CN114038159A - Live working safety distance measurement system and method based on UWB positioning - Google Patents
Live working safety distance measurement system and method based on UWB positioning Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
- G08B21/0266—System arrangements wherein the object is to detect the exact distance between parent and child or surveyor and item
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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Abstract
The invention relates to a live working safety distance measurement system and method based on UWB positioning, the system includes MCU module, UWB module, acousto-optic alarm module, bluetooth wireless transmission module connected with MCU module; the MCU module comprises a safe distance monitoring and early warning module, an audible and visual alarm control module and a remote Bluetooth transmission module. The invention can monitor the effective safety distance between the live working personnel and the surrounding live bodies and the grounding body in real time, and can effectively improve the safety degree of the working personnel.
Description
Technical Field
The invention relates to the field of hot-line work safety protection, in particular to a hot-line work safety distance measurement system and method based on UWB positioning.
Background
The overhead line runs in severe environments such as rain, snow, strong wind and the like for a long time, frequent testing, inspection and maintenance are needed, and high-voltage live working becomes a normal state for ensuring the safe and stable running of a power grid. According to the requirement of power regulations, when a constructor works near a live line or a partially live device, the constructor, tools and a live area are kept beyond a safety distance specified by the equipment voltage level so as to avoid safety accidents. However, in actual work, an illegal action is often caused by objective factors, such as limited operation space or insufficient experience of an operator, so that an error occurs in mastering a safe distance, and a higher electric shock risk is caused in the operation process. In the face of potential safety hazards in the overhead lines, manual live-wire work gradually becomes a research hotspot in the field of operation, maintenance and overhaul of power systems.
Disclosure of Invention
In order to monitor the effective safe distance between the live-wire operator and the surrounding live-wire body and the grounding body in real time to improve the safety degree of the live-wire operator, the application provides a live-wire operation safety distance measuring system and method based on UWB positioning.
The invention adopts the following technical scheme:
a live working safety distance measurement system based on UWB positioning comprises an MCU module, a UWB module connected with the MCU module, an acousto-optic alarm module and a Bluetooth wireless transmission module; the MCU module comprises a safe distance monitoring and early warning module, an audible and visual alarm control module and a remote Bluetooth transmission module;
setting a safe distance through a Bluetooth wireless transmission module;
the safety distance monitoring and early warning module initializes an HAL function library in a normal range of the battery voltage, enters a working mode, delays 10ms to start timing interruption of an internal timer, enters a while cycle, and receives ranging information of the UWB module every 10ms when the while cycle is started; and judging whether the operator or the operation device enters a safe distance range, if so, reminding the operator through an audible and visual alarm module, and if not, continuing to start the timing interruption of an internal timer to enter a while cycle.
Furthermore, the system also comprises a display module, and the MCU module is connected with the display module.
Furthermore, the UWB module comprises a UWB base station and a UWB tag, the distance measurement precision is +/-5 cm, the two-dimensional positioning precision is +/-10 cm, and the effective safety distance between the live working personnel and the surrounding charged bodies and the grounding body is monitored in real time.
Furthermore, the power supply voltage of the Bluetooth communication module is 1.7-3.6V, the working temperature is-40-85 ℃, and the peak current is 6.6 mA.
Furthermore, the MCU module is constructed by adopting an STM32F103 singlechip, adopts a 32-bit embedded singlechip with an ARM Cortex-M3 kernel architecture, and is internally integrated with a 256KB program memory and a 48KB data memory.
The invention also relates to a live working safety distance measurement method based on UWB positioning, which comprises the following steps:
initializing an HAL function library within a normal range of the battery voltage, entering a working mode, delaying for 10ms to start timing interruption of an internal timer, entering a while cycle, and receiving ranging information of the UWB module every 10ms when the while cycle is started; and judging whether the operator or the operation device enters a safe distance range, if so, reminding the operator through an audible and visual alarm module, and if not, continuing to start the timing interruption of an internal timer to enter a while cycle.
Further, the following is included:
s1: the power supply supplies power to the MCU module and the UWB module, and a worker presses a switch; setting a safe distance through a Bluetooth communication module;
s2: detecting that the battery voltage is in a normal range by the singlechip, initializing an HAL function library and a GPIO (general purpose input/output), initializing SPI (serial peripheral interface) and USART (universal serial bus interface), starting DWT (DWT) timing, and pulling up a DW1000 enabling pin to enter a working mode;
s3: the singlechip delays for 10ms to start the timing interruption of an internal timer and enters into while circulation;
s4: when the work is circulated, the ranging information of the UWB module is sent to the single chip microcomputer every 10 ms;
s5: judging whether an operator or an operation device enters a safe distance range, if so, reminding the operator through an audible and visual alarm module, if not, continuing to start the timing interruption of an internal timer, and entering a while cycle;
s6: after the operation is finished, the personnel or the moving device is far away from the live equipment, and the switch is closed;
further, in S4, the SPI transmits the UWB packet with the ID and the timestamp T1, the data packet is received at time T2, the replay packet is transmitted at time T3, the final packet is received at time T4, the distance value is calculated, and the USART transmits the distance data.
Further, the tag interrupt handling process is as follows:
and starting external interruption, and after receiving the data packet, the SPI receives a T1 data packet sent by the base station, sends the data packet at the time of T2 and enters a receiving mode.
Compared with the prior art, the invention has the following beneficial effects:
the invention can monitor the effective safety distance between the live working personnel and the surrounding live bodies and the grounding body in real time, and can effectively improve the safety degree of the working personnel.
The invention works near the overhead line, has narrow distance measurement space and high positioning precision requirement, and has the characteristics of low energy consumption, interference resistance, strong penetrating power and high precision compared with positioning technologies such as infrared, ultrasonic, Bluetooth, RFID, Wi-Fi and the like. The error precision of the invention is controlled to be about 20cm, while the precision of the existing WLAN positioning technology is 3-100 m, the precision of the RFID positioning technology is 10-30 m, and the precision of the ultrasonic positioning technology is about 15cm, but the invention is easily influenced by temperature and is not suitable for the application field of the invention.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
FIG. 1 is a block diagram of the hardware circuit architecture design of the present invention;
FIG. 2 is a flow chart of a method of the present invention;
FIG. 3 is a flow chart of interrupt processing for a UWB tag of the present invention;
fig. 4 shows raw ranging data of the UWB base station and the UWB tag in the present invention.
Detailed Description
The technical solutions in the embodiments will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples without making any creative effort, shall fall within the protection scope of the present application.
Unless otherwise defined, technical or scientific terms used in the embodiments of the present application should have the ordinary meaning as understood by those having ordinary skill in the art. The use of "first," "second," and similar terms in the present embodiments does not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. "Upper," "lower," "left," "right," "lateral," "vertical," and the like are used solely in relation to the orientation of the components in the figures, and these directional terms are relative terms that are used for descriptive and clarity purposes and that can vary accordingly depending on the orientation in which the components in the figures are placed.
As shown in fig. 1, the live-line work safety ranging system based on UWB positioning of the present embodiment includes an MCU module, a UWB module connected to the MCU module, an acousto-optic alarm module, a bluetooth wireless transmission module, and a display module; the MCU module comprises a safe distance monitoring and early warning module, an audible and visual alarm control module and a remote Bluetooth transmission module.
The UWB module selects a D-DWM-PGPLUS version, is provided with an evaluation board positioning base station developed based on a DW1000 positioning chip, has the ranging precision of +/-5 cm and the two-dimensional positioning precision of +/-10 cm, and is used for monitoring the effective safe distance between live working personnel and surrounding live bodies and grounding bodies in real time;
the sound and light alarm module is integrated by an LED and a buzzer, and is used for warning workers when the safety distance of the workers is monitored to be too low.
The model of the Bluetooth communication module is FSC-BT630, the power supply voltage is 1.7-3.6V, the working temperature is-40-85 ℃, the peak current is 6.6mA, and the Bluetooth communication module is low in power consumption and high-speed serial ports and can realize human-computer interaction.
The display module is a 0.96-inch OLED display screen and is used for realizing the operation of an upper computer.
The MCU module is constructed by adopting an STM32F103 singlechip, adopts a 32-bit embedded singlechip with an ARM Cortex-M3 kernel architecture, is internally integrated with a 256KB program memory and a 48KB data memory, has the characteristics of short interrupt delay and low debugging cost, and is a control core.
The UWB module adopts a D-DWM-PGPLUS version, is provided with an evaluation board positioning base station developed based on a DW1000 positioning chip, has the ranging precision of +/-5 cm and the two-dimensional positioning precision of +/-10 cm, and is used for monitoring the effective safe distance between live working personnel and surrounding live bodies and grounding bodies in real time.
The live working safety ranging method based on UWB positioning comprises the following steps:
s1: the power supply supplies power to the MCU module and the UWB module, and a worker presses a switch;
s2: detecting that the battery voltage is in a normal range by the singlechip, initializing an HAL function library, pulling up the DW1000 enabling pin to enable the pin to enter a working mode, and setting a safety distance through the Bluetooth communication module;
s3: the singlechip delays for 10ms to start the timing interruption of the internal timer 1 and enters while circulation;
s4: when the work is circulated, the ranging information of the UWB module is sent to the single chip microcomputer every 10 ms;
s5: judging whether an operator or an operation device enters a safe distance range, if so, reminding the operator through an audible and visual alarm module, if not, continuing to start the timing interruption of the internal timer 1, and entering a while cycle;
s6: after the operation is finished, the personnel or the removing device is far away from the live equipment, and the switch is closed.
In S4, the SPI transmits the UWB packet with the ID and the timestamp T1, the packet is received at time T2, the replay packet is transmitted at time T3, the final packet is received at time T4, the distance value is calculated, and the USART transmits the distance data.
The tag interrupt handling process is as follows:
and starting external interruption, and after receiving the data packet, the SPI receives a T1 data packet sent by the base station, sends the data packet at the time of T2 and enters a receiving mode.
Compared with the prior art. Fig. 4 shows raw ranging data of the UWB base station and the UWB tag. The error accuracy is controlled to be about 20cm, while the accuracy of the existing WLAN positioning technology is 3-100 m, the accuracy of the RFID positioning technology is 10-30 m, and the accuracy of the ultrasonic positioning technology is about 15cm, but the method is easily influenced by temperature and is not suitable for the application field of the invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (9)
1. The utility model provides a live working safety ranging system based on UWB location which characterized in that: the system comprises an MCU module, a UWB module, an acousto-optic alarm module and a Bluetooth wireless transmission module, wherein the UWB module, the acousto-optic alarm module and the Bluetooth wireless transmission module are connected with the MCU module; the MCU module comprises a safe distance monitoring and early warning module, an audible and visual alarm control module and a remote Bluetooth transmission module;
setting a safe distance through a Bluetooth wireless transmission module;
the safety distance monitoring and early warning module initializes an HAL function library in a normal range of the battery voltage, enters a working mode, delays 10ms to start timing interruption of an internal timer, enters a while cycle, and receives ranging information of the UWB module every 10ms when the while cycle is started; and judging whether the operator or the operation device enters a safe distance range, if so, reminding the operator through an audible and visual alarm module, and if not, continuing to start the timing interruption of an internal timer to enter a while cycle.
2. The system of claim 1, wherein: the system also comprises a display module, and the MCU module is connected with the display module.
3. The system of claim 1, wherein: the UWB module comprises a UWB base station and a UWB tag, the distance measurement precision is +/-5 cm, the two-dimensional positioning precision is +/-10 cm, and the effective safety distance between live working personnel and surrounding charged bodies and a grounding body is monitored in real time.
4. The system of claim 1, wherein: the power supply voltage of the Bluetooth communication module is 1.7-3.6V, the working temperature is-40-85 ℃, and the peak current is 6.6 mA.
5. The system of claim 1, wherein: the MCU module is constructed by adopting an STM32F103 singlechip, adopts a 32-bit embedded singlechip with an ARM Cortex-M3 kernel architecture, and is internally integrated with a 256KB program memory and a 48KB data memory.
6. A live working safety distance measurement method based on UWB positioning is characterized in that: the method comprises the following steps:
initializing an HAL function library within a normal range of the battery voltage, entering a working mode, delaying for 10ms to start timing interruption of an internal timer, entering a while cycle, and receiving ranging information of the UWB module every 10ms when the while cycle is started; and judging whether the operator or the operation device enters a safe distance range, if so, reminding the operator through an audible and visual alarm module, and if not, continuing to start the timing interruption of an internal timer to enter a while cycle.
7. The method of claim 6, wherein: the method comprises the following steps:
s1: the power supply supplies power to the MCU module and the UWB module, and a worker presses a switch; setting a safe distance through a Bluetooth communication module;
s2: detecting that the battery voltage is in a normal range by the singlechip, initializing an HAL function library and a GPIO (general purpose input/output), initializing SPI (serial peripheral interface) and USART (universal serial bus interface), starting DWT (DWT) timing, and pulling up a DW1000 enabling pin to enter a working mode;
s3: the singlechip delays for 10ms to start the timing interruption of an internal timer and enters into while circulation;
s4: when the work is circulated, the ranging information of the UWB module is sent to the single chip microcomputer every 10 ms;
s5: judging whether an operator or an operation device enters a safe distance range, if so, reminding the operator through an audible and visual alarm module, if not, continuing to start the timing interruption of an internal timer, and entering a while cycle;
s6: after the operation is finished, the personnel or the removing device is far away from the live equipment, and the switch is closed.
8. The method of claim 7, wherein: in S4, the SPI transmits the UWB packet with the ID and the timestamp T1, the packet is received at time T2, the replay packet is transmitted at time T3, the final packet is received at time T4, the distance value is calculated, and the USART transmits the distance data.
9. The method of claim 7, wherein: the tag interrupt handling process is as follows:
and starting external interruption, and after receiving the data packet, the SPI receives a T1 data packet sent by the base station, sends the data packet at the time of T2 and enters a receiving mode.
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| CN115493535A (en) * | 2022-10-12 | 2022-12-20 | 云南电网有限责任公司红河供电局 | UWB positioning-based sag online monitoring method |
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Application publication date: 20220211 |