CN109738865A - A kind of Substation Operating personnel location system and method - Google Patents
A kind of Substation Operating personnel location system and method Download PDFInfo
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- CN109738865A CN109738865A CN201910019778.XA CN201910019778A CN109738865A CN 109738865 A CN109738865 A CN 109738865A CN 201910019778 A CN201910019778 A CN 201910019778A CN 109738865 A CN109738865 A CN 109738865A
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- 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
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a kind of Substation Operating personnel location system and method, system includes: label, base station, location-server；The label includes power management module, acceleration transducer and tag processor and the range finder module based on UWB technology；The power output end of the power management module is connect with the power input of acceleration transducer, range finder module and tag processor respectively；The range finder module realizes the communication of base station and label.Present invention uses DW1000 modules, and range accuracy is up to 15-30cm, because positioning is the positioning based on distance, system feasibility can be improved with more acurrate positioning operation personnel positions by improving range accuracy；The present invention also joined acceleration transducer in inside tags, when detecting that acceleration signal is less than given threshold, label can be made to enter dormant state, to reduce power consumption, improve standby time.
Description
Technical field
The present invention relates to a kind of personnel location system and methods, more particularly, to a kind of Substation Operating personnel positioning
System and method belong to field of locating technology.
Background technique
There are many field operation in transformer substation type, mainly have grid switching operation, overhaul of the equipments, live cleaning and mechanical work and its
His construction operation, is much directed to livewire work, if not carrying out operation according to work ticket and operation order, can directly result in the person
Casualty accident.Substation's human casualty accident not only damages operating personnel and family, and it is steady also to have will affect power grid security
Fixed operation.The main reason for accident is to give directions against regulations, operate against regulations；Safety management is not in place, operating personnel's awareness of safety is thin
Deng.If can be positioned to operator, and remind danger zone is strayed into, so that it may largely avoid people
The generation of the dead accident of body.
To solve the above problems, substation takes personnel positioning method at present.When operator positions in substation at present
The ranging technology used mainly has a RFID technique, and 3-5 meters of range accuracy, but this range accuracy keeps the precision of localization method not high
The erroneous judgement for causing operator's physical location is unable to satisfy actual use demand.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, it is fixed to be improved by improving range accuracy
Position precision.The present invention is that a kind of Substation Operating personnel that more low-power consumption can also be realized while providing high accuracy positioning are fixed
Position system and method.
To realize the above-mentioned technical purpose, the invention adopts the following technical scheme:
In one aspect, the present invention provides a kind of Substation Operating personnel location system, comprising: label, base station, positioning clothes
Business device；
The label includes power management module, acceleration transducer and tag processor and range finder module；
The power output end of the power management module respectively with acceleration transducer, range finder module and tag processor
Power input connection；
The range finder module realizes the communication of base station and label；
The tag processor is used to judge that operator is according to the signal of the acceleration transducer output received
The working condition of motion state or stationary state and the state abstract factory according to judgement；
The tag processor is also used to record label for the first time to base station sends the time of signal, label receives base station
The time of returning response signal and the time for sending signal for second of label to base station；And base is sent by the time of record
It stands；
The base station includes base station processor, range finder module and power supply module；
The power output end of the power supply module is connect with the power input of base station processor and range finder module respectively；
The base station processor is used for according to label for the first time to base station sends the time of signal, label receives base station and returns
Echo time of induction signal, second of label to base station sends the time of signal, base station receives the letter that label issues for the first time
Number time, base station receive the letter that the time of response signal and base station after the signal of label receive label sending for the second time
Number time carries out distance calculation label and sends location-server for the range information of acquisition；
The location-server be used for receive base station transmission range information and according to range information carry out location Calculation into
And obtain the location information of operator.
Further, the system also includes front-end interface display modules, and the front-end interface display module is for showing
The position of operator and operating path and staff deviate working region alarm.
Further, the range finder module is based on UWB technology, and model is DW1000.
It is further preferred that the acceleration transducer uses ADXL362 acceleration transducer.
It is further preferred that tag processor and/or base station processor use STM32F1 series monolithic.
Further, present system further includes two bill systems, and two bill system is used to distribute position to operator
Information；Location-server poll checks the location information of two bill systems, it is carried out with the position that location-server resolves
Than haggling over, if comparing result difference is larger, operator is reminded, to reach assigned work region.
On the other hand, the present invention provides a kind of Substation Operating personnel positioning method, comprising the following steps:
Initiation parameter detects whether the broadcast singal for receiving label, if not receiving, continues to test；
Enter the ranging stage if receiving；
Label record sends time of signal to base station for the first time, label receive the time of base station returning response signal with
And second of the label time to base station transmission signal；And base station is sent by the time of record；
Base station sends time of signal to base station for the first time according to label, label receive base station returning response signal when
Between, label second send that the time of signal, base station receives the time for the signal that label issues for the first time, base station connects to base station
Receive the time of response signal and base station after the signal of label receive for the second time the signal time of label sending to label into
Row ranging calculates and sends location-server for the range information of acquisition；
Location-server is used to receive the range information of base station transmission and carries out location Calculation according to range information and then obtain
Obtain the location information of operator.
Further, start to detect acceleration transducer the method also includes tag processor after label initialization
Value, if the value detected is less than the threshold value of setting, label enters dormant state, slows down broadcast singal and sends frequency, and continues
The value of detection sensor；If the value detected be greater than setting threshold value, label start with very fast frequency send broadcast message to
Base station, into the ranging stage.
Further preferably, the method that the ranging calculates is as follows:
Note label transmits a signal to base station to base station for the first time and returns to the time of tag response signal as Ra；Note base station connects
Receive label signal arrive to outgoing label corresponding signal time be Db；Remember that the signal that label is sent reaches the time of base station as Tof；
The time that note label receives base station in response signal issues the time of signal to base station to second of label as Da；Remember that base station receives
Time to second of signal sent of label is Rb。
According to communication process, it can be deduced that time history form:
Long-pending operation is done to above-mentioned two formula or so to obtain:
Ra*Rb=Da*Db+2Tof(Da+Db)+(4Tof)2(2),
Solve unidirectional flight time Tof:
Then the distance between label and base station d are as follows:
Further preferably, the method for the location Calculation is as follows:
(x1, y1), (x2, y2), (x3, y3) coordinate it is known that r1, r2, r3 are that base station is transmitted to the distance value of location-server,
It is also known, the coordinate (x, y) of outgoing label can be solved according to following equation group.
Advantageous effects of the invention:
Present invention uses DW1000 module, range accuracy, can be with more acurrate positioning operation personnel position up to 15-30cm
It sets, improves system feasibility；
The present invention also joined acceleration transducer in inside tags, when detect acceleration signal be less than given threshold
When, label can be made to enter dormant state, to reduce power consumption, improve standby time；
The present invention is also combined with two bill systems, path planning may be implemented, and to the operator for being detached from planning path
It is reminded, to reduce the generation of accident.
Detailed description of the invention
Fig. 1 is specific embodiment of the invention positioning system block diagram；
Fig. 2 is the method for the present invention specific embodiment range measurement principle figure；
Fig. 3 is the method for the present invention specific embodiment system overview flow chart；
Fig. 4 is the method for the present invention specific embodiment labeling task flow chart；
Fig. 5 is the method for the present invention specific embodiment base station operation flow chart.
Fig. 6 is the method for the present invention specific embodiment positioning schematic.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Fig. 1 is specific embodiment of the invention positioning system block diagram；Fig. 1 shows label, is carried by operator,
Four base stations are fixedly mounted on substation field.Label and base station real time communication, the range information in base station processor pass through
TCP/IP is transmitted to location-server, and location-server carries out location Calculation according to the range information received, calculates operator
The location information of member.
The label includes power management module, acceleration transducer and tag processor and the survey based on UWB technology
Away from module；The power output end of the power management module respectively with acceleration transducer, range finder module and tag processor
Power input connection；The range finder module realizes the communication of base station and label；
Preferably, base station is fixedly mounted in substation.Base station by low power processor (model is identical with label), be based on
The range finder module DW1000 and power supply module of UWB technology are formed.
UWB (Ultra Wideband) is a kind of no-load communication techniques, and the non-sinusoidal waveform using nanosecond to Microsecond grade is narrow
Data are transmitted in pulse.Its strong anti-interference performance, transmission rate is high, and the big transmission power of power system capacity is very small.Range accuracy is in 15-
30cm。
Location-server is placed in computer room, be can receive the incoming range information in base station and is carried out positioning calculation；May be used also
To obtain the location information that two bill systems distribute operator, and by calculated location information and two bill systems to operator
The location information of member's distribution is compared.
Preferably, present system further includes working ways of the front-end interface for display operation personnel in a particular embodiment
Diameter, and dangerous tip is popped up to the staff for deviateing working region at interface and realizes warning function.
Further, acceleration transducer is used to judge that the motion state of operator then operates if more than given threshold value
Personnel are kept in motion, if being less than threshold value, operator is likely to be at stationary state.Acceleration transducer more preferably,
Using ADXL362 acceleration transducer.Acceleration transducer detect acceleration signal be less than given threshold when, can make label into
Enter dormant state, to reduce power consumption, improves standby time；
Fig. 2 is specific embodiment of the invention range measurement principle figure；Specific step is as follows:
Node A issues distance measurement request pulse signal to node B at the first moment；
Node B is in the second reception to the request pulse signal；
Node B issues response signal to node A at the third moment；
Node A is in the 4th reception to the response signal；
Node A issues end of communication signal to node B at the 5th moment；
Node B is in the 6th reception to the end signal.
Note label transmits a signal to base station to base station for the first time and returns to the time of tag response signal as Ra；Note base station connects
Receive label signal arrive to outgoing label corresponding signal time be Db；Remember that the signal that label is sent reaches the time of base station as Tof；
The time that note label receives base station in response signal issues the time of signal to base station to second of label as Da；Remember that base station receives
Time to second of signal sent of label is Rb。
According to communication process, it can be deduced that time history form:
Long-pending operation is done to above-mentioned two formula or so to obtain:
Ra*Rb=Da*Db+2Tof(Da+Db)+(4Tof)2(2),
Solve unidirectional flight time Tof:
Then the distance between label and base station d are as follows:
The range information of acquisition is sent location-server by base station；The location-server is used to receive base station transmission
Range information simultaneously carries out location Calculation according to range information and then obtains the location information of operator.In a particular embodiment,
The method of location Calculation is as follows:
(x1, y1), (x2, y2), (x3, y3) are that the coordinate of three base stations is it is known that r1, r2, r3 are that base station is transmitted to positioning
The distance value of server can solve the coordinate (x, y) of outgoing label according to following equation group；
In the present embodiment, three base stations and a label can solve a tag coordinate value, and the present invention has four altogether
Base station uses three base station coordinates every time, and there are three types of combinations, so that it may find out three tag coordinates, then seek these three coordinates
Average value be exactly label position coordinates.
Label and base station all include low power processor in a particular embodiment, and the low power processor is for receiving
The timestamp of the communication of base station and label, and the distance value of base station and label is calculated, then distance value is sent to positioning service
Device.Preferably, low power processor more preferably uses minimum SCM system, such as STM32F1 series.
Fig. 3 is specific embodiment of the invention system overview flow chart；Two bill systems are positioned in a specific embodiment
The operating position that server poll obtains operator passes through.Two bill systems issue operational order to operator, wrap in instruction
Location information containing the substation to be operated, this location information can be obtained by location-server, and location-server is by position
Information and the physical location of the operator resolved compare, if deviation is excessive, gives front end to send signal, allow front end
Carry out warning reminding.
Fig. 4 specific embodiment of the invention labeling task flow chart；Localization process in label in a specific embodiment
Device according to receive acceleration transducer output signal judge operator be kept in motion or stationary state simultaneously root
It is judged that state abstract factory working condition；The specific method is as follows for the step: the method also includes after label initialization
Location processor starts to detect the value of acceleration transducer, if the value detected is less than the threshold value of setting, label enters suspend mode
State slows down broadcast singal and sends frequency, and continues to test the value of sensor；If the value detected is greater than the threshold value of setting,
Label starts to send broadcast message with very fast frequency to base station, into the ranging stage.
Fig. 5 is specific embodiment of the invention base station operation flow chart；In a specific embodiment
Initiation parameter detects whether the broadcast singal for receiving label, if not receiving, continues to test；
Enter the ranging stage if receiving；
Label record sends time of signal to base station for the first time, label receive the time of base station returning response signal with
And second of the label time to base station transmission signal；And base station is sent by the time of record；
Base station sends time of signal to base station for the first time according to label, label receive base station returning response signal when
Between, label second send that the time of signal, base station receives the time for the signal that label issues for the first time, base station connects to base station
Receive the time of response signal and base station after the signal of label receive for the second time the signal time of label sending to label into
Row ranging calculates and sends location-server for the range information of acquisition.
Location-server receives the range information that base station is sent and carries out location Calculation according to range information and then grasped
Make the location information of personnel.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of Substation Operating personnel location system characterized by comprising label, base station, location-server；
The label includes power management module, acceleration transducer and tag processor and range finder module；
The power output end of the power management module power supply with acceleration transducer, range finder module and tag processor respectively
Input terminal connection；
The range finder module realizes the communication of base station and label；
The tag processor is used to judge that operator is in movement according to the signal of the acceleration transducer output received
State or stationary state and according to the working condition of judging result abstract factory；
The tag processor is also used to record label and receives base station to the time of base station transmission signal, label for the first time and return
The time of response signal and the time for sending signal for second of label to base station；And base station is sent by the time of record；
The base station includes base station processor, range finder module and power supply module；
The power output end of the power supply module is connect with the power input of base station processor and range finder module respectively；
The base station processor is used to send the time of signal to base station for the first time according to label, label receives base station and returns and rings
The time of induction signal receives the signal that label issues for second of label for the first time to the time of base station transmission signal, base station
When time, base station receive that the time of response signal and base station receive the signal of label sending for the second time after the signal of label
Between label carried out distance calculation and send location-server for the range information of acquisition；
The location-server is used to receive the range information of base station transmission and carries out location Calculation according to range information and then obtain
Obtain the location information of operator.
2. Substation Operating personnel location system according to claim 1, characterized in that the system also includes front end circles
Face display module, the front-end interface display module is for the position of display operation personnel and operating path and in staff
Deviate working region alarm.
3. Substation Operating personnel location system according to claim 1, characterized in that the range finder module is based on UWB
Technology, model are DW1000.
4. Substation Operating personnel location system according to claim 1, characterized in that the acceleration transducer uses
ADXL362 acceleration transducer.
5. Substation Operating personnel location system according to claim 1, characterized in that tag processor and/or base station
Processor uses STM32F1 series monolithic.
6. Substation Operating personnel location system according to claim 1, characterized in that the system also includes two ticket systems
System, two bill system are used to distribute location information to operator；Location-server poll checks the position letter of two bill systems
Breath, it is carried out with the position that location-server resolves than haggling over, if comparing result difference is larger, to operator
It is reminded, to reach assigned work region.
7. a kind of Substation Operating personnel positioning method, which comprises the following steps:
Initiation parameter detects whether the broadcast singal for receiving label, if not receiving, continues to test；
Enter the ranging stage if receiving；
Label record receives time and the mark of base station returning response signal to the time of base station transmission signal, label for the first time
Second of the label time to base station transmission signal；And base station is sent by the time of record；
Base station sends time of signal to base station for the first time according to label, label receive base station returning response signal time,
Second of label to base station sends the time of signal, base station receives the time for the signal that label issues for the first time, base station receives
The signal time that the time of response signal and base station receive label sending for the second time after to the signal of label carries out label
Ranging calculates and sends location-server for the range information of acquisition；
Location-server is used to receive the range information of base station transmission and carries out location Calculation according to range information and then grasped
Make the location information of personnel.
8. Substation Operating personnel positioning method according to claim 7, characterized in that the method also includes at the beginning of label
After beginningization location processor start detect acceleration transducer value, if the value detected be less than setting threshold value, label into
Enter dormant state, slows down broadcast singal and send frequency, and continue to test the value of sensor；If the value detected is greater than the threshold of setting
Value, then label starts to send broadcast message with very fast frequency to base station, into the ranging stage.
9. Substation Operating personnel positioning method according to claim 7, characterized in that the method that the ranging calculates is such as
Under:
Note label transmits a signal to base station to base station for the first time and returns to the time of tag response signal as Ra；Remember that base station receives mark
The signal of label to outgoing label corresponding signal time be Db；Remember that the signal that label is sent reaches the time of base station as Tof；Note mark
The time that label receive base station in response signal issues the time of signal to base station to second of label as Da；Note base station receives mark
The time of second of signal sent of label is Rb；
According to communication process, time history form is obtained:
Long-pending operation is done to above-mentioned two formula or so to obtain:
Ra*Rb=Da*Db+2Tof(Da+Db)+(4Tof)2(2),
Solve unidirectional flight time Tof:
Then the distance between label and base station d are as follows:
Wherein C is the light velocity.
10. Substation Operating personnel positioning method according to claim 7, characterized in that the method for the location Calculation
It is as follows:
(x1, y1), (x2, y2), (x3, y3) coordinate it is known that r1, r2, r3 are that base station is transmitted to the distance value of location-server, according to
Following equation group can solve the coordinate (x, y) of outgoing label；
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| CN110480644A (en) * | 2019-07-08 | 2019-11-22 | 华南农业大学 | A kind of pig farm crusing robot based on UWB positioning |
| CN110933593A (en) * | 2019-11-05 | 2020-03-27 | 华南理工大学 | Safety prevention and control system based on UWB technology |
| CN111862527A (en) * | 2020-04-06 | 2020-10-30 | 卡姆诺和有限公司 | Warning method, safety module, item of clothing with a safety module, computer program product for carrying out a warning method and safety system |
| CN113541313A (en) * | 2021-07-13 | 2021-10-22 | 国网浙江省电力有限公司金华供电公司 | Scheduling ordered positioning method based on global sharing |
| CN115866511A (en) * | 2022-11-18 | 2023-03-28 | 东土科技(宜昌)有限公司 | Monitoring method and device for hardware equipment in positioning system |
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| CN110480644A (en) * | 2019-07-08 | 2019-11-22 | 华南农业大学 | A kind of pig farm crusing robot based on UWB positioning |
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| CN115866511A (en) * | 2022-11-18 | 2023-03-28 | 东土科技(宜昌)有限公司 | Monitoring method and device for hardware equipment in positioning system |
| CN115866511B (en) * | 2022-11-18 | 2023-11-24 | 东土科技(宜昌)有限公司 | Method and device for monitoring hardware equipment in positioning system |
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