CN110515108A - Operation on the sea field personnel safety status monitoring and early warning system - Google Patents
Operation on the sea field personnel safety status monitoring and early warning system Download PDFInfo
- Publication number
- CN110515108A CN110515108A CN201910600493.5A CN201910600493A CN110515108A CN 110515108 A CN110515108 A CN 110515108A CN 201910600493 A CN201910600493 A CN 201910600493A CN 110515108 A CN110515108 A CN 110515108A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- uwb
- coordinate
- signal receiver
- early warning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 26
- 230000002708 enhancing effect Effects 0.000 claims abstract description 8
- 230000008054 signal transmission Effects 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000005516 engineering process Methods 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 9
- 230000036772 blood pressure Effects 0.000 claims description 6
- 210000000988 bone and bone Anatomy 0.000 claims description 6
- 230000001186 cumulative effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 238000011156 evaluation Methods 0.000 claims description 6
- 238000011105 stabilization Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 230000003542 behavioural effect Effects 0.000 claims description 3
- 238000013527 convolutional neural network Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000035479 physiological effects, processes and functions Effects 0.000 claims 1
- 230000005684 electric field Effects 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 238000010248 power generation Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 238000009530 blood pressure measurement Methods 0.000 description 2
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- DWCZIOOZPIDHAB-UHFFFAOYSA-L methyl green Chemical compound [Cl-].[Cl-].C1=CC(N(C)C)=CC=C1C(C=1C=CC(=CC=1)[N+](C)(C)C)=C1C=CC(=[N+](C)C)C=C1 DWCZIOOZPIDHAB-UHFFFAOYSA-L 0.000 description 2
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 239000003653 coastal water Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000005431 greenhouse gas Substances 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The personnel safety status monitoring and early warning system of operation on the sea field, including Beidou signal receiver, GPS signal receiver, UWB locating base station, UWB position label and data processor；Beidou signal receiver, GPS signal receiver and UWB positioning label are integrated in wearable device, rectangular coordinate system where unified UWB and the geographic coordinate system where GPS signal receiver-Beidou signal receiver, UWB positions the coordinate of label output as the coordinate under rectangular coordinate system, and UWB positioning label is integrated with signal enhancing antenna.For example, signal enhancing nature use small-sized omnidirectional's vertical polarized antenna or small circularly-polarizedantenna antenna, the signal transmission distance of UWB positioning label and UWB locating base station is enable to cover whole office work region.The present invention have be capable of the staff of precise acquisition operation on the sea field indoors with outdoor position coordinates, and the advantages of monitor the operation safety and personal safety of operation field staff.
Description
Technical field
The present invention relates to the personnel safety status monitorings and early warning system of operation on the sea field.
Background technique
Oversea wind power generation factory is the offshore type power plant using the power generation of Oversea wind resource.The construction of Oversea wind power generation factory
In the operation on the sea field on offshore sea waters.
Increasingly deficient in the fossil energies resource such as current coal, petroleum, greenhouse gas emission threatens environment for human survival
Under severe situation, wind energy as in nature can constantly regenerating, sustainable use green energy resource resource, it is huge with its reserves
Greatly, the advantages such as widely distributed, pollution-free, the increasingly attention by countries in the world.World's seat of honour marine wind electric field since 1991
Since Denmark builds up, offshore wind farm has become the major fields of world's Renewable Energy Development.By development in more than 20 years,
Offshore wind farm technology reaches its maturity, and has entered the large-scale development stage.To the end of the year 2014, European 11 countries, which build together, has set 84
Marine wind electric field, total installation of generating capacity 11,027MW.The Donghai Bridge 100MW marine wind electric field that China generates electricity by way of merging two or more grid systems for 2010 is sub-
First, continent Large marine Wind Power Project reaches 428.58MW to 2013 end of the year China's offshore wind farm total installations of generating capacity.It is reported that
Can develop and utilize 2.53 hundred million kilowatts of land wind energy content of China, the wind energy content that coastal waters can develop and utilize has 7.5 hundred million
Kilowatt, wind energy on the sea reserves are far longer than land, there is wide development space.Meanwhile Deposits in Eastern Coastal China regional economy is flourishing,
Energy shortages, energy supply structure will be effectively improved by developing offshore wind energy resource abundant.Therefore, although China's offshore wind farm rises
Walk later, but development potentiality is huge.
At this stage, operation on the sea field environment is more severe, and staff is frequently necessary to the marine work of offshore 10-80 in the sea
Industry working platform, but since marine stormy waves, tide are complicated, domestic and international marine wind electric field has already appeared a lot of man overboards
Accident causes life threat to marine wind electric field operation maintenance personnel.In order to guarantee the life security of staff, need to understand constantly
The real time position of each marine wind electric field staff and or vital sign parameter, in daemon software real-time display personnel position
It sets, and the dangerous situation at scene can be judged and early warning.
Currently, common location technology has satellite positioning (such as GPS positioning, big-dipper satellite position), base station location, wifi are fixed
Position, bluetooth positioning and UWB indoor positioning.GPS positioning is the most common location technology, is seen everywhere in daily life.Beidou
Satellite positioning is Chinese independent research, is that user is round-the-clock, zonal global position system using geostationary satellite.North
The difference with GPS that struggles against is that Beidou is less for civilian industry, the somewhat expensive of equipment.But either GPS positioning, still
Big-dipper satellite positioning, all has that precision is not high, the civil standards precision of both satellite positionings be horizontal direction 50~
70 meters, vertical direction is 75 meters.This for the personnel monitoring of operation on the sea field, the area size of entire operation on the sea field also only
There is precision to be unable to reach requirement.Because working area also only has thousand grades square metres even large-scale operation on the sea field, when
When monitoring position error reaches 50~70 meters, monitoring substantially corresponds to perform practically no function.Therefore, existing satellite positioning tech can not
It is directly used in the detection and early warning to operation on the sea field personnel positions and safety.
Base station location is generally used for mobile phone user, obtains mobile terminal user's by the network of telecommunications mobile operator
Location information (latitude and longitude coordinates), but operator base station is seldom covered on sea area, and its precision is very low, generally 500~
2000 meters of error, therefore base station location can not be applied to the personnel positions of operation on the sea field and the detection and early warning of safety.
Wifi positioning and bluetooth positioning are commonly used in indoor positioning, but its orientation range is limited, usually within 3 meters,
And the operating area range of operation on the sea field reaches thousands of square metres, highly reaches rice up to a hundred, what Wifi positioning and bluetooth positioned
Orientation range can not be applied to the personnel positions of operation on the sea field and the detection and early warning of safety.
UWB technology is the accurate geographic positioning technology between radar and communication, and the system is by UWB locating base station and determines
Position label composition, the basic principle is that completing voyage by the packet burst mode transmission between wireless UWB rover and UWB locating base station
Time measurement, then the comparison and analysis of the measured value through reciprocal (or circulation) time, obtain movable object in the region of restriction
Interior accurate positioning, positioning accuracy can reach 10CM, but its orientation distance is generally less than 100 meters；And operation on the sea field
Operation height be likely to more than 100 meters, for being higher than 100 meters of range, existing UWB positioning system can not be used directly.
UWB location technology is substantially the chip using DW1000 at present, and the algorithm of this integrated chip is seldom, exactly sends out
A pulse signal, main location algorithm are all to need to do the integrated manufacturer oneself that positions to study and optimize, to make to position
Accidental error it is larger, this also causes UWB location technology not can be used directly in operation on the sea field.
Summary of the invention
The purpose of the present invention is to provide one kind, to be capable of the staff of precise acquisition operation on the sea field indoors and outdoor
Position coordinates, and monitor the operation safety of operation field staff and the monitoring of personal safety and early warning system.
The personnel safety status monitoring and early warning system of operation on the sea field, including Beidou signal receiver, GPS signal receive
Device, UWB locating base station, UWB position label and data processor；Beidou signal receiver, GPS signal receiver and UWB positioning
Label is integrated in wearable device, rectangular coordinate system and GPS signal receiver-Beidou signal receiver where unified UWB
The geographic coordinate system at place, UWB position the coordinate of label output as the coordinate under rectangular coordinate system, and UWB positioning label is integrated with
Signal enhancing antenna.For example, signal enhancing nature use small-sized omnidirectional's vertical polarized antenna or small circularly-polarizedantenna antenna, make UWB
Positioning label and the signal transmission distance of UWB locating base station can cover whole office work region.
Further, unified rectangular coordinate system and geographic coordinate system execute following operation: the room area of measurement operation field
Range obtains the longitude range (X of room areamax,Xmin) and latitude scope (Ymax,Ymin)；It arranges UWB locating base station, makes room
Inner region is fully located in the signal coverage areas of UWB locating base station；Calculate room area longitudinal maximum distance with
The proportionate relationship K of difference of longitude1, room area is calculated in the proportionate relationship K of latitudinal maximum distance and difference of latitude2；Obtain room
The transformational relation of the angle theta of inner region horizontal line and longitudinal, rectangular coordinate system and geographic coordinate system isWherein, (xz,yz) indicate the coordinate that UWB positioning label exports, (xd,yd) indicate
GPS signal receiver or the coordinate of Beidou signal receiver output.
Further, ideal indoor coordinate system is established, using longitudinal as the X-axis of indoor coordinate system, with latitude direction work
For the Y-axis of indoor coordinate system；Room area is measured in the practical maximum distance Δ X and room area of longitudinal in latitude direction
Practical maximum distance Δ Y；It calculates in the corresponding actual range Lx of difference of longitude under terrestrial coordinate system and under terrestrial coordinate system
The corresponding actual range L of difference of latitudey；The proportionate relationship Lx/ Δ X for calculating longitudinal, calculates latitudinal proportionate relationship
Ly/ΔY。
Further, the rectangular coordinate system of room area, the original of the origin of rectangular coordinate system and ideal indoor coordinate system are established
Point is same point, and rectangular coordinate system is using the horizontal line of operation field as X-axis, using short transverse as Y-axis；Calculate the X of rectangular coordinate system
The angle theta of axis and longitudinal calculates the rotational transformation matrix between local rectangular coordinate system and local coordinate system
UWB positioning label exports its coordinate (x under rectangular coordinate systemz,yz), by the coordinate under local rectangular coordinate system
Be converted to the coordinate (x under ideal indoor coordinate systemL,yL), it is closed further according to local coordinate and the ratio of the longitude and latitude of world coordinate system
It is longitude, the latitude coordinate being converted under the world coordinate system of Beidou-GPS.
Acquisition device is worn on monitored personnel in order to portable mode.Data processor comes for analyzing
From the information of acquisition device.
Further, using pseudorange carry out Beidou-GPS signal resolve difference of longitude and or the corresponding actual range of difference of latitude, select
N in whole satellites for taking acquisition device that can observe carries out pseudo range measurement (i=1,2,3 ..., n), establishes equation
Group:
ρ in equation group (1)1~ρnIndicate that acquisition device obtains the Pseudo-range Observations of n satellite, (x respectivelyi,yi,zi) it is
The coordinate of i satellite, (xu,yu,zu) be acquisition device coordinate, tuIndicate the time difference between acquisition device and satellite.
According to least square method, the solution (x of equation group (1) can getu,yu,zu) and tu.Above-mentioned equation group is converted into square
Formation formula AX=Y, wherein A is linear equation coefficient matrix, and X is that the vector of unknown quantity indicates (xu, yu, zu, tu), Y is pseudorange
Vector indicate.
Further, to improve system stability, using the calculation method of difference, the i.e. solution (x of group of equations (1)u,
yu,zu) increment (Δ xu,Δyu,Δzu), by the Matrix Formula Δ X=(A of least square solutionTA)-1ATΔ Y can find out GPS
Signal receiver and or Beidou signal receiver output coordinate increment.
Preferably, n=4；Alternatively, n > 4, the quantity of corresponding equation group can increase as the quantity of observation satellite increases,
Least square method is selected to resolve the optimal solution of equation group；After resolving obtains Δ x, with x pairs of ΔAmendment,It is to increment Delta x
It is multiple cumulative, after successive ignitionStablize the value in a certain fixation, after stabilizationFor final result,For difference of longitude
Corresponding actual range；With or resolve obtain Δ y after, with y pairs of ΔAmendment,It is to the multiple cumulative of increment Delta y, repeatedly repeatedly
Dai HouStablize the value in a certain fixation, after stabilizationFor final result,For the corresponding actual range of difference of longitude.
Preferably, UWB position label output coordinate using time-based scheme carry out UWB positioning calculation, optional one
For a label node as current label node B, optional 3 anchor nodes for having send-receive relationship with current label node are to work as
Preceding anchor node P1, P2, P3；
Measuring the signal flight time between P1 and B and calculating the distance between P1 and B is r1, is using B as with P1
The centre of sphere, radius are a bit on the ball C1 of r1；
Measuring the model flight time between P2 and B and calculating the distance between P2 and B is r2, is using B as with P2
The centre of sphere, radius are a bit on the ball C2 of r2；
Measuring the model flight time between P3 and B and calculating the distance between P3 and B is r3, is using B as with P3
The centre of sphere, radius are a bit on the ball C3 of r3；
Using three ball C1, C2, C3, P1, P2 and P3 coordinate are it is known that calculate the position coordinates of B.
If B:(X, Y, Z), C1 (X1,Y1,Z1)、C2(X2,Y2,Z2)、C3(X3,Y3,Z3), then it can list each base station
Ball equation, joint equation can calculate X, Y of outgoing label, Z location.
(X1-X)2+(Y1-Y)2+(Z1-Z)2=r1 2
(X2-X)2+(Y2-Y)2+(Z2-Z)2=r2 2
(X3-X)2+(Y3-Y)2+(Z3-Z)2=r3 2
Preferably, there is anchor node the power supply line being connected with external power supply and built-in battery, power supply line to be separately connected electricity
Source switching circuit and battery, power supply line are charged by charging circuit to battery, and battery is connected with power supply switch circuit, power supply switching
Circuit is to anchor node output voltage or electric current.
As a preferred option, it is integrated with acquisition device in wearable device and measures the pulse of people and the heart of blood pressure
Rate-blood pressure acquisition module, Evaluation of physiological module and human body indicators alarm module, the reality of rate-pressure acquisition module acquisition
Border heart rate and or actual blood pressure value when being located at other than normal human's physiological range, Evaluation of physiological module triggering human body indicators
Alarm module alarm, and alarm signal is transmitted to teleprocessing unit, teleprocessing unit shows that wearable device is proprietary
Information and its specific coordinate.
Rate pressure measurement is carried out using LST1303 chip；In real-time rate pressure signal Input Data Process.
LST1303 chip issues double green lights of 570nm wavelength, and the pulse accuracy of measurement is higher.
As a preferred option, data processor is connect with the monitoring camera of operation on the sea field, and obtains monitoring camera
The monitored picture of head, data processor use Face++ face recognition technology, mark the face in monitored picture, teleprocessing unit
After the consistency for comparing face identity and wearable device, the actual motion of the identity authority and the personnel that obtain the personnel is sat
Range is marked, judges whether the actual motion coordinate range is within its extent of competence, it is long-range to locate if exceeding its extent of competence
It manages device and shows the alarm of personnel's permission.The coordinate range of each operating area of operation field may be implemented to obtain by surveying and drawing, measuring,
And it is transformed into geographic coordinate system or rectangular coordinate system.
Preferably, after identifying face, the corresponding human action of detection face is closed teleprocessing unit using based on space-time
The human bioequivalence model of system extracts skeleton feature to identify actual act that human body is made, and teleprocessing unit prestores
The workflow of the personnel of every kind of permission acts, and workflow movement compares the reality of human body with the performance of skeleton feature
Movement is acted with workflow, if appearance is inconsistent, teleprocessing unit issues operation exception alarm.
Preferably, after identifying human body, human skeleton space characteristics is extracted, the arm of people and leg are expressed as
Head and trunk are expressed as line segment by multi-section-line, and shoulder is reduced to the point on head-trunk line segment, the position letter that leg is connected with trunk
It turns to a little；Behavioural characteristic is identified using multiple dimensioned time convolutional network, and bone space characteristics are as multiple dimensioned time convolutional network
Input, the one-dimensional convolution that step-length is 1 is done with time span dt on time dimension to the bone space characteristics of input and is grasped
Make；Then to the one-dimensional convolution operation for carrying out time dimension after first layer convolution again, so that obtaining comprising time span is dt
Two kinds of convolution for being 2*dt with time span first make one-dimensional convolution with time span dt, and try again the one-dimensional of time span dt
Convolution is to obtain the one-dimensional convolution of 2*dt；ReLU is added after the two is connected to connect with residual error, finally does the flat of the primary overall situation
Equal Chi Huahou, which is input in softmax (more classification functions in convolutional neural networks), obtains export structure；Convolutional network is only adopted
With the coding layer of TCN (time convolutional network), cancel decoding layer.
The present invention has the advantages that
1, it is measured based on the three-dimensional high-precision of Beidou and GPS double star and realizes operation on the sea field operating personnel's indoor and outdoors
Precise positioning.
2, acquisition device is integrated with the acquisition of location information and the acquisition of human body vital sign information, guarantees operation on the sea field
Human life's safety.
3, the present invention realizes the dynamic visual of operation on the sea field personnel's whereabouts and health status, exception and alarm occurs,
The permission of safeguard work personnel is consistent with actual activity region, if occurring in violation of rules and regulations, timely warning reminding.
Detailed description of the invention
Fig. 1 is signal of the room area in the practical maximum distance and latitudinal practical maximum distance of longitudinal
Figure.
Specific embodiment
In conjunction with attached drawing, the present invention will be described in detail.
The personnel safety status monitoring and early warning system of operation on the sea field, including Beidou signal receiver, GPS signal receive
Device, UWB locating base station, UWB position label and data processor；Beidou signal receiver, GPS signal receiver and UWB positioning
Label is integrated in wearable device, rectangular coordinate system and GPS signal receiver-Beidou signal receiver where unified UWB
The geographic coordinate system at place, UWB position the coordinate of label output as the coordinate under rectangular coordinate system, and UWB positioning label is integrated with
Signal enhancing antenna.For example, signal enhancing nature use small-sized omnidirectional's vertical polarized antenna or small circularly-polarizedantenna antenna, make UWB
Positioning label and the signal transmission distance of UWB locating base station can cover whole office work region.
Unified rectangular coordinate system and geographic coordinate system execute following operation: the range of the room area of measurement operation field obtains
Obtain the longitude range (X of room areamax,Xmin) and latitude scope (Ymax,Ymin)；It arranges UWB locating base station, keeps room area complete
In the full signal coverage areas for being located at UWB locating base station；Room area is calculated in the maximum distance and difference of longitude of longitudinal
Proportionate relationship K1, room area is calculated in the proportionate relationship K of latitudinal maximum distance and difference of latitude2；Obtain room area water
The transformational relation of the angle theta of horizontal line and longitudinal, rectangular coordinate system and geographic coordinate system isWherein, (xz,yz) indicate the coordinate that UWB positioning label exports, (xd,yd) indicate
GPS signal receiver or the coordinate of Beidou signal receiver output.
Ideal indoor coordinate system is established, as shown in Figure 1, using longitudinal as the X-axis of indoor coordinate system, with latitude direction
Y-axis as indoor coordinate system；Room area is measured in the practical maximum distance Δ X and room area of longitudinal in latitude side
To practical maximum distance Δ Y；Calculate the corresponding actual range Lx of difference of longitude under terrestrial coordinate system and in terrestrial coordinate system
Under the corresponding actual range L of difference of latitudey；The proportionate relationship Lx/ Δ X for calculating longitudinal calculates latitudinal ratio and closes
It is Ly/ Δ Y.
The rectangular coordinate system of room area is established, the origin of rectangular coordinate system and the origin of ideal indoor coordinate system are same
Point, rectangular coordinate system is using the horizontal line of operation field as X-axis, using short transverse as Y-axis；Calculate the X-axis and longitude of rectangular coordinate system
The angle theta in direction calculates the rotational transformation matrix between local rectangular coordinate system and local coordinate system
UWB positioning label exports its coordinate (x under rectangular coordinate systemz,yz), by the coordinate under local rectangular coordinate system
Be converted to the coordinate (x under ideal indoor coordinate systemL,yL), it is closed further according to local coordinate and the ratio of the longitude and latitude of world coordinate system
It is longitude, the latitude coordinate being converted under the world coordinate system of Beidou-GPS.
Acquisition device is worn on monitored personnel in order to portable mode.Data processor comes for analyzing
From the information of acquisition device.
Using pseudorange carry out Beidou-GPS signal resolve difference of longitude and or the corresponding actual range of difference of latitude, choose and acquire
N in whole satellites that device can observe carries out pseudo range measurement (i=1,2,3 ..., n), establishes equation group:
ρ in equation group (1)1~ρnIndicate that acquisition device obtains the Pseudo-range Observations of n satellite, (x respectivelyi,yi,zi) it is
The coordinate of i satellite, (xu,yu,zu) be acquisition device coordinate, tuIndicate the time difference between acquisition device and satellite.
According to least square method, the solution (x of equation group (1) can getu,yu,zu) and tu.Above-mentioned equation group is converted into square
Formation formula AX=Y, wherein A is linear equation coefficient matrix, and X is that the vector of unknown quantity indicates (xu, yu, zu, tu), Y is pseudorange
Vector indicate.
To improve system stability, using the calculation method of difference, the i.e. solution (x of group of equations (1)u,yu,zu) increasing
Measure (Δ xu,Δyu,Δzu), by the Matrix Formula Δ X=(A of least square solutionTA)-1ATΔ Y can find out GPS signal reception
Device and or Beidou signal receiver output coordinate increment.
Preferably, n=4；Alternatively, n > 4, the quantity of corresponding equation group can increase as the quantity of observation satellite increases,
Least square method is selected to resolve the optimal solution of equation group；After resolving obtains Δ x, with x pairs of ΔAmendment,It is to increment Delta x
It is multiple cumulative, after successive ignitionStablize the value in a certain fixation, after stabilizationFor final result,For difference of longitude
Corresponding actual range；With or resolve obtain Δ y after, with y pairs of ΔAmendment,It is to the multiple cumulative of increment Delta y, repeatedly repeatedly
Dai HouStablize the value in a certain fixation, after stabilizationFor final result,For the corresponding actual range of difference of longitude.
The coordinate that UWB positions label output carries out UWB positioning calculation, an optional label section using time-based scheme
Point is used as current label node B, and optional 3 anchor nodes for having send-receive relationship with current label node are current anchor node
P1,P2,P3；
Measuring the signal flight time between P1 and B and calculating the distance between P1 and B is r1, is using B as with P1
The centre of sphere, radius are a bit on the ball C1 of r1；
Measuring the model flight time between P2 and B and calculating the distance between P2 and B is r2, is using B as with P2
The centre of sphere, radius are a bit on the ball C2 of r2；
Measuring the model flight time between P3 and B and calculating the distance between P3 and B is r3, is using B as with P3
The centre of sphere, radius are a bit on the ball C3 of r3；
Using three ball C1, C2, C3, P1, P2 and P3 coordinate are it is known that calculate the position coordinates of B.
If B:(X, Y, Z), C1 (X1,Y1,Z1)、C2(X2,Y2,Z2)、C3(X3,Y3,Z3), then it can list each base station
Ball equation, joint equation can calculate X, Y of outgoing label, Z location.
(X1-X)2+(Y1-Y)2+(Z1-Z)2=r1 2
(X2-X)2+(Y2-Y)2+(Z2-Z)2=r2 2
(X3-X)2+(Y3-Y)2+(Z3-Z)2=r3 2
In some embodiments, anchor node has the power supply line and built-in battery being connected with external power supply, sub-power source line
Not Lian Jie power supply switch circuit and battery, power supply line charged by charging circuit to battery, and battery is connected with power supply switch circuit,
Power supply switch circuit is to anchor node output voltage or electric current.
In some embodiments, it is integrated with acquisition device in wearable device and measures the pulse of people and the heart of blood pressure
Rate-blood pressure acquisition module, Evaluation of physiological module and human body indicators alarm module, the reality of rate-pressure acquisition module acquisition
Border heart rate and or actual blood pressure value when being located at other than normal human's physiological range, Evaluation of physiological module triggering human body indicators
Alarm module alarm, and alarm signal is transmitted to teleprocessing unit, teleprocessing unit shows that wearable device is proprietary
Information and its specific coordinate.
Rate pressure measurement is carried out using LST1303 chip；In real-time rate pressure signal Input Data Process.
LST1303 chip issues double green lights of 570nm wavelength, and the pulse accuracy of measurement is higher.
In some embodiments, data processor is connect with the monitoring camera of operation on the sea field, and obtains monitoring camera
The monitored picture of head, data processor use Face++ face recognition technology, mark the face in monitored picture, teleprocessing unit
After the consistency for comparing face identity and wearable device, the actual motion of the identity authority and the personnel that obtain the personnel is sat
Range is marked, judges whether the actual motion coordinate range is within its extent of competence, it is long-range to locate if exceeding its extent of competence
It manages device and shows the alarm of personnel's permission.The coordinate range of each operating area of operation field may be implemented to obtain by surveying and drawing, measuring,
And it is transformed into geographic coordinate system or rectangular coordinate system.
For teleprocessing unit after identifying face, the corresponding human action of detection face uses the people based on time-space relationship
Body identification model extracts skeleton feature to identify actual act that human body is made, and teleprocessing unit prestores every kind of power
The workflow of the personnel of limit acts, workflow movement with the performance of skeleton feature, compare the actual act of human body with
Workflow movement, if appearance is inconsistent, teleprocessing unit issues operation exception alarm.
After identifying human body, human skeleton space characteristics are extracted, the arm of people and leg are expressed as multi-section-line,
Head and trunk are expressed as line segment, shoulder is reduced to the point on head-trunk line segment, and the position that leg is connected with trunk is reduced to a little；
Using multiple dimensioned time convolutional network identify behavioural characteristic, input of the bone space characteristics as multiple dimensioned time convolutional network,
The one-dimensional convolution operation that step-length is 1 is done with time span dt on time dimension to the bone space characteristics of input；Then
To the one-dimensional convolution operation for carrying out time dimension after first layer convolution again, thus obtain comprising time span be dt and when span
Degree is two kinds of convolution of 2*dt, first with time span dt makees one-dimensional convolution, the one-dimensional convolution of the time span dt that tries again to
Obtain the one-dimensional convolution of 2*dt；ReLU is added after the two is connected to connect with residual error, is finally the average Chi Huahou of the primary overall situation
It is input in softmax (more classification functions in convolutional neural networks) and obtains export structure；Convolutional network only with TCN (when
Between convolutional network) coding layer, cancel decoding layer.
It is to be illustrated to better embodiment of the present invention, but the present invention is not limited in the embodiment above, it is ripe
Various equivalent modifications or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, these
Equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. the personnel safety status monitoring and early warning system of operation on the sea field, it is characterised in that: the system includes that Beidou signal connects
Receive device, GPS signal receiver, UWB locating base station, UWB positioning label and data processor；Beidou signal receiver, GPS signal
Receiver and UWB positioning label are integrated in wearable device, rectangular coordinate system and GPS signal receiver-where unified UWB
Geographic coordinate system where Beidou signal receiver, UWB position the coordinate of label output as the coordinate under rectangular coordinate system, UWB
Positioning label is integrated with signal enhancing antenna.For example, signal enhancing nature use small-sized omnidirectional's vertical polarized antenna or small-sized circle
Poliarizing antenna enables the signal transmission distance of UWB positioning label and UWB locating base station to cover whole office work region.
2. the personnel safety status monitoring and early warning system of operation on the sea field as described in claim 1, it is characterised in that: unified
Rectangular coordinate system and geographic coordinate system execute following operation: the range of the room area of measurement operation field obtains room area
Longitude range (Xmax,Xmin) and latitude scope (Ymax,Ymin)；It arranges UWB locating base station, so that room area is fully located at UWB fixed
In the signal coverage areas of position base station；Room area is calculated in the maximum distance of longitudinal and the proportionate relationship K of difference of longitude1,
Room area is calculated in the proportionate relationship K of latitudinal maximum distance and difference of latitude2；Obtain room area horizontal line and longitude
The transformational relation of the angle theta in direction, rectangular coordinate system and geographic coordinate system isIts
In, (xz,yz) indicate the coordinate that UWB positioning label exports, (xd,yd) indicate that GPS signal receiver or Beidou signal receiver are defeated
Coordinate out.
3. the personnel safety status monitoring and early warning system of operation on the sea field as claimed in claim 2, it is characterised in that: establish
Ideal interior coordinate system, using longitudinal as the X-axis of indoor coordinate system, using latitude direction as the Y-axis of indoor coordinate system；It surveys
Room area is measured in the practical maximum distance △ X and room area of longitudinal in latitudinal practical maximum distance △ Y；Meter
Calculate the corresponding actual range Lx of the difference of longitude reality corresponding with the difference of latitude under terrestrial coordinate system under terrestrial coordinate system away from
From Ly；The proportionate relationship Lx/ △ X for calculating longitudinal, calculates latitudinal proportionate relationship Ly/ △ Y.
4. the personnel safety status monitoring and early warning system of operation on the sea field as described in claim 1, it is characterised in that: establish
The origin of the rectangular coordinate system of room area, the origin of rectangular coordinate system and ideal indoor coordinate system is same point, rectangular co-ordinate
System is using the horizontal line of operation field as X-axis, using short transverse as Y-axis；The X-axis of rectangular coordinate system and the angle theta of longitudinal are calculated,
Calculate the rotational transformation matrix between local rectangular coordinate system and local coordinate system
UWB positioning label exports its coordinate (x under rectangular coordinate systemz,yz), the coordinate under local rectangular coordinate system is converted
For the coordinate (x under ideal indoor coordinate systemL,yL), it is changed further according to the proportionate relationship of local coordinate and the longitude and latitude of world coordinate system
Longitude, the latitude coordinate being counted as under the world coordinate system of Beidou-GPS.
5. the personnel safety status monitoring and early warning system of operation on the sea field as described in claim 1, it is characterised in that: acquisition
Device is worn on monitored personnel in order to portable mode.
6. the personnel safety status monitoring and early warning system of operation on the sea field as claimed in claim 5, it is characterised in that: utilize
Pseudorange carry out Beidou-GPS signal resolve difference of longitude and or the corresponding actual range of difference of latitude, selection acquisition device can observe
To whole satellites in n carry out pseudo range measurement (i=1,2,3 ..., n), establish equation group:
ρ in equation group (1)1~ρnIndicate that acquisition device obtains the Pseudo-range Observations of n satellite, (x respectivelyi,yi,zi) it is i-th
The coordinate of satellite, (xu,yu,zu) be acquisition device coordinate, tuIndicate the time difference between acquisition device and satellite.
According to least square method, the solution (x of equation group (1) can getu,yu,zu) and tu.Above-mentioned equation group is converted into matrix form
AX=Y, wherein A is linear equation coefficient matrix, and X is that the vector of unknown quantity indicates (xu, yu, zu, tu), Y is the vector of pseudorange
It indicates.
7. the personnel safety status monitoring and early warning system of operation on the sea field as claimed in claim 6, it is characterised in that: to mention
High system stability, using the calculation method of difference, the i.e. solution (x of group of equations (1)u,yu,zu) increment (Δ xu,Δyu,
Δzu), by the Matrix Formula Δ X=(A of least square solutionTA)-1ATΔ Y can find out GPS signal receiver and or Beidou letter
The increment of the coordinate of number receiver output.
Preferably, n=4；Alternatively, n > 4, the quantity of corresponding equation group can increase as the quantity of observation satellite increases, and select
Least square method resolves the optimal solution of equation group；After resolving obtains Δ x, with x pairs of ΔAmendment,It is to the more of increment Delta x
It is secondary cumulative, after successive ignitionStablize the value in a certain fixation, after stabilizationFor final result,It is corresponding for difference of longitude
Actual range；With or resolve obtain △ y after, with △ y coupleAmendment,It is to the multiple cumulative of increment △ y, after successive ignitionStablize the value in a certain fixation, after stabilizationFor final result,For the corresponding actual range of difference of longitude.
8. the personnel safety status monitoring and early warning system of operation on the sea field as described in claim 1, it is characterised in that: can wear
Wear the pulse and the rate-pressure acquisition module of blood pressure, Evaluation of physiological for being integrated with acquisition device in formula device and measuring people
Module and human body indicators alarm module, the practical heart rate of rate-pressure acquisition module acquisition and or actual blood pressure value be located at it is normal
When other than Human Physiology range, Evaluation of physiological module triggers the alarm of human body indicators alarm module, and alarm signal is transmitted
To teleprocessing unit, teleprocessing unit shows the proprietary information of wearable device and its specific coordinate.
9. the personnel safety status monitoring and early warning system of operation on the sea field as described in claim 1, it is characterised in that: data
Processor is connect with the monitoring camera of operation on the sea field, and obtains the monitored picture of monitoring camera, and data processor uses
Face++ face recognition technology, marks the face in monitored picture, and teleprocessing unit compares face identity and wearable device
Consistency after, obtain the identity authority of the personnel and the actual motion coordinate range of the personnel, judge the actual motion coordinate
Whether range is within its extent of competence, if exceeding its extent of competence, teleprocessing unit shows the alarm of personnel's permission.Operation
The coordinate range of each operating area of field may be implemented to obtain by surveying and drawing, measuring, and be transformed into geographic coordinate system or straight
In angular coordinate system.
10. the personnel safety status monitoring and early warning system of operation on the sea field as described in claim 1, it is characterised in that: remote
Thread processor is after identifying face, the corresponding human action of detection face, using the human bioequivalence model based on time-space relationship,
Skeleton feature is extracted to identify actual act that human body is made, teleprocessing unit prestores the work of the personnel of every kind of permission
Make process movement, with the performance of skeleton feature, the actual act and workflow for comparing human body are acted for workflow movement,
If appearance is inconsistent, teleprocessing unit issues operation exception alarm；
After identifying human body, human skeleton space characteristics are extracted, the arm of people and leg are expressed as multi-section-line, by head
It is expressed as line segment with trunk, shoulder is reduced to the point on head-trunk line segment, and the position that leg is connected with trunk is reduced to a little；It uses
Multiple dimensioned time convolutional network identifies behavioural characteristic, input of the bone space characteristics as multiple dimensioned time convolutional network, to defeated
The bone space characteristics entered do the one-dimensional convolution operation that a step-length is 1 on time dimension with time span dt；Then to
The one-dimensional convolution operation of time dimension is carried out after one layer of convolution again, so that acquisition is dt comprising time span and time span is
Two kinds of convolution of 2*dt first make one-dimensional convolution with time span dt, and the one-dimensional convolution for the time span dt that tries again is to obtain
The one-dimensional convolution of 2*dt；ReLU is added after the two is connected to connect with residual error, is inputted after finally doing the average pond of the primary overall situation
Export structure is obtained in softmax (more classification functions in convolutional neural networks)；Convolutional network only with TCN, (roll up by the time
Product network) coding layer, cancel decoding layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910600493.5A CN110515108A (en) | 2019-07-04 | 2019-07-04 | Operation on the sea field personnel safety status monitoring and early warning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910600493.5A CN110515108A (en) | 2019-07-04 | 2019-07-04 | Operation on the sea field personnel safety status monitoring and early warning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110515108A true CN110515108A (en) | 2019-11-29 |
Family
ID=68623278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910600493.5A Pending CN110515108A (en) | 2019-07-04 | 2019-07-04 | Operation on the sea field personnel safety status monitoring and early warning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110515108A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112037477A (en) * | 2020-07-16 | 2020-12-04 | 国网浙江省电力有限公司温州供电公司 | Indoor electronic fence positioning method and system based on RFID |
| CN112034502A (en) * | 2020-08-05 | 2020-12-04 | 首钢京唐钢铁联合有限责任公司 | Real-time positioning system for production personnel |
| CN112269197A (en) * | 2020-10-12 | 2021-01-26 | 合肥四相至新科技有限公司 | Coordinate conversion method and system |
| CN112613619A (en) * | 2020-11-30 | 2021-04-06 | 重庆电子工程职业学院 | Safety operation management system for gas area in workshop |
| CN114743352A (en) * | 2022-02-21 | 2022-07-12 | 华能国际电力股份有限公司大连电厂 | Multi-point positioning method cutting power transmission alarm system |
| CN114938493A (en) * | 2022-07-07 | 2022-08-23 | 深圳市海伊石油技术有限公司 | Emergency positioning method and device based on offshore facility and intelligent terminal |
| CN115081919A (en) * | 2022-07-07 | 2022-09-20 | 深圳市海伊石油技术有限公司 | Activity authority management method and device based on offshore facility and center console |
| CN115361658A (en) * | 2022-07-07 | 2022-11-18 | 深圳市海伊石油技术有限公司 | Emergency set prompting method and device based on offshore facility and intelligent terminal |
| CN117111126A (en) * | 2023-10-20 | 2023-11-24 | 成都格理特电子技术有限公司 | Beidou-based petrochemical worker joint positioning method and device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105137465A (en) * | 2015-08-07 | 2015-12-09 | 成都亚讯星科实业有限公司 | Multi-dimensional personnel and equipment intelligent positioning wearable device |
| CN105852817A (en) * | 2015-01-20 | 2016-08-17 | 中国人民解放军第二军医大学 | Crew maritime intra-cabin positioning, vital sign monitoring and searching-rescuing method |
| CN105946904A (en) * | 2016-06-17 | 2016-09-21 | 上海铁路通信有限公司 | Protective system suitable for railway field maintainers |
| CN106646562A (en) * | 2016-09-09 | 2017-05-10 | 华东师范大学 | High-precision three-dimensional real scene indoor and outdoor integrated positioning method and device |
| CN206740990U (en) * | 2017-05-27 | 2017-12-12 | 北京国泰星云科技有限公司 | A kind of indoor and outdoor seamless positioning system |
| WO2018170493A1 (en) * | 2017-03-17 | 2018-09-20 | Michael Wang | Precise positioning system and method of using the same |
| CN109275097A (en) * | 2018-11-16 | 2019-01-25 | 华东理工大学 | Indoor positioning and monitoring system based on UWB |
| CN109522793A (en) * | 2018-10-10 | 2019-03-26 | 华南理工大学 | More people's unusual checkings and recognition methods based on machine vision |
| CN109767144A (en) * | 2019-03-21 | 2019-05-17 | 孔祥明 | A kind of construction site personnel potency management system and method |
-
2019
- 2019-07-04 CN CN201910600493.5A patent/CN110515108A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105852817A (en) * | 2015-01-20 | 2016-08-17 | 中国人民解放军第二军医大学 | Crew maritime intra-cabin positioning, vital sign monitoring and searching-rescuing method |
| CN105137465A (en) * | 2015-08-07 | 2015-12-09 | 成都亚讯星科实业有限公司 | Multi-dimensional personnel and equipment intelligent positioning wearable device |
| CN105946904A (en) * | 2016-06-17 | 2016-09-21 | 上海铁路通信有限公司 | Protective system suitable for railway field maintainers |
| CN106646562A (en) * | 2016-09-09 | 2017-05-10 | 华东师范大学 | High-precision three-dimensional real scene indoor and outdoor integrated positioning method and device |
| WO2018170493A1 (en) * | 2017-03-17 | 2018-09-20 | Michael Wang | Precise positioning system and method of using the same |
| CN206740990U (en) * | 2017-05-27 | 2017-12-12 | 北京国泰星云科技有限公司 | A kind of indoor and outdoor seamless positioning system |
| CN109522793A (en) * | 2018-10-10 | 2019-03-26 | 华南理工大学 | More people's unusual checkings and recognition methods based on machine vision |
| CN109275097A (en) * | 2018-11-16 | 2019-01-25 | 华东理工大学 | Indoor positioning and monitoring system based on UWB |
| CN109767144A (en) * | 2019-03-21 | 2019-05-17 | 孔祥明 | A kind of construction site personnel potency management system and method |
Non-Patent Citations (2)
| Title |
|---|
| J. DONG, B. HE, M. MING, C. ZHANG AND G. LI: "《Design of Open-Closed-Loop Iterative Learning Control With Variable Stiffness for Multiple Flexible Manipulator Robot Systems》" * |
| 马建威; 陈涛; 黄朝晖: "信息化条件下伤员体征信息感知及定位技术研究" * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112037477A (en) * | 2020-07-16 | 2020-12-04 | 国网浙江省电力有限公司温州供电公司 | Indoor electronic fence positioning method and system based on RFID |
| CN112034502A (en) * | 2020-08-05 | 2020-12-04 | 首钢京唐钢铁联合有限责任公司 | Real-time positioning system for production personnel |
| CN112269197A (en) * | 2020-10-12 | 2021-01-26 | 合肥四相至新科技有限公司 | Coordinate conversion method and system |
| CN112269197B (en) * | 2020-10-12 | 2024-04-19 | 合肥四相至新科技有限公司 | Coordinate conversion method and system thereof |
| CN112613619B (en) * | 2020-11-30 | 2024-04-09 | 重庆电子工程职业学院 | Safety operation management system for gas area in workshop |
| CN112613619A (en) * | 2020-11-30 | 2021-04-06 | 重庆电子工程职业学院 | Safety operation management system for gas area in workshop |
| CN114743352A (en) * | 2022-02-21 | 2022-07-12 | 华能国际电力股份有限公司大连电厂 | Multi-point positioning method cutting power transmission alarm system |
| CN115081919A (en) * | 2022-07-07 | 2022-09-20 | 深圳市海伊石油技术有限公司 | Activity authority management method and device based on offshore facility and center console |
| CN114938493B (en) * | 2022-07-07 | 2023-03-03 | 深圳市海伊石油技术有限公司 | Emergency positioning method and device based on offshore facility and intelligent terminal |
| CN115361658A (en) * | 2022-07-07 | 2022-11-18 | 深圳市海伊石油技术有限公司 | Emergency set prompting method and device based on offshore facility and intelligent terminal |
| CN114938493A (en) * | 2022-07-07 | 2022-08-23 | 深圳市海伊石油技术有限公司 | Emergency positioning method and device based on offshore facility and intelligent terminal |
| CN117111126A (en) * | 2023-10-20 | 2023-11-24 | 成都格理特电子技术有限公司 | Beidou-based petrochemical worker joint positioning method and device |
| CN117111126B (en) * | 2023-10-20 | 2023-12-22 | 成都格理特电子技术有限公司 | Beidou-based petrochemical worker joint positioning method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110515108A (en) | Operation on the sea field personnel safety status monitoring and early warning system | |
| CN206594781U (en) | The brushfire monitoring system being combined based on geography information GIS acquisition techniques with Internet of Things | |
| CN104767805B (en) | Urban Fires monitoring system based on Internet of Things framework and WebGIS | |
| CN103512562A (en) | Automatic monitoring and early-warning system for offshore area environment based on Arduino | |
| CN205537756U (en) | Monitoring system based on big dipper | |
| Wang et al. | Current situation and trend of marine data buoy and monitoring network technology of China | |
| CN113487094B (en) | Ocean data management application platform | |
| CN101980311A (en) | Method for giving alarm to low oxygen phenomenon of inshore ocean by monitoring buoys | |
| CN109581420A (en) | A kind of integrated electronic gyroscope high-precision Beidou monitoring stake | |
| Wang et al. | Modeling and application of the underground emergency hedging system based on Internet of Things technology | |
| CN107884777A (en) | A kind of shatter-resistant protection and loss prevention device for unmanned plane | |
| CN101986765A (en) | Singlechip-based low-power consumption networking positioning instrument | |
| CN206400318U (en) | The device of photovoltaic plant remote monitoring is realized using Beidou communication terminal | |
| CN111970382A (en) | Iron tower safety monitoring and early warning system | |
| Liu et al. | A coal mine personnel global positioning system based on wireless sensor networks | |
| CN110361765A (en) | GNSS and narrowband Internet of Things autonomous positioning and data fusion method | |
| CN114184761A (en) | Land, sea and air integrated intelligent sewage monitoring system and method | |
| Qiao et al. | Research on improved localization algorithms RSSI-based in wireless sensor networks | |
| CN204833272U (en) | Portable intelligent terminal of dispatch commander is salvageed to electric power under large tracts of land natural disasters environment | |
| CN209433013U (en) | A kind of integrated electronic gyroscope high-precision Beidou monitoring stake | |
| Yan et al. | Design and Realization of Intelligent Safety Helmet Based on NB-IoT | |
| CN218330032U (en) | Beidou iron tower safety sensing system | |
| Xiao et al. | Research on Intelligent Condition Monitoring of Power System Based on Beidou Technology | |
| Wang et al. | Design of personnel position system of mine based on the average of RSSI | |
| Yang et al. | A coal mine environmental monitor system with localization function based on ZigBee-compliant platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191129 |
|
| RJ01 | Rejection of invention patent application after publication |