Building construction personnel positioning method and system based on ultra wide band technology

Abstract

The invention discloses a building constructor positioning method and system based on an ultra wide band technology. The method comprises the following steps: installing ultra-wide-band hardware equipment on a construction site, and acquiring the distance between the position of an ultra-wide-band base station and a constructor by using a laser range finder in a test stage; meanwhile, ultra-wide-band signals are transmitted and received by using ultra-wide-band hardware equipment, so that real-time positioning of constructors is realized; calculating a signal strength deviation index and a consistency index of the ultra-wideband hardware equipment, setting weight parameters of the signal strength deviation index and the consistency index, and determining a comprehensive error of transmitting and receiving the ultra-wideband signals by the ultra-wideband hardware equipment; taking the minimum comprehensive error as a target function, and solving by using an improved big sugarcane-mouse algorithm to obtain an optimal weight parameter of the comprehensive error of transmitting and receiving the ultra-wideband signal by the ultra-wideband hardware equipment; and obtaining accurate positioning of the constructor according to the target function. According to the invention, the positioning precision of constructors can be improved, so that construction accidents are effectively reduced.

Description

Technical Field

[0001] The present invention relates to a construction worker positioning method and system based on ultra-wideband technology, aiming to improve the safety of construction workers and reduce the occurrence of construction accidents. Background Art

[0002] The safety of construction workers is paramount during construction, especially in multi-story buildings, where complex environments such as high-altitude work, deep foundation pits, and tower crane operations pose potential safety threats. However, existing positioning technologies, such as GPS and Wi-Fi, suffer from insufficient positioning accuracy and unstable signals in multi-story construction environments. This makes it difficult to accurately monitor the location of construction workers and effectively warn of potential dangers.

[0003] To address these issues, this invention leverages the high precision and strong anti-interference capabilities of ultra-wideband technology, combining a height measurement module, a plane coordinate positioning module, a data processing module, and an alarm module to create a highly efficient construction worker positioning and early warning system. Ultra-wideband hardware transmits and receives signals for precise positioning. Furthermore, an improved Greater Cane Rat algorithm continuously optimizes weighting parameters, further enhancing positioning accuracy and ensuring the safety of construction workers in complex multi-story building environments. Summary of the Invention

[0004] Purpose of the invention: In response to the problems existing in the prior art, the present invention provides a method and system for positioning construction workers based on ultra-wideband technology. The method and system can use the minimum error as the objective function based on the measurement data, and use the improved greater cane rat algorithm to solve the objective function, thereby obtaining the optimal weight parameters, further providing more accurate positioning, and providing construction workers with more precise positioning feedback in real-time monitoring scenarios.

[0005] Technical solution: The present invention provides a method for locating construction workers based on ultra-wideband technology, comprising the following steps:

[0006] Step 1: Install the UWB hardware equipment at the construction site. During the testing phase, use a laser rangefinder to obtain the distance d between the UWB base station and the construction workers. ij ;

[0007] Step 2: Use ultra-wideband hardware equipment to transmit and receive ultra-wideband signals at the same time to achieve real-time positioning of construction workers and obtain the initial real-time location of construction workers (x j ,y j ,z j );

[0008] Step 3: Calculate the signal strength deviation index and consistency index of the UWB hardware device, set the signal strength deviation index and consistency index weight parameters, and further determine the comprehensive error of the UWB hardware device in transmitting and receiving UWB signals;

[0009] Step 4: Based on the comprehensive error of the UWB hardware device transmitting and receiving UWB signals, the minimum error is used as the objective function and the improved large cane rat algorithm is used to solve the problem to obtain the optimal weight parameters of the comprehensive error of the UWB hardware device transmitting and receiving UWB signals;

[0010] Step 5: Determine the comprehensive error of transmitting and receiving ultra-wideband signals by the optimal ultra-wideband hardware device based on the optimal weight parameters, and further obtain the precise positioning of the construction workers based on the objective function.

[0011] Furthermore, the ultra-wideband hardware equipment includes multiple ultra-wideband base stations installed at the construction site. Construction workers wear ultra-wideband tags, the tags emit ultra-wideband signals, and the base stations receive the ultra-wideband signals.

[0012] Furthermore, the signal strength deviation index and consistency index of the ultra-wideband hardware device in step 2 are specifically as follows:

[0013] Signal Strength Deviation Index DI ij The calculation formula is as follows:

[0014]

[0015] Where, RSSI ij is the received signal strength; μ i is the mean signal strength of base station i; σ i is the standard deviation; M is the number of measurements of a single base station;

[0016] The calculation formula for the consistency index CI of the time difference TDOA value between the tag sending the signal and the base station receiving the signal is as follows:

[0017]

[0018] Where, TDOA kj The time difference measured for different base stations; is the average value of TDOA values of all base stations for tag j, is the standard deviation of TDOA values; N is the total number of base stations;

[0019] The comprehensive error σ between transmitting and receiving UWB signals by UWB hardware equipment ij The calculation formula is as follows:

[0020] σ ij =ω1·DI ij +ω2·CI

[0021] Where ω1 and ω2 are weight parameters, which are used to adjust the importance of the two indices in the comprehensive error evaluation.

[0022] Furthermore, the objective function in step 3 is:

[0023]

[0024] Where, d ij is the distance between the UWB base station and the UWB tag during the test phase; d′ ij Real-time distance measurement between the UWB base station and the UWB tag; (x i ,y i ,z i ) is the coordinate position of the i-th ultra-wideband base station; (x j ,y j ,z j ) is the real-time measured coordinate position of the jth UWB tag.

[0025] Furthermore, the weight parameters ω1 and ω2 are used as optimization variables, and the improved large cane rat algorithm is used for optimization, which includes the following steps:

[0026] Step 1) Initialize the population and parameters. The initial position of the cane rat in the search space is randomly assigned, and its population matrix is as follows:

[0027]

[0028] Where, X is the population of giant cane rat; i,j is the value of the j-th question variable posed by the i-th cane rat; n is the total number of members of the zebra population; d is the number of decision variables;

[0029] Step 2) The randomly generated cane rat positions are substituted into the objective function for evaluation, where each cane rat represents a candidate solution to the optimization problem;

[0030] Step 3) Update the population members and determine the new position of the remaining mice in the search space based on the position of the dominant male mouse, that is, update the optimal weight parameters ω1 and ω2. The position formula is as follows:

[0031]

[0032]

[0033] α=2×r×rand-r

[0034] β=2×r×μ-r

[0035] Where, X i is the new position of the i-th cane rat, is the value of the jth dimension of the i-th cane rat; x i,j is the value of the current position of the cane rat; x k,j The position of the dominant male mouse; x m,j is the position of the randomly selected female mouse; F i new is the latest objective function value; F i is the current objective function value; is the objective function value of the dominant male rat; C is a random number defined within the boundary of the problem space; r is the effect of simulating abundant food sources; C iter is the current iteration number; MaxIter is the maximum iteration number; α is the coefficient for simulating the reduction of food sources; β is the coefficient for prompting cane rats to move to other available abundant food sources in the breeding area; μ is a random number between [1,4]; rand is a random number between [0,1].

[0036] Step 4) Update the search space and develop areas with abundant food sources based on the location of the female mouse, that is, update the optimal weight parameters ω1 and ω2. The position formula is as follows:

[0037]

[0038] Step 5) Determine whether the termination condition is met. If not, return to step 3); if the constraint condition is met, go to step 6);

[0039] Step 6) Output the optimal weight parameters ω1 and ω2.

[0040] Furthermore, step 4) is improved by introducing the Cauchy mutation strategy to expand the search scale of the large cane rat algorithm, thereby improving the algorithm's ability to escape from local optimality. The improved formula is as follows:

[0041]

[0042] Where, For the new and improved location; is the optimal position; cauchy(0,1) is the standard Cauchy distribution function; Indicates multiplication.

[0043] The present invention also discloses a construction worker positioning system based on ultra-wideband technology, comprising an ultra-wideband hardware device, a laser rangefinder, a preliminary position acquisition module and a data processing unit;

[0044] The ultra-wideband hardware equipment is installed at the construction site, including multiple ultra-wideband base stations installed at the construction site. Construction workers wear ultra-wideband tags, which emit ultra-wideband signals and the base stations receive them.

[0045] The laser rangefinder is used to obtain the location of the ultra-wideband base station and the construction personnel during the testing phase. The distance between the base station and the construction personnel is measured using the laser rangefinder with each ultra-wideband base station as the origin.

[0046] The preliminary location acquisition module is used to use ultra-wideband hardware equipment to transmit and receive ultra-wideband signals to achieve real-time positioning of construction workers and obtain the preliminary real-time location of construction workers;

[0047] The data processing module executes the construction worker positioning method and system based on ultra-wideband technology as described in any one of claims 1 to 6 based on the distance between the base station and the construction worker determined by the laser rangefinder and the preliminary position of the construction worker determined by the preliminary position acquisition module.

[0048] Furthermore, it also includes an alarm module. When construction workers are located within the rotation radius of the tower crane, within 1m of the top of the foundation pit, and at the edge of the material storage area, the alarm module sends out sound and light alarm signals.

[0049] Beneficial effects:

[0050] 1. The present invention combines the high-precision positioning characteristics of ultra-wideband technology. During the testing phase, a laser rangefinder is used to initially detect the distance between the base station and the tag. Then, the location of the construction worker is preliminarily obtained through the transmission and reception signals between the base station and the tag. With minimum error as the objective function, historical measurement data is used, and the weight parameters are continuously updated iteratively through an improved great cane rat algorithm to obtain the optimal weight parameters that minimize the error, thereby determining the precise location of the construction worker carrying the tag. The present invention can accurately determine the three-dimensional position of the construction worker in a multi-story building.

[0051] 2. The present invention improves the Great Cane Rat Algorithm by introducing the Cauchy mutation strategy to expand the search scale, significantly enhancing the ability to escape local optimality, ensuring that the system operates stably and efficiently in complex construction environments, and providing reliable protection for the positioning and early warning of construction personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a flow chart of the method for locating construction workers based on ultra-wideband technology of the present invention;

[0053] Figure 2 This is a flow chart of the improved cane rat algorithm described in the present invention. DETAILED DESCRIPTION

[0054] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0055] like Figure 1As shown, the present invention discloses a method and system for positioning construction workers based on ultra-wideband technology, including ultra-wideband hardware equipment, a laser rangefinder, a preliminary position acquisition module, a data processing unit and an alarm module.

[0056] Ultra-wideband hardware equipment is installed at the construction site to transmit and receive ultra-wideband signals to achieve preliminary positioning of construction workers.

[0057] During the testing phase, a laser rangefinder was used to obtain the distance d between the UWB base station and the construction workers. ij .

[0058] The preliminary location acquisition module uses ultra-wideband hardware equipment to transmit and receive ultra-wideband signals to achieve real-time positioning of construction workers and obtain the preliminary real-time location of construction workers (x j ,y j ,z j ).

[0059] The data processing unit calculates the signal strength deviation index and consistency index of the UWB hardware device, sets weight parameters for the signal strength deviation index and consistency index, and further determines the combined error of the UWB hardware device transmitting and receiving UWB signals. Based on the combined error of the UWB hardware device transmitting and receiving UWB signals, the improved Great Cane Rat Algorithm is used to solve the problem, using the minimum error as the objective function, to obtain the optimal weight parameters for the combined error of the UWB hardware device transmitting and receiving UWB signals. Based on the optimal weight parameters, the optimal combined error of the UWB hardware device transmitting and receiving UWB signals is determined, and the construction workers' precise positioning is further achieved based on the objective function.

[0060] When personnel approach the dangerous area, the alarm module will sound and light alarms to remind construction personnel to pay attention to safety.

[0061] Multiple UWB base stations are installed at the construction site, and construction workers wear UWB tags. The tags emit UWB signals, and the base stations receive them. Signal strength deviation index DI ij The calculation formula is as follows:

[0062]

[0063] in,

[0064]

[0065] Where, RSSI ij is the received signal strength; μ i is the mean signal strength of base station i; σ i is the standard deviation; M is the number of measurements of a single base station.

[0066] The calculation formula for the consistency index CI of the time difference TDOA value between the tag sending the signal and the base station receiving the signal is as follows:

[0067]

[0068] Where, TDOA kj The time difference measured for different base stations; is the average value of TDOA values of all base stations for tag j, is the standard deviation of the TDOA value; N is the total number of base stations.

[0069] The comprehensive error σ between transmitting and receiving UWB signals by UWB hardware equipment ij The calculation formula is as follows:

[0070] σ ij =ω1·DI ij +ω2·CI

[0071] Where ω1 and ω2 are weight parameters, which are used to adjust the importance of the two indices in the comprehensive error evaluation.

[0072] like Figure 2 As shown, the present invention uses weight parameters ω1 and ω2 as optimization variables and adopts the improved large cane rat algorithm for optimization, including the following steps:

[0073] 1) Initialize the population and parameters. The initial position of the cane rat in the search space is randomly assigned, and its population matrix is as follows:

[0074]

[0075] Where, X is the population of giant cane rat; ij is the value of the j-th question variable posed by the i-th cane rat; n is the total number of members of the zebra population; d is the number of decision variables.

[0076] 2) The randomly generated cane rat positions are fed into the objective function for evaluation. Each cane rat represents a candidate solution to the optimization problem. The objective function formula is as follows:

[0077]

[0078] Where, d ij is the distance between the UWB base station and the UWB tag during the test phase; d′ ij Real-time distance measurement between the UWB base station and the UWB tag; (x i ,y i ,z i ) is the coordinate position of the i-th ultra-wideband base station; (x j ,y j ,z j) is the real-time measured coordinate position of the jth UWB tag.

[0079] 3) Update the population members. Determine the new position of the remaining mice in the search space based on the position of the dominant male mouse, that is, update the optimal weight parameters ω1 and ω2. The position formula is as follows:

[0080]

[0081]

[0082] α=2×r×rand-r

[0083] β=2×r×μ-r

[0084] Where, X i is the new position of the i-th cane rat, is the value of the jth dimension of the i-th cane rat; x i,j is the value of the current position of the cane rat; x k,j The position of the dominant male mouse; x m,j is the position of the randomly selected female mouse; F i new is the latest objective function value; F i is the current objective function value; is the objective function value of the dominant male rat; C is a random number defined within the boundary of the problem space; r is the effect of simulating abundant food sources; C iter is the current iteration number; MaxIter is the maximum iteration number; α is the coefficient for simulating the reduction of food sources; β is the coefficient for prompting cane rats to move to other available abundant food sources in the breeding area; μ is a random number between [1,4]; rand is a random number between [0,1].

[0085] 4) Update the search space. Develop areas with abundant food sources based on the location of the female mouse, that is, update the optimal weight parameters ω1 and ω2. The position formula is as follows:

[0086]

[0087] Step 4) is improved by introducing the Cauchy mutation strategy to expand the search scale of the large cane rat algorithm, thereby improving the algorithm's ability to escape local optimality. The improved formula is as follows:

[0088]

[0089] Where, The new position after improvement; X best is the optimal position; cauchy(0,1) is the standard Cauchy distribution function; Indicates multiplication.

[0090] 5) Determine whether the termination condition is met. If not, return to step 3); if the constraint condition is met, go to step 6).

[0091] 6) Output the optimal weight parameters ω1 and ω2.

[0092] The comprehensive error of transmitting and receiving ultra-wideband signals by the best ultra-wideband hardware device is determined based on the optimal weight parameters, and the precise positioning of the construction workers is further obtained based on the objective function.

[0093] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. A method for positioning construction workers based on ultra-wideband technology, characterized in that: The steps include: Step 1: Install the UWB hardware equipment at the construction site. During the testing phase, use a laser rangefinder to obtain the distance d between the UWB base station and the construction workers. ij ; Step 2: Use ultra-wideband hardware equipment to transmit and receive ultra-wideband signals at the same time to achieve real-time positioning of construction workers and obtain the initial real-time location of construction workers (x j ,y j ,z j ); Step 3: Calculate the signal strength deviation index and consistency index of the UWB hardware device, set the signal strength deviation index and consistency index weight parameters, and further determine the comprehensive error of the UWB hardware device in transmitting and receiving UWB signals; Step 4: Based on the comprehensive error of the UWB hardware device transmitting and receiving UWB signals, the minimum error is used as the objective function and the improved large cane rat algorithm is used to solve the problem to obtain the optimal weight parameters of the comprehensive error of the UWB hardware device transmitting and receiving UWB signals; Step 5: Determine the comprehensive error of transmitting and receiving ultra-wideband signals by the optimal ultra-wideband hardware device based on the optimal weight parameters, and further obtain the precise positioning of the construction workers based on the objective function.

2. The method for locating construction workers based on ultra-wideband technology according to claim 1, characterized in that: The ultra-wideband hardware equipment includes multiple ultra-wideband base stations installed at the construction site. Construction workers wear ultra-wideband tags, which emit ultra-wideband signals and the base stations receive them.

3. The method for locating construction workers based on ultra-wideband technology according to claim 2, characterized in that: The signal strength deviation index and consistency index of the ultra-wideband hardware device in step 2 are as follows: Signal Strength Deviation Index DI ij The calculation formula is as follows: Where, RSSI ij is the received signal strength; μ i is the mean signal strength of base station i; σ i is the standard deviation; M is the number of measurements of a single base station; The calculation formula for the consistency index CI of the time difference TDOA value between the tag sending the signal and the base station receiving the signal is as follows: Where, TDOA kj The time difference measured for different base stations; is the average value of TDOA values of all base stations for tag j, is the standard deviation of TDOA values; N is the total number of base stations; The comprehensive error σ between transmitting and receiving UWB signals by UWB hardware equipment ij The calculation formula is as follows: s ij =ω1·DI ij +ω2·CI Where ω1 and ω2 are weight parameters, which are used to adjust the importance of the two indices in the comprehensive error evaluation.

4. The method for locating construction workers based on ultra-wideband technology according to claim 3, characterized in that: The objective function in step 3 is: Where, d ij is the distance between the UWB base station and the UWB tag during the test phase; d′ ij Real-time distance measurement between the UWB base station and the UWB tag; (x i ,y i ,z i ) is the coordinate position of the i-th ultra-wideband base station; (x j ,y j ,z j ) is the real-time measured coordinate position of the jth UWB tag.

5. The method for locating construction workers based on ultra-wideband technology according to claim 4, characterized in that: The weight parameters ω1 and ω2 are used as optimization variables and the improved large cane rat algorithm is used for optimization, which includes the following steps: Step 1) Initialize the population and parameters. The initial position of the cane rat in the search space is randomly assigned, and its population matrix is as follows: Where, X is the population of giant cane rat; i,j is the value of the j-th question variable posed by the i-th cane rat; n is the total number of members of the zebra population; d is the number of decision variables; Step 2) The randomly generated cane rat positions are substituted into the objective function for evaluation, where each cane rat represents a candidate solution to the optimization problem; Step 3) Update the population members and determine the new position of the remaining mice in the search space based on the position of the dominant male mouse, that is, update the optimal weight parameters ω1 and ω2. The position formula is as follows: α=2×r×rand-r β=2×r×μ-r Where, X i is the new position of the i-th cane rat, is the value of the jth dimension of the i-th cane rat; x i,j is the value of the current position of the cane rat; x k,j The position of the dominant male mouse; x m,j is the position of the randomly selected female mouse; F i new is the latest objective function value; F i is the current objective function value; is the objective function value of the dominant male rat; C is a random number defined within the boundary of the problem space; r is the effect of simulating abundant food sources; C iter is the current iteration number; MaxIter is the maximum iteration number; α is the coefficient for simulating the reduction of food sources; β is the coefficient for prompting cane rats to move to other available abundant food sources in the breeding area; μ is a random number between [1,4]; rand is a random number between [0,1]. Step 4) Update the search space and develop areas with abundant food sources based on the location of the female mouse, that is, update the optimal weight parameters ω1 and ω2. The position formula is as follows: Step 5) Determine whether the termination condition is met. If not, return to step 3); if the constraint condition is met, go to step 6); Step 6) Output the optimal weight parameters ω1 and ω2.

6. The method for locating construction workers based on ultra-wideband technology according to claim 5, characterized in that: Step 4) is improved by introducing the Cauchy mutation strategy to expand the search scale of the large cane rat algorithm, thereby improving the algorithm's ability to escape from local optimality. The improved formula is as follows: Where, For the new and improved location; is the optimal position; cauchy(0,1) is the standard Cauchy distribution function; Indicates multiplication.

7. A construction worker positioning system based on ultra-wideband technology, characterized in that: It includes ultra-wideband hardware equipment, laser rangefinder, preliminary position acquisition module and data processing unit; The ultra-wideband hardware equipment is installed at the construction site, including multiple ultra-wideband base stations installed at the construction site. Construction workers wear ultra-wideband tags, which emit ultra-wideband signals and the base stations receive them. The laser rangefinder is used to obtain the location of the ultra-wideband base station and the construction personnel during the testing phase. The distance between the base station and the construction personnel is measured using the laser rangefinder with each ultra-wideband base station as the origin. The preliminary location acquisition module is used to use ultra-wideband hardware equipment to transmit and receive ultra-wideband signals to achieve real-time positioning of construction workers and obtain the preliminary real-time location of construction workers; The data processing module executes the construction worker positioning method and system based on ultra-wideband technology as described in any one of claims 1 to 6 based on the distance between the base station and the construction worker determined by the laser rangefinder and the preliminary position of the construction worker determined by the preliminary position acquisition module.

8. The construction worker positioning system based on ultra-wideband technology according to claim 9 is characterized in that: It also includes an alarm module, which sends out sound and light alarm signals when construction workers are within the rotation radius of the tower crane, within 1m of the top of the foundation pit, and at the edge of the material storage area.

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