine provided by the present invention includes: Get positioning tag information; Identify the category of the positioning tag information, select a positioning algorithm based on the category of the positioning tag information, and calculate the location coordinates of the person; The personnel's location coordinates are displayed inside the 3D model of the wind turbine to visualize the personnel's location information.

[0038] The positioning tag information includes signal strength, time when the signal arrives at the positioning base station, and signal identifier, where the signal identifier includes UWB-tower or Bluetooth-cabin. Identifying the type of positioning tag information, selecting a positioning algorithm based on the type of positioning tag information, and calculating the position coordinates of the person include: The positioning algorithms include TOA positioning algorithm, TDOA positioning algorithm, RSSI positioning algorithm and vibration amplitude compensation algorithm; When the identification positioning tag information is UWB-tower, the TOA algorithm is used to calculate the personnel's position coordinates based on the time the signal reaches the UWB base station. At the same time, when the transition platform amplitude is detected to be ≥0.5mm, the vibration amplitude compensation algorithm is used to correct the time difference of the signal reaching different UWB base stations, and the TDOA algorithm is used to calculate the personnel's position coordinates. When the positioning tag information is identified as Bluetooth-cabin, the RSSI positioning algorithm is used to calculate the person's location coordinates based on the signal strength reaching the Bluetooth base station; at the same time, when a metal device is detected causing a signal mutation and the signal strength fluctuation is greater than 5dBm, a redundancy check is performed.

[0039] Redundancy check method: The time it takes for the signal to arrive at the UWB base station adjacent to the cabin is obtained, and the TOA algorithm is used to calculate the personnel's position coordinates. If the deviation between the personnel's position coordinates obtained by the TOA algorithm and the personnel's position coordinates obtained by the RSSI algorithm is greater than 0.5m, the personnel's position coordinates obtained by the TOA algorithm are used as the final position coordinates.

[0040] The TOA (Time of Arrival) positioning algorithm calculates the distance by measuring the time it takes for the signal to travel from the positioning tag to the positioning base station, and then uses triangulation to calculate the position coordinates of the person. Specifically, it includes the following steps: Calculate the distance from the positioning tag to the positioning base station: d i =c•t i (1) Among them, the distance from the positioning tag to the positioning base station i is d i , the signal propagation speed is c, t i is the time it takes for the signal to travel from the positioning tag to the positioning base station i; The coordinates of three or more positioning base stations (x i ,y i ,z i ) and the distance from the positioning tag to the positioning base station i is d i , we can construct the equation group according to formula (2): (xx i ) 2 +(yy i ) 2 +(zz i ) 2 =d i 2 (2) The position coordinates (x, y, z) of the person are obtained by solving the set of equations.

[0041] The TDOA (Time Difference of Arrival) positioning algorithm calculates the distance difference by measuring the time difference between the arrival of the signal at different positioning base stations, and then calculates the position coordinates of the person using the hyperbolic positioning method. Specifically, it includes the following steps: Calculate the distance difference between the positioning tag and the positioning base stations i and j as d ij , the signal propagation speed is c, then: d ij =c•(t i -t j ) (3) Among them, t i is the time when the signal arrives at positioning base station i, t j is the time when the signal arrives at the positioning base station j; The coordinates of three or more positioning base stations (x i ,y i ,z i ) and the distance difference between the positioning tag and the positioning base station i and j is d ij , we can construct the equation group according to formula (4): sqrt((xx i ) 2 +(yy i ) 2 +(zz i ) 2 )-sqrt((xx j ) 2 +(yy j ) 2 +(zz j ) 2 )=d ij (4) The position coordinates (x, y, z) of the person are obtained by solving the set of equations.

[0042] The timing error caused by mechanical vibration is eliminated by the vibration amplitude compensation algorithm. The calculation of the vibration amplitude compensation algorithm is as follows: t corrected =t raw -0.15•sin(2πft) (5) Among them, t corrected The time it takes for the vibration-compensated signal to reach the positioning base station; t raw It is the time it takes for the signal to reach the positioning base station.

[0043] The RSSI (Received Signal Strength Indication) positioning algorithm estimates the distance by measuring the signal strength and then calculates the position coordinates of the person using triangulation. Calculate the distance from the positioning tag to the positioning base station i as d i ,but: d i =10^((P0-RSSI i ) / (10•n)) (6) Among them, P0 is the signal strength at the reference distance d0, RSSI i is the signal strength received by positioning base station i; n is the path loss index; The coordinates of three or more positioning base stations (x i ,y i ,z i ) and the distance from the positioning tag to the positioning base station i is d i , we can construct the equation group according to formula (7): (xx i ) 2 +(yy i ) 2 +(zz i ) 2 =d i 2 (7) The position coordinates (x, y, z) of the person are obtained by solving the set of equations.

[0044] The calculated position coordinates (x, y, z) of the personnel are displayed inside the 3D model of the wind turbine. This is achieved through the following process: Establish the mapping relationship between the physical coordinate system of the wind turbine and the three-dimensional model coordinate system, and determine the coordinate transformation parameters; Converting the position coordinates of the personnel into the three-dimensional model space coordinates according to the conversion parameters; The three-dimensional model space coordinates are rendered into dynamic markers at corresponding coordinate positions inside the three-dimensional model of the wind turbine, and the visualization results are output through the display device to realize the visualization of personnel location information.

[0045] The method also includes issuing an alarm when a person enters a dangerous area. The specific early warning method includes: The warning level is determined based on the distance between the personnel's location coordinates and the boundary of the danger zone, and a warning prompt is issued. The warning level is divided into three levels, and the specific classification requirements are as follows: If a person enters within 10 to 50 meters outside the boundary of the danger zone, it will be a Level 1 warning; If a person enters within 10m of the danger zone boundary, it will be a Level 2 warning; When people enter the danger zone, it is a level three warning.

[0046] The first-level warning uses sound prompts, the second-level warning uses sound prompts and light prompts, and the third-level warning uses sound prompts, light prompts and SMS notifications.

[0047] This method is that when workers enter the interior of the wind turbine, they wear positioning tags. The positioning tags periodically transmit positioning signals. The positioning base station receives the positioning tag information transmitted by the positioning tag, and transmits the positioning tag information to the position coordinate calculation module. The position coordinate calculation module calculates the position coordinates of the personnel based on the received data, and the position display module displays the position of the personnel. At the same time, the system provided by the present invention can also perform operations such as storage and analysis. Regularly check the operating status of the positioning base station, positioning tags and signal transmission network to ensure the normal operation of the system. Regularly back up system data to prevent data loss. Upgrade and maintain the system software according to actual needs.

[0048] Example 1: UWB-Tower Algorithm Selection When a worker enters the tower, they wear a UWB positioning tag, which periodically transmits a pulse signal. A UWB base station inside the tower receives the signal and records the time it takes for the signal to arrive at the positioning base station (TOA data), which is then uploaded to the position coordinate calculation module via the optical fiber network. The position coordinate calculation module detects the signal as "UWB-tower" and uses the TOA algorithm by default to calculate the worker's position coordinates. If the vibration sensor indicates that the transition platform's amplitude is ≥0.5mm, the TDOA algorithm automatically switches to calculate the worker's position coordinates. A vibration compensation formula is applied to correct for the time difference in signal arrival at different UWB base stations. The output is the worker's position coordinates (accuracy ±0.5m).

[0049] Example 2: Bluetooth-Cabin Algorithm Selection As a worker moves within the cabin, the Bluetooth base station continuously receives RSSI signals. The location coordinate calculation module identifies the signal as "Bluetooth - Cabin" and uses the RSSI algorithm to calculate the worker's location in real time. If a metal device is detected causing a sudden change in the signal, such as a signal strength fluctuation (RSSI fluctuation) greater than 5dBm, redundancy verification is performed based on the signal's arrival time at the adjacent UWB base station in the cabin. Output: The worker's location coordinates (accuracy ±0.3m).

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art may still modify or make equivalent substitutions to the specific implementations of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention are within the scope of protection of the claims of the present invention to be approved.

Claims

1. A personnel positioning system inside a wind turbine, characterized in that: include: The positioning information acquisition module is used to obtain the positioning tag information and send the positioning tag information to the positioning coordinate calculation module; The location coordinate calculation module is used to identify the category of the positioning tag information, select the positioning algorithm according to the category of the positioning tag information, and calculate the location coordinates of the person; A position display module is used to display the personnel's position coordinates inside the three-dimensional model of the wind turbine to visualize the personnel's position information; The danger warning module is used to determine whether a person has entered a danger zone based on the person's location coordinates, and to issue a warning signal when it is determined that a person has entered a danger zone.

2. The personnel positioning system inside a wind turbine according to claim 1, characterized in that: Also includes: The data processing module is used to filter and remove noise from the calculated position coordinates of the personnel and then send them to the position display module; The historical trajectory playback module is used to store the historical location information of personnel entering the wind turbine, which facilitates the tracing and analysis of accidents.

3. The personnel positioning system inside a wind turbine according to claim 1, characterized in that: The positioning information acquisition module includes a positioning tag and a positioning base station; The positioning tag is used to send signals, and people entering the wind turbine wear the positioning tag; The positioning base station is deployed inside the wind turbine and is used to receive the signal sent by the positioning tag, generate positioning tag information, and send the positioning tag information to the position coordinate calculation module; the positioning tag information includes signal strength, the time when the signal arrives at the positioning base station, and the signal identifier, and the signal identifier includes UWB-tower or Bluetooth-cabin; The positioning base station adopts UWB base station, Bluetooth base station and RFID base station to form a hybrid networking positioning system.

4. The personnel positioning system inside a wind turbine according to claim 3, characterized in that: The positioning base station is deployed inside the wind turbine. The specific deployment strategy is as follows: The interior of the wind turbine includes a vertical section of the tower, a cabin area and a transition platform; Deploy UWB base stations from the bottom of the vertical section of the tower, with the spacing between UWB base stations ≤ 30 meters; In the cabin area, a dual-mode Bluetooth base station and an RFID base station are used. One Bluetooth base station is deployed for every 200 square meters in the cabin area, and one RFID base station is deployed at each entrance to the key equipment area. A TOA auxiliary base station is set up on the transition platform, and at least two TOA auxiliary base stations are deployed on the transition platform.

5. The personnel positioning system inside a wind turbine according to claim 1, characterized in that: The positioning algorithms set by the position coordinate calculation module include TOA positioning algorithm, TDOA positioning algorithm, RSSI positioning algorithm and vibration amplitude compensation algorithm.

6. The personnel positioning system inside a wind turbine according to claim 1, characterized in that: The danger warning module includes a danger judgment module and an alarm module; the danger judgment module is used to determine the warning level according to the distance between the position coordinates of the personnel and the boundary of the danger zone; the alarm module is used to issue an alarm prompt according to the warning level.

7. A method for locating personnel inside a wind turbine, characterized in that: include: Get positioning tag information; Identify the category of the positioning tag information, select a positioning algorithm based on the category of the positioning tag information, and calculate the location coordinates of the person; Display the personnel's location coordinates inside the 3D model of the wind turbine to visualize the personnel's location information; The system determines whether a person has entered a dangerous area based on their location coordinates, and issues an early warning signal if it determines that the person has entered a dangerous area.

8. The method for locating personnel inside a wind turbine according to claim 7, characterized in that: The positioning tag information includes the acquired signal strength, the time when the signal arrives at the positioning base station and the signal identifier, the signal identifier includes UWB-tower or Bluetooth-cabin; The identifying the category of the positioning tag information, selecting a positioning algorithm according to the category of the positioning tag information, and calculating the position coordinates of the person include: When the identification positioning tag information is UWB-tower, the TOA algorithm is used to calculate the personnel's position coordinates based on the time the signal reaches the UWB base station. At the same time, when the transition platform amplitude is detected to be ≥0.5mm, the vibration amplitude compensation algorithm is used to correct the time difference of the signal reaching different UWB base stations, and the TDOA algorithm is used to calculate the personnel's position coordinates. When the identification positioning tag information is Bluetooth-cabin, the RSSI positioning algorithm is used to calculate the personnel's location coordinates based on the signal strength reaching the Bluetooth base station. At the same time, when a sudden change in the signal is detected and the fluctuation of the signal strength is greater than 5dBm, a redundancy check is performed to obtain the time when the signal reaches the UWB base station adjacent to the cabin, and the TOA algorithm is used to calculate the personnel's location coordinates. If the deviation between the personnel's location coordinates obtained by the TOA algorithm and the personnel's location coordinates obtained by the RSSI algorithm is greater than 0.5m, the personnel's location coordinates obtained by the TOA algorithm are used as the final location coordinates.

9. The method for locating personnel inside a wind turbine according to claim 7, characterized in that: The position coordinates of the personnel are displayed inside the three-dimensional model of the wind turbine to realize the visualization of the personnel position information, specifically: Establish the mapping relationship between the wind turbine physical coordinate system and the three-dimensional model coordinate system, and determine the coordinate transformation parameters; Converting the position coordinates of the personnel into the three-dimensional model space coordinates according to the conversion parameters; The three-dimensional model space coordinates are rendered into dynamic marker points at the corresponding coordinate positions inside the three-dimensional model of the wind turbine to visualize the personnel location information.

10. The method for locating personnel inside a wind turbine according to claim 7, characterized in that: The method of judging whether a person has entered a dangerous area based on the person's position coordinates and issuing an early warning signal when it is judged that the person has entered a dangerous area is as follows: The warning level is determined based on the distance between the person's location coordinates and the boundary of the danger zone; the warning level is divided into three levels, and the specific classification requirements are as follows: If a person enters within 10 to 50 meters outside the boundary of the danger zone, it will be a Level 1 warning; If a person enters within 10m of the danger zone boundary, it will be a Level 2 warning; If a person enters the dangerous area, it will be a level 3 warning; The first-level warning uses sound prompts, the second-level warning uses sound prompts and light prompts, and the third-level warning uses sound prompts, light prompts and SMS notifications.

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