CN108877296A - A kind of collision avoidance system based on Internet of Things - Google Patents
A kind of collision avoidance system based on Internet of Things Download PDFInfo
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- CN108877296A CN108877296A CN201810860036.5A CN201810860036A CN108877296A CN 108877296 A CN108877296 A CN 108877296A CN 201810860036 A CN201810860036 A CN 201810860036A CN 108877296 A CN108877296 A CN 108877296A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The invention discloses a kind of collision avoidance systems based on Internet of Things, several locating base stations and positioning label are equipped in piping lane, positioning label includes the UWB range finder module connecting with control module, locating base station includes the UWB range finder module connecting with signal processing module, obtains location data between locating base station and positioning label with UWB communication modes；Signal processing module, by the location data of other a certain range of positioning labels, feeds back to the control module of the positioning label centered on any positioning label.It has fully considered the influence that the operating environment of high temperature in power construction piping lane, high humility, high RST interference and its poor visibility detects sensor tag node signal, its accurate positioning, low energy consumption, monitoring overall effect is good, multilayer early warning mechanism synergistic effect, effectively reduce mutual risk of collision, the safety of operation is improved, there is important engineering significance and application value.
Description
Technical field
The present invention relates to a kind of collision avoidance systems, and in particular to a kind of collision avoidance system based on Internet of Things belongs to electric power
Piping lane construction field.
Background technique
It is opposite to solve movement of population and employment point as the rapid development of China's economy, urban population sharply increase
Concentrate and give environment etc. bring pressure, meet National Environmental variation demand, carry out various underground engineerings become must
Right trend.
Tunnel piping lane as underpass engineering works with its unique advantage, show apparent growth trend.Electricity
Power, which is transmitted, the tunnels piping lane cabling requirement such as also often had river, lakebed, wears mountain in operation.
Tunnel piping lane engineering is present in arduous complex environment more, in practice of construction operation process vulnerable to the hydrology
The problems such as influence of matter condition, piping lane inner air and insufficient light, high humility and high RST interfere at the same time, also exacerbates
Difficulty of construction.The significant challenge that construction accident takes place frequently as tunnel piping lane engineering development.
The construction operation haulage vehicle of power transmission undertakes heavy burden in power transmission operation in piping lane in piping lane, often carries
Extra-high voltage instrument, if car slipping occurs, the collision accidents such as knock into the back, thrust into will cause the safety of life and property of operating personnel
Heavy losses guarantee that the safety work of construction operation haulage vehicle in piping lane is to realize the important foundation of electric power tunnel transport.
However in recent years, since site safety monitoring is not in place, comprehensive, scientific and operating personnel's safety precaution meaning
The weakness of knowledge, so that working truck collision accident takes place frequently.
A set of it can be realized in complex environment perceptual positioning, height monitoring, scientific and reasonable, efficiently comprehensively so establishing
Collision avoidance system carry out the potential risk in cancel job, have important practical value and practical significance.
Currently, outdoor GPS positioning technology is very mature, but for interfering and the complicated ring such as decaying with high-intensity signal
It operation and is not suitable in the piping lane of border problem；Conventional truck early warning radar is touched frequently with laser, camera video radar to reduce
Risk is hit, the disadvantage is that detection range is short, along with the problems such as there are dust, low visibility in tunnel, early warning effect is poor；Together
When, vehicle reminds the anticollision means of surrounding vehicles and personnel inefficient single by loudspeaker in piping lane, vehicle and personnel cannot and
The relative distance and speed of Shi Zhidao and other vehicles, it is difficult to make a response in time and take emergency workaround.
In conclusion there are serious defects in secure context for the construction hauling operation in the piping lanes such as electric power transport.
Summary of the invention
To solve the deficiencies in the prior art, the purpose of the present invention is to provide one kind.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of collision avoidance system based on Internet of Things, piping lane is interior to be equipped with several locating base stations and positioning label,
The positioning label includes the UWB range finder module connecting with control module,
The locating base station includes the UWB range finder module connecting with signal processing module,
Location data, including positioning label IP, locating base station are obtained between locating base station and positioning label with UWB communication modes
IP, spacing and orientation；
Signal processing module is centered on any positioning label, by the location data of other a certain range of positioning labels, instead
It feeds the control module of the positioning label.
The built-in LORA module being connect with control module of above-mentioned positioning label, by LORA spread spectrum communication mode with outside piping lane
Gateway base station carry out location data transmission；
The gateway embedded in base station control device, and the LORA module being connect with control device.
The signal processing module of above-mentioned locating base station and the control device of the gateway base station outside piping lane connect, transmission positioning mark
The location data of label.
A kind of collision avoidance system based on Internet of Things, further includes server, and the server includes main control chip and ether
Network chip,
The location data for the positioning label that main control chip receives the transmission of gateway base station by Ethernet generates alarm after analyzing
Information, and through gateway base station to positioning label reverse transfer.
A kind of above-mentioned collision avoidance system based on Internet of Things, further includes visual device, main control chip is passed through Ethernet
The data visualization of feedback, location data and warning information including positioning label.
The fixed point of above-mentioned positioning label includes：Personnel, tool and vehicle.
Further, above-mentioned vehicle is equipped with radar installations, including radar sensor module, risk of collision computing module and pre-
Alert module；
The radar sensor module, is arranged in the front end of vehicle, for obtain in real time vehicle and front obstacle it is opposite away from
From；
The risk of collision computing module obtains vehicle body wheel speed by CAN interface, in conjunction with radar sensor feed back it is opposite away from
From calculating estimated collision time（TTC）And different grades of alarm command is exported according to different TTC；
The warning module, the different grades of alarm command of Receiving collision Risk Calculation module output, issues different grades of
Audible and visual alarm signal.
The localization method of locating base station and positioning label, includes the following steps in above-mentioned piping lane：
A1, the coordinate-system for establishing three dimension location in piping lane install locating base station at a certain distance in tunnel, each fixed
Position base station is respectively equipped with ID；
A2, locating base station send radiofrequency signal by built-in antenna with certain working frequency, sweep to the carry out range of working region
It retouches, to determine in its working region with the presence or absence of positioning label；If it is present the unpaired message of the positioning label is received,
Locating base station and positioning label establish radio frequency communication link, carry out the transmission exchange of azimuth information；
A3, locating base station and positioning label between by UWB communication mode carry out ranging, calculate outgoing label with matched it is each fixed
Relative distance between the base station of position.
The method that above-mentioned server generates warning information, includes the following steps：
B1, server carry out the comparing calculation of the relative position between positioning label according to the location data of each positioning label；
When relative position between B2, positioning label is lower than different preset values, server generates different grades of alarm command；
Alarm command is transmitted to gateway base station by Ethernet by B3, server, then is back to by LORA spread spectrum transmission mode
Positioning label in piping lane；
B4, positioning label export different grades of alarm signal by control module according to the different grades of alarm command received
Breath.
The method of the data visualization of above-mentioned visual device, including steps are as follows：
C1, server each of will receive hexadecimal string from gateway base station, are parsed into a metric number and carry out table
Show positioning label to the position of locating base station；
After C2, server get a positioning label to the position of four locating base stations, three-point fix calculating is taken turns doing, repeatedly
Acquire an average value；
C3, server are sent to the display of visual device using the average value as a specific location in real time by ICP/IP protocol
Program carries out display operation；
The specific location that C4, visual device will acquire calculates display position according to respective function relationship and is shown in visual dress
It sets, to realize the environment Real time dynamic display of visual device.
The invention has the beneficial effects that：
A kind of collision avoidance system based on Internet of Things of the invention, for the deficiency of safe practice in electric power piping lane construction operation,
Staff, construction tool and freight truck are positioned in real time respectively by movably positioning label, mutual essence
True ranging；Wireless sensor network is constituted by each locating base station；And by the wire transmission of locating base station and position label
Safe and stable dual communication mechanism is realized in LORA communication；By server active analysis location data, and actively provide polices at different levels
It notifies breath；Again by being arranged radar installations to the biggish vehicle two of mobility, risk, the real-time locating and monitoring of comprehensive realization,
Safe early warning.
A kind of collision avoidance system based on Internet of Things of the invention, has fully considered high temperature, high humidity in power construction piping lane
The influence that the operating environment of degree, high RST interference and its poor visibility detects sensor tag node signal, accurate positioning,
Low energy consumption, monitoring overall effect is good, and multilayer early warning mechanism synergistic effect effectively reduces mutual risk of collision, improves and make
The safety of industry has important engineering significance and application value.
Detailed description of the invention
Fig. 1 is a kind of topology diagram of collision avoidance system based on Internet of Things of the invention.
Fig. 2 is a kind of modular structure schematic diagram of collision avoidance system based on Internet of Things of the invention.
Specific embodiment
Specific introduce is made to the present invention below in conjunction with the drawings and specific embodiments.
A kind of collision avoidance system based on Internet of Things of the invention, is made of piping lane internal module and piping lane outer mold piece.Piping lane
Internal module includes positioning label, locating base station, radar installations；Piping lane outer mold piece includes gateway base station, server, visual device.
Locating base station in piping lane（Anchor point）With positioning label, it is mainly used under complex environment construction operation in piping lane and transports
The real time location tracking of defeated vehicle and construction worker.
Locating base station is installed at a certain distance in piping lane, the wireless sensor network in piping lane is thus constituted, positions base
It stands and positions and carry out accurate ranging between label with UWB communication modes.Positioning label is carried with operating personnel in piping lane, is applied
Setting positioning label in the driver's cabin of work tool and construction operation haulage vehicle, the positioning label is by UWB range finder module, control mould
Block and LORA module composition；Locating base station includes signal processing module and UWB range finder module.
Radar installations is mainly used for piping lane internal rail row area's vehicle and front obstacle, the reality of operating personnel's relative distance
When detect, and to the real-time early warning of vehicle driver；The radar installations by radar sensor module, risk of collision computing module and
Warning module composition；The driver's cabin front end of construction operation haulage vehicle is arranged in radar sensor, passes through transmitting millimeter wave and divides
Target echo is analysed, realizes the relatively fast of the detection vehicle front barrier barrier mobile at a distance from this vehicle and with front
Degree；Risk of collision computing module is used for tactful calculation processing of alarming, and passes through speed, distance, the orientation for extracting radar sensor
Information, and pass through CAN interface（Vehicle-mounted OBD equipment）It inputs vehicle body wheel speed signal and carries out fusion calculation processing, calculate estimated collision
Time（TTC）And different grades of alarm command is exported according to different TTC；Acousto-optic warning module Receiving collision Risk Calculation mould
The alarm command of block output, issues different grades of audible and visual alarm signal, and driver is reminded to handle danger signal.
Gateway base station outside piping lane is mainly used for collecting the location data for receiving positioning label, then is sent out by Ethernet
It is sent to server.Gateway base station is made of LORA module, control device and Ethernet chip.Positioning label and net in piping lane
It closes base station and realizes remote, low-power consumption data transmission by LORA spread spectrum communication mode, position label for itself and positioning
Base station（Anchor point）Between in the gateway base station that is transferred to outside piping lane by LORA spread spectrum communication mode of the location data that measures.
Server（Engine of positioning）, it is mainly used for simultaneously carrying out data calculating with gateway base station communication, reception location data
Analysis processing, and the alarm by analysis and processing result reverse transfer to positioning label realization to vehicle or personnel's different stage；For
Power construction piping lane operation safety training and behaviour control provide important evidence；Gateway base station passes through Ethernet and server
（Engine of positioning）Carry out data transmission.
Visual device is mainly used for monitoring in real time the construction operation scene in piping lane；Visual device is done by OpenGL
High-performance, the high visual performance of great impact force try hard to shape out, the visualization at construction operation scene in piping lane is positioned in real time and
Monitoring.Server exports the specific location data of data analytical Calculation to the display program of visual device, and program calculates aobvious
Show position and be shown in visual device, to realize the visualization to vehicle in piping lane and personnel's real-time position information.
When specific implementation：
1, STM32F103 microprocessor is integrated on the circuit board of locating base station and DWM1000 positions UWB chip, positions label
Circuit board on integrate DWM1000 positioning UWB chip, STM32F103 microprocessor and LORA chip, the circuit of gateway base station
LORA chip, STM32F103 microprocessor and Ethernet chip are integrated on plate.
2, detection debugging is carried out with integrated circuit board of the multimeter to locating base station, positioning label and gateway base station, met
Job requirement, it is fixed in the box handled well according to circuit board size shape using screwdriver, screw and circuit board connect
Pick out prevents circuit board short-circuit with cushion rubber isolation.
3, the distance in tunnel every 100 meters installs the good locating base station of mounted box, guarantees that route connects during wiring
It is well clear with cabling to touch.The positioning label of operating personnel should carry out unified wearing, and position can choose the left arm pocket of work clothes
In.The positioning label of construction transmission working truck is installed in the vehicle in the fixation position in portion, and is carried out with vehicle braking interface
Connection.Gateway base station is placed in the outer work station of piping lane nearby and establishes and connect with the ether of server selection engine.Simultaneously to service
Device and data show that visual device establishes data connection.
4, the radar sensor of vehicle-mounted forward direction radar installations is mounted on to the bumper center of each vehicle, logo can be placed in
Or bumper rear, 30cm can also be moved to left or move to right, and carry out radar sensor and risk of collision computing module and acousto-optic are pre-
The connection of alert module guarantees that wiring circuit contact is good.
5, it after enabling system, is measured relatively between the positioning label and four locating base stations in piping lane using UWB location technology
Relative position information is transmitted in the gateway base station outside piping lane by distance, positioning label by LORA spread spectrum communication transmission mode,
Gateway base station is sent to server selection engine by Ethernet and carries out parsing meter after collecting the range data for receiving positioning label
Calculation processing, the positioning label that server selection engine is measured using UWB location technology is relative between two different locating base stations
The time difference of Radio Signal Propagation, so that range difference of the positioning label relative to four groups of locating base stations is obtained, by certain
Exact Equation calculates the specific location of outgoing label, and more specific location information is sent to visual device in real time by ICP/IP protocol
Display program in carry out display operation, the specific location data that visual device will acquire are calculated according to respective function relationship
Display position is simultaneously shown on visual device, to realize the environment Real time dynamic display of visual device.
6, server carries out the comparison meter of relative position between positioning label according to the specific location of calculated positioning label
Calculate, when the relative position between label be lower than different preset values when, issue different grades of anti-collision alarm order and by with
Too net is transmitted to gateway base station, then positioning label and the operation of vehicle fitting in piping lane are back to by LORA spread spectrum transmission mode
Positioning label with personnel.Positioning label is instructed according to the different grades of anti-collision alarm received, to personnel and vehicle
Export different grades of alarm.
7, further, vehicle positioning label can be connected with the system of vehicle, especially emergency braking system, when alarm etc.
When grade is highest, the warning information that vehicle positioning label generates directly can make emergency brake operations through Vehicular system.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the above embodiments do not limit the invention in any form, all obtained by the way of equivalent substitution or equivalent transformation
Technical solution is fallen within the scope of protection of the present invention.
Claims (10)
1. a kind of collision avoidance system based on Internet of Things, which is characterized in that several locating base stations and positioning label are equipped in piping lane,
The positioning label includes the UWB range finder module connecting with control module,
The locating base station includes the UWB range finder module connecting with signal processing module,
Location data, including positioning label IP, locating base station are obtained between locating base station and positioning label with UWB communication modes
IP, spacing and orientation；
Signal processing module is centered on any positioning label, by the location data of other a certain range of positioning labels, instead
It feeds the control module of the positioning label.
2. a kind of collision avoidance system based on Internet of Things according to claim 1, which is characterized in that in the positioning label
The LORA module connecting with control module is set, location data is carried out by the gateway base station outside LORA spread spectrum communication mode and piping lane
Transmission；
The gateway embedded in base station control device, and the LORA module being connect with control device.
3. a kind of collision avoidance system based on Internet of Things according to claim 1, which is characterized in that the locating base station
Signal processing module is connect with the control device of the gateway base station outside piping lane, the location data of transmission positioning label.
4. a kind of collision avoidance system based on Internet of Things according to claim 2 or 3, which is characterized in that further include service
Device, the server include main control chip and Ethernet chip,
The location data for the positioning label that main control chip receives the transmission of gateway base station by Ethernet generates alarm after analyzing
Information, and through gateway base station to positioning label reverse transfer.
5. a kind of collision avoidance system based on Internet of Things according to claim 4, which is characterized in that further include visually filling
It sets, the data visualization that main control chip is fed back by Ethernet, location data and warning information including positioning label.
6. a kind of collision avoidance system based on Internet of Things according to claim 1, which is characterized in that the positioning label
Fixed point includes：Personnel, tool and vehicle.
7. a kind of collision avoidance system based on Internet of Things according to claim 2, which is characterized in that the vehicle is equipped with thunder
Up to device, including radar sensor module, risk of collision computing module and warning module；
The radar sensor module, is arranged in the front end of vehicle, for obtain in real time vehicle and front obstacle it is opposite away from
From；
The risk of collision computing module obtains vehicle body wheel speed by CAN interface, in conjunction with radar sensor feed back it is opposite away from
From calculating estimated collision time（TTC）And different grades of alarm command is exported according to different TTC；
The warning module, the different grades of alarm command of Receiving collision Risk Calculation module output, issues different grades of
Audible and visual alarm signal.
8. the localization method of locating base station according to claim 1 and positioning label, which is characterized in that including following step
Suddenly：
A1, the coordinate-system for establishing three dimension location in piping lane install locating base station at a certain distance in tunnel, each fixed
Position base station is respectively equipped with ID；
A2, locating base station send radiofrequency signal by built-in antenna with certain working frequency, sweep to the carry out range of working region
It retouches, to determine in its working region with the presence or absence of positioning label；If it is present the unpaired message of the positioning label is received,
Locating base station and positioning label establish radio frequency communication link, carry out the transmission exchange of azimuth information；
A3, locating base station and positioning label between by UWB communication mode carry out ranging, calculate outgoing label with matched it is each fixed
Relative distance between the base station of position.
9. the method that server according to claim 4 generates warning information, which is characterized in that include the following steps：
B1, server carry out the comparing calculation of the relative position between positioning label according to the location data of each positioning label；
When relative position between B2, positioning label is lower than different preset values, server generates different grades of alarm command；
Alarm command is transmitted to gateway base station by Ethernet by B3, server, then is back to by LORA spread spectrum transmission mode
Positioning label in piping lane；
B4, positioning label export different grades of alarm signal by control module according to the different grades of alarm command received
Breath.
10. the method for the data visualization of visual device according to claim 5, which is characterized in that including steps are as follows：
C1, server each of will receive hexadecimal string from gateway base station, are parsed into a metric number and carry out table
Show positioning label to the position of locating base station；
After C2, server get a positioning label to the position of four locating base stations, three-point fix calculating is taken turns doing, repeatedly
Acquire an average value；
C3, server are sent to the display of visual device using the average value as a specific location in real time by ICP/IP protocol
Program carries out display operation；
The specific location that C4, visual device will acquire calculates display position according to respective function relationship and is shown in visual dress
It sets, to realize the environment Real time dynamic display of visual device.
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| CN113490273B (en) * | 2021-09-08 | 2021-12-28 | 中铁工程服务有限公司 | UWB positioning-based rail vehicle sliding early warning method, system and medium |
| CN113490273A (en) * | 2021-09-08 | 2021-10-08 | 中铁工程服务有限公司 | UWB positioning-based rail vehicle sliding early warning method, system and medium |
| WO2023035341A1 (en) * | 2021-09-08 | 2023-03-16 | 中铁工程服务有限公司 | Three-dimensional positioning method and system for subway construction site, and medium |
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| CN113570907A (en) * | 2021-09-23 | 2021-10-29 | 深圳华云时空技术有限公司 | UWB-based pedestrian and vehicle anti-collision method and system in tunnel |
| CN113570907B (en) * | 2021-09-23 | 2021-12-17 | 深圳华云时空技术有限公司 | UWB-based pedestrian and vehicle anti-collision method and system in tunnel |
| CN114390671A (en) * | 2021-12-08 | 2022-04-22 | 珠海格力电器股份有限公司 | Object positioning method and device, electronic equipment and storage medium |
| CN114245455A (en) * | 2022-01-06 | 2022-03-25 | 吉林大学 | Wireless positioning time synchronization method based on LoRa technology |
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