CN109308060A - Workshop resource perception positioning system based on wireless pulses - Google Patents
Workshop resource perception positioning system based on wireless pulses Download PDFInfo
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- CN109308060A CN109308060A CN201811317787.9A CN201811317787A CN109308060A CN 109308060 A CN109308060 A CN 109308060A CN 201811317787 A CN201811317787 A CN 201811317787A CN 109308060 A CN109308060 A CN 109308060A
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- workshop
- positioning
- base station
- locating base
- wireless pulses
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
A kind of workshop resource perception positioning system based on wireless pulses, the system includes several positioning labels, for emitting wireless pulses to the locating base station that is positioned of positioning label and controller, locating base station is at least provided with 3, several positioning labels are separately mounted in plant personnel and equipment, and locating base station is mounted in workshop；The positioning label is wirelessly connected with all locating base stations, locating base station and controller wired connection.System design is reasonable, easy to operate, can pass through the application to wireless pulses for the safety management demand in workshop, realize workshop resource identifies and positions management in real time, convenient for finding the unusual condition of either inside in time, production safety management level is improved, working efficiency is improved.
Description
Technical field
The present invention relates to mobile positioning technique field, especially a kind of workshop resource perception based on wireless pulses positions system
The localization method of system and the above-mentioned workshop resource perception positioning system based on wireless pulses.
Background technique
Safety in production is that an extremely extensive and complicated job and enterprise must pay attention to and ready-made work.Firstly, peace
Full production is directly related to people life property safety and government investment benefit and public interests, is directly related to enterprise's shape
As；Secondly state and society for safety in production expectation and require it is higher and higher, objective environment require enterprise cannot be in safety
On make a fault.
Currently, the resources such as personnel, equipment, assets rely primarily on supervisor and carry out field pipes in large-scale manufacturing enterprise workshop
Reason, supervisor's great work intensity, supervisory efficiency are low, not only consume a large amount of manpower and material resources, while can not accomplish to position in real time
It monitors and timely responds to.In actual operation, since manufacturing process site environment is more special, manufacturing shop internal structure is multiple
Miscellaneous, the reasons such as internal communication difficulty and the level of informatization caused by metal structure are low result in workshop appliance, personnel, assets etc.
Resource orientation difficulty is big, and site safety production management is difficult.Therefore, there is an urgent need to a kind of means workshop important area
Management supervision is imitated, production safety management level is improved, promotes working efficiency.
Summary of the invention
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide, a kind of design is reasonable, effect of burning
Rate is high, the workshop resource perception positioning system based on wireless pulses without carbon distribution of burning.
There is provided the workshop resource perception positioning based on wireless pulses for another technical problem to be solved by this invention
The localization method of system.
The technical problem to be solved by the present invention is to what is realized by technical solution below.The present invention is that one kind is based on
The workshop resource perception positioning system of wireless pulses, the system include several positioning labels, for emitting wireless pulses to positioning
The locating base station and controller that label is positioned, for locating base station at least provided with 3, several positioning labels are separately mounted to vehicle
Between on personnel and equipment, locating base station is mounted in workshop；The positioning label is wirelessly connected with all locating base stations, positioning
Base station and controller wired connection.
The technical problems to be solved by the invention can also be further realized by technical solution below, for above
The workshop resource perception positioning system based on wireless pulses, the system further include convenient for the monitoring of situation in monitoring workshop
Central management platform, monitoring center management platform include system centre server and for showing the aobvious of workshop resource motion track
Show that device, system centre server are connect with controller by communication network.
The technical problems to be solved by the invention can also be further realized by technical solution below, for above
The workshop resource perception positioning system based on wireless pulses, the system further include that the video interlink being mounted in workshop is set
Standby, video interlink equipment is connect with system centre server by communication network.
The technical problems to be solved by the invention can also be further realized by technical solution below, for above
The workshop resource perception positioning system based on wireless pulses, the locating base station are provided with 3,3 locating base stations point
3 different locations not being fixed in workshop.
The technical problems to be solved by the invention can also be further realized by technical solution below, for above
The workshop resource perception positioning system based on wireless pulses, the locating base station is ultra-wideband pulse locating base station, fixed
Position label is that ultra-wideband pulse positions label.
The technical problems to be solved by the invention can also be further realized by technical solution below, and one kind is based on
The workshop resource perception localization method of wireless pulses, the above-described workshop resource perception positioning based on wireless pulses of this method
System, its step are as follows:
(1) using one of locating base station as origin, the coordinate of remaining locating base station in workshop is calculated, and will determine
The coordinate of position base station is preset in controller；
(2) are passed through by wireless pulses respectively and measures the positioning label for some positioning label, locating base station in workshop
Distance, and by the distance information transmission to controller；
(3) received current measurement value and received measured value of the upper time point are compared by controller, and determining should
Positioning label, which remains static, is in motion state；
Then further according to the parameter of the state setting Kalman filtering algorithm of the positioning label, and Kalman filtering is called to calculate
Method is filtered current measurement value；
Finally filtered measured value weighted input least square method algorithm is calculated, obtains the seat of the positioning label
Mark；
(4) repetitive operation calculates the coordinate of all positioning labels in workshop, realizes positioning.
Compared with prior art, the present invention installs positioning label in plant personnel and workshop appliance, passes through locating base station
Positioning label is positioned in real time using wireless pulse signals, to realize the grasp to plant personnel and device location, just
Safety management on site；Secondly, by controller and display cooperation realize workshop in personnel, equipment motion track show and
Inquiry is convenient for effective supervision and management so that manager is very clear to the arrangement of entire workshop resource.The system design rationally,
It is easy to operate, the reality of workshop resource can be realized by the application to wireless pulses for the safety management demand in workshop
When identify and position management, convenient for finding the unusual condition of either inside in time, it is horizontal to improve production safety management, improves work
Efficiency.
Detailed description of the invention
Fig. 1 is a kind of system flow chart of the invention；
Fig. 2 is a kind of algorithm flow chart of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, right below in conjunction with attached drawing of the present invention
Technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is a part of the invention
Embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making wound
Every other embodiment obtained under the premise of the property made labour, shall fall within the protection scope of the present invention.
Referring to Fig.1-2, a kind of workshop resource perception positioning system based on wireless pulses, the system include several positioning marks
It signs, for emitting wireless pulses to the locating base station and controller that label is positioned is positioned, locating base station is at least provided with 3
A, several positioning labels are separately mounted in plant personnel and equipment, and locating base station is mounted in workshop；The positioning label is equal
It is wirelessly connected with all locating base stations, locating base station and controller wired connection.Locating base station is fixed in workshop, positions label
It is mounted in the resource in workshop, the range information to some positioning label that controller is used to be measured according to locating base station is adjusted
The position of the positioning label is calculated with algorithm, realizes positioning.
The system further includes convenient for the monitoring center management platform of situation in monitoring workshop, and monitoring center management platform includes
System centre server and display for showing workshop resource motion track, system centre server and controller pass through logical
Communication network connection.System centre server receives the coordinate information of the positioning label of controller sending, draws each positioning mark
The position of label, and show over the display, convenient for observation, secondly, can also show positioning mark according to the location information of refreshing
The motion track of label facilitates administrative staff to get information about the location information and motion track of workshop resource.
The system further includes the video interlink equipment being mounted in workshop, and video interlink equipment and system centre server are logical
Cross communication network connection.
The locating base station is provided with 3, and 3 locating base stations are respectively fixedly disposed at 3 different locations in workshop, uses
In the position for determining all positioning labels in workshop.
The locating base station is ultra-wideband pulse locating base station, and positioning label is that ultra-wideband pulse positions label.
A kind of workshop resource perception localization method based on wireless pulses, this method are provided using the workshop based on wireless pulses
Source perceptual positioning system, its step are as follows:
(1) using one of locating base station as origin, the coordinate of remaining locating base station in workshop is calculated, and will determine
The coordinate of position base station is preset in controller；
(2) are passed through by wireless pulses respectively and measures the positioning label for some positioning label, locating base station in workshop
Distance, and by the distance information transmission to controller；
(3) received current measurement value and received measured value of the upper time point are compared by controller, and determining should
Positioning label, which remains static, is in motion state；
Then further according to the parameter of the state setting Kalman filtering algorithm of the positioning label, and Kalman filtering is called to calculate
Method is filtered current measurement value；
Finally filtered measured value weighted input least square method algorithm is calculated, obtains the seat of the positioning label
Mark；
(4) repetitive operation calculates the coordinate of all positioning labels in workshop, realizes positioning.
The localization method is filtered first with distance of the Kalman filtering algorithm to measurement, and measurement error is reduced；Add
Power least square method algorithm algorithmic procedure is first to establish error equation, recycles weighted least-squares method to substitute into known coordinate and finds out
Error amount in error equation, finally substitutes into error amount, finds out the coordinate of unknown point, the as coordinate of the positioning label:
Wherein, error equation vi=[(Xi-X)2+(Yi-Y)2]1/2-di, viFor error, (xi, yi) be known point seat
Mark, (x, y) are the coordinate of unknown point, diFor range information.
The present invention uses weighted least square algorithm, controls the smallest error, keeps result and true value close.
Secondly as, often there is NLOS error, Kalman filtering in ranging information in wireless channel environment complexity and changeable
Algorithm is a kind of self adaptable linear regression estimator, can effectively improve the influence of NLOS error in position fixing process, is being positioned
The relatively high occasion of requirement of real-time realizes static immobilization result by fixed static judgement modification Kalman filtering algorithm parameter
Stablize, is dynamically capable of the characteristic of very fast real time tracking motion；
Kalman filter is self adaptable linear regression estimator, and its essence is according to measured value and predicted value reconstituted state
The recursion of vector, experience " prediction-actual measurement-amendment " process realizes filtering, mainly includes five equations:
1) status predication equation: Xk=ΦK, k-1Xk-1+ωk-1
2) error covariance matrix is predicted:
3) gain matrix equation:
4) state estimation equation: Xk=XK, k-1+Kk(Yk-HkXK, k-1)
5) estimation error variance battle array: Pk=(I-KkHk)PK, k-1
Wherein:
XkThe state of etching system when being k；
ωk- 1 is noise vector, its covariance matrix is Qk-1；
ΦK, k-1It is state-transition matrix；
YkIt is the measured value at k moment；
HkIt is sensitivity of measurement vector；
RkIt is measurement error covariance matrix.
The operational process of this system is open system, and locating base station detection positioning tag distances information is to controller, control
Device receives range information, carries out the coordinate for calculating each positioning label, coordinate is then passed to monitoring center management platform, is shown
Show pre-simulated workshop interface on device, the position of each positioning label is shown according to coordinate, thus by personnel, equipment etc. in workshop
Over the display, locating base station periodic refreshing updates range information to printed words whole real-time display, convenient for understanding change in resources in time
Dynamically；Positioning label is numbered simultaneously, the coordinate for positioning label is stored according to number, convenient for drawing in certain time,
The running track of the positioning label, thus the motion profile of personnel or equipment where learning the positioning label；For workshop people
Positioning label can be integrated on attendance card, wear convenient for personnel by member, realize attendance, positioning one.
For the safety management demand in the specific region of large-scale manufacturing enterprise workshop when this system, by wireless pulses
Using proposing the workshop resource comprehensive pipe perceptual positioning system schema based on high-performance treatments chip and wireless pulses, in detail
The design principle for analyzing high precision wireless positioning system develops the workshop resource perception positioning system of high reliability, can
Convenient, intuitive, safety, the comprehensive personnel to inside management region, equipment, assets etc. authorize, and realize shipbuilding enterprise
Industry workshop resource identifies and positions management in real time, finds the unusual condition occurred inside the region in time, issues warning information,
It is horizontal to improve production safety management, improves working efficiency.
Wireless pulses are a kind of location technologies developed in recent years, generally use extremely narrow pulse signal or
Extremely wide spectral bandwidth signal carries out the transmitting of information, and compared with other location technologies, major advantage is that penetration capacity is strong, positions
Precision is high, the stationkeeping ability with Centimeter Level.Wireless pulses can be complete in the case where closed indoor or barrier is more
At ranging localization task, can preferably be played the performance in the underground space.
Wireless pulses are emitted using three fixed position reference points to mobile tag based on the positioning method of arrival time to be believed
Number, label according to signal reception time and permanent datum transmitting signal time and three reference points to label distance
Calculate the position of outgoing label.
1, the workshop resource locating system framework based on wireless pulses
Workshop resource perception positioning system based on wireless pulses is mainly made of enterprises level and shop layer two large divisions.Its
Middle enterprises level specifically includes that monitoring center management platform, enterprise IP network, the network switching equipment, system server center etc..Vehicle
Interbed specifically includes that either inside exchange network, device gateway, locating base station, positioning label, video interlink equipment etc..Enterprise
Layer and shop layer pass through security protection gateway and core switch connection.
Shop layer with acquisition plant personnel, equipment, the position data of the manufacturing recourses such as assets, and will collect for identification
Data information system server centralized positioning software systems are transmitted to by wireline communication network are analyzed and handled.System
Server-centric software systems are mainly used to carry out data sampling and processing, displaying and storage, and pass through data integration interface and enterprise
Industry layer resource management system carries out data transmission, and passes through the graphical interfaces or text of monitor system software convenient for enterprise administrator
The motion track of workshop resource is intuitively recognized in list, determines workshop comprehensive resources position data.
Electromagnetic interference is stronger under large-scale manufacturing shop environment, and data collection point widely dispersed, according to workshop reality
Border situation, from the reliability of system, real-time and scalability, this paper presents construct workshop resource based on wireless pulses
Perceptual positioning system.
2, the workshop resource locating system hardware design based on wireless pulses
The hardware design of workshop resource perception positioning system based on wireless pulses includes locating base station, positioning label hardware
Design.Workshop resource perception positioning system mainly completes the acquisition tasks to the position datas such as personnel, equipment, assets in workshop.
The alignment sensor data and data processing essence that controller design mainly needs to acquire according to workshop resource perception positioning system
Spend the type, locating module model, memory storage mode, network communication mode, data transmittal and routing form to select main control chip.
In view of the complicated electromagnetic application environment of large enterprise manufacturing shop, hardware circuit design emphasis considers that wireless locating module is anti-multiple
Miscellaneous electromagnetic interference capability.Positioning system message transmission rate with higher and stronger requirement of real-time, system are selected high
Performance ARM chip, DW1000 wireless locating module etc. complete the design of controller hardware partial circuit.
3, the Embedded Software Design of the workshop resource locating system based on wireless pulses
Embedded Software Design is mainly the measurement completed positioning label to locating base station time of arrival (toa), locating base station
Between time of arrival (toa) information measurement, by locating base station acquisition position data send monitoring system to.Embedded software
Message processing flow uses sequential processes, reset and clock configuration module including main control chip, ethernet module, timer mould
The initialization such as block, DW1000 module, DW1000 wireless location processing module are handled using interrupt mode.
4, the software design of the workshop resource locating system based on wireless pulses
It is aobvious that positioning system management software mainly completes positioning analysis, positioning calculation, locating base station status display, position data
Show, system configuration management etc..Locating base station status display mainly shows whether locating base station is connected to positioning system application, network
Whether connection succeeds；Position data shows the position data of main display positioning label and positions the working condition of label, real
When show personnel in workshop, equipment, assets positioning label motion track；System configuration management mainly includes orientation management system
Functional module configuration and locating base station configuration.
Main points of the invention:
(1) map monitors in real time
This system by personnel and device distribution situation real-time display on map so that personnel of the manager to entire plant area
It is very clear to arrange.
(2) region access leaves alarm
In the settable region access in specific region, uncommitted personnel enter system alarm after restricted area；
If system alarm is left in the region personnel that the specific period does not allow personnel to leave, to ensure the peace in major tasks region
Entirely.
(3) personnel's historical track plays back
Personnel's historical track can be checked, show that one is list modes, and one is track sides there are two types of mode
Formula.List mode shows the motion profile of personnel with the mode in time and region.Track-wise is by the movement road of personnel
Line is directly displayed on map.Administrative staff can grasp the movable route of personnel at the appointed time.
(4) multi-use card
Positioning card integrates RFID attendance card, multiple functions, the person's of being convenient for carrying carrying such as realizes positioning, attendance, has dinner.Such as enterprise
Have attendance checking system already, can be realized in the case where being changed without attendance checking system attendance, positioning it is two-in-one, thus for enterprise save
Cost.
The technical indicator of this system:
1, functional parameter
(1) real time position positions；
(2) historical track plays back；
(3) tag control, including managing electric quantity, grouping management, label information management are positioned；
(4) fence is alarmed；
(5) SOS calls for help alarm.
2, performance indicator
(1) 4 locating base station can be not less than 30 meters * 30 meters of region under the spaciousness of overlay area；
(2) positioning label position upload frequencies are not less than 1hz, i.e., 1 position of upload in every 1 second；
(3) positioning accuracy error is spacious unobstructed lower not higher than 0.5 meter；
(4) positioning software display position and actual displacement delay are no more than 1.5 seconds.
Claims (6)
1. a kind of workshop resource perception positioning system based on wireless pulses, it is characterised in that: the system includes several positioning marks
It signs, for emitting wireless pulses to the locating base station and controller that label is positioned is positioned, locating base station is at least provided with 3
A, several positioning labels are separately mounted in plant personnel and equipment, and locating base station is mounted in workshop；The positioning label is equal
It is wirelessly connected with all locating base stations, locating base station and controller wired connection.
2. the workshop resource perception positioning system according to claim 1 based on wireless pulses, it is characterised in that: the system
It further include convenient for the monitoring center management platform of situation in monitoring workshop, it includes system centre server that monitoring center, which manages platform,
With for showing that the display of workshop resource motion track, system centre server are connect with controller by communication network.
3. the workshop resource perception positioning system according to claim 2 based on wireless pulses, it is characterised in that: the system
It further include that the video interlink equipment being mounted in workshop, video interlink equipment and system centre server are connected by communication network
It connects.
4. the workshop resource perception positioning system according to claim 1 based on wireless pulses, it is characterised in that: described fixed
Position base station is provided with 3, and 3 locating base stations are respectively fixedly disposed at 3 different locations in workshop.
5. the workshop resource perception positioning system according to claim 1 based on wireless pulses, it is characterised in that: described fixed
Position base station is ultra-wideband pulse locating base station, and positioning label is that ultra-wideband pulse positions label.
6. a kind of workshop resource perception localization method based on wireless pulses, it is characterised in that: this method uses claim 1-5
Workshop resource perception positioning system described in any one based on wireless pulses, its step are as follows:
(1) using one of locating base station as origin, the coordinate of remaining locating base station in workshop is calculated, and base will be positioned
The coordinate stood is preset in controller；
(2) distance that wireless pulses measure the positioning label is passed through respectively for some positioning label, locating base station in workshop,
And by the distance information transmission to controller；
(3) received current measurement value and received measured value of the upper time point are compared by controller, determine the positioning
Label, which remains static, is in motion state；
Then further according to the parameter of the state setting Kalman filtering algorithm of the positioning label, and Kalman filtering algorithm pair is called
Current measurement value is filtered；
Finally filtered measured value weighted input least square method algorithm is calculated, obtains the coordinate of the positioning label；
(4) repetitive operation calculates the coordinate of all positioning labels in workshop, realizes positioning.
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| CN201811317787.9A CN109308060A (en) | 2018-11-06 | 2018-11-06 | Workshop resource perception positioning system based on wireless pulses |
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| CN201811317787.9A CN109308060A (en) | 2018-11-06 | 2018-11-06 | Workshop resource perception positioning system based on wireless pulses |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110032152A (en) * | 2019-03-27 | 2019-07-19 | 陈文武 | A kind of intelligent workshop management system and application method based on Internet of Things |
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| CN114492693A (en) * | 2022-01-24 | 2022-05-13 | 宁夏汇川服装有限公司 | Clothing positioning system in clothing production process |
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