CN114155695B - Motion detection method for UWB safety positioning based on time domain wavelet transformation - Google Patents
Motion detection method for UWB safety positioning based on time domain wavelet transformation Download PDFInfo
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- CN114155695B CN114155695B CN202111234443.3A CN202111234443A CN114155695B CN 114155695 B CN114155695 B CN 114155695B CN 202111234443 A CN202111234443 A CN 202111234443A CN 114155695 B CN114155695 B CN 114155695B
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- 238000003384 imaging method Methods 0.000 claims abstract description 10
- 230000002159 abnormal effect Effects 0.000 claims abstract description 6
- 230000005856 abnormality Effects 0.000 claims abstract description 4
- 230000004927 fusion Effects 0.000 claims description 4
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Classifications
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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
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- 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
- G08B21/0272—System arrangements wherein the object is to detect exact location of child or item using triangulation other than GPS
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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
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0407—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis
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- 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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Abstract
The invention discloses a motion detection method for UWB safe positioning based on time domain wavelet transformation. The existing motion detection method wastes a great deal of operation resources, and the working efficiency of automatic safety monitoring is low. The invention collects one-dimensional time signals, two-dimensional and three-dimensional space signals and space signals through a UWB radar device and an imaging device, converts the signals into original multidimensional wavelet transformation signals through multidimensional wavelet transformation, converts the original multidimensional wavelet transformation signals into processed multidimensional wavelet transformation signals through difference conversion together with virtual wavelet transformation signals obtained by a UWB tag positioning device, and finally converts the processed multidimensional wavelet transformation signals into position and motion state information of abnormal human bodies and objects through recognition of abnormality and inverse transformation. In the positioning method, each unit occupies lower operation resource, and the human body and the object with abnormal movement state are accurately identified.
Description
Technical Field
The invention belongs to the technical field of a safe positioning method of construction and operation areas integrating monitoring and identification, and particularly relates to a motion detection method for UWB safe positioning based on time domain wavelet transformation.
Background
The motion detection method based on wavelet transformation at the present stage only carries out wavelet transformation on the space, and the method can rapidly identify the human body, the object and the positions of the human body and the object in the original three-dimensional space or two-dimensional plane; and comparing a plurality of frame signals to find out the human body and the object with changed positions to realize motion detection. The number of human bodies and objects is often quite dramatic when this method is to be applied to a large area. More critical is that most of the objects are usually stationary objects throughout the year. Thus, in real-time monitoring, the computers in the system waste a great deal of computing power to deal with these objects that never have a safety hazard. Therefore, a great deal of operation resources are wasted, and the working efficiency of automatic safety monitoring is affected.
The wireless positioning technology of the engineering area at the present stage comprises the following steps: wi-Fi, bluetooth, infrared, RFID, ultrasonic, and UWB. Wi-Fi positioning can achieve positioning, monitoring and tracking tasks in complex environments through a Wireless Local Area Network (WLAN) composed of wireless access points (including wireless routers). Bluetooth positioning is mainly applied to small-scale positioning. The indoor positioning by the infrared technology is performed by receiving modulated infrared rays emitted by each mobile device (infrared IR mark) through an indoor optical sensor, and has relatively high indoor positioning precision. The RFID positioning technology utilizes a radio frequency mode to perform non-contact bidirectional communication exchange data, so that the purposes of mobile equipment identification and positioning are realized. The method can obtain centimeter-level positioning precision information in a few milliseconds, and has the advantages of large transmission range and low cost. The Z ultrasonic positioning mainly adopts reflective ranging, and the position of an object is determined through algorithms such as triangular positioning and the like. The conventional positioning method of UWB positioning has great difference, does not need to use carrier waves in the conventional communication system, but transmits data by sending and receiving extremely narrow pulses with nanoseconds or less, and can be used for indoor accurate positioning. Compared with the traditional narrow-band system, the ultra-wideband system has the advantages of strong penetrating power, low power consumption, good multipath resistance effect, high safety, low system complexity, capability of improving accurate positioning precision and the like, and is generally used for positioning tracking or navigation of indoor moving objects.
However, wi-Fi positioning is easily interfered by other signals, so that the accuracy of the Wi-Fi positioning is affected, and the energy consumption of the positioner is high. The bluetooth positioning is mainly applied to small-scale positioning, and moreover, for a complex space environment, the stability of a bluetooth positioning system is slightly poor and is greatly interfered by noise signals. The infrared positioning is that the light can not pass through the barrier, so that the infrared rays can only propagate in visual range and are easily interfered by other lights, and the infrared transmission distance is shorter, so that the indoor positioning effect is poor. RFID has the following problems: RFID is not easily integrated into mobile devices; the acting distance is short; there is a lack of extensive standardization. The ultrasonic positioning is easily affected by multipath effect and non-line-of-sight propagation, and the positioning accuracy is reduced; meanwhile, the method also requires a large amount of investment of underlying hardware facilities, and the overall cost is high. Even in the UWB positioning technology, UWB tags are still needed, and only UWB tags can be positioned in practice, so that emergency events in engineering areas cannot be identified and positioned effectively, and an alarm cannot be sent out timely.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides a motion detection method for UWB safety positioning based on time domain wavelet transformation.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a motion detection method for UWB safety positioning based on time domain wavelet transformation comprises the following steps:
step one: the UWB radar device and the UWB imaging device collect one-dimensional time signals, two-dimensional space signals and three-dimensional space signals in a multi-frame fusion mode;
step two: the one-dimensional time signal, the two-dimensional space signal and the three-dimensional space signal are converted into original multi-dimensional wavelet transformation signals through multi-dimensional wavelet transformation;
step three: the UWB tag positioning device acquires a virtual wavelet transformation signal in a virtual simulation mode;
step four: the original multidimensional wavelet transformation signal and the virtual wavelet transformation signal are converted into processed multidimensional wavelet transformation signals through difference;
step five: and step four, the processed multidimensional wavelet transformation signals are converted into position and motion state information of abnormal human bodies and objects through recognition of abnormality and inverse transformation.
Specifically, the UWB radar device, the UWB imaging device, and the UWB tag positioning device share a UWB base station.
Specifically, in the fifth step, the human body and the object with the motion speed of 0.3-30m/s relative to the reference system selected in the static state of the detection system are directly identified, and the human body and the object with the motion speed of 0.3-30m/s relative to the reference system selected in the static state of the detection system are directly ignored.
The invention has the beneficial effects that:
1) The UWB label positioning device is characterized in that a plurality of positioning base stations with known coordinates are arranged indoors, a person needing to be positioned carries a positioning label, the label emits pulses according to a certain frequency, the distance is continuously measured with the plurality of base stations, and the position of the label is determined through a certain accurate algorithm. The operation resource occupied by each unit in the positioning method is the lowest;
2) For human bodies and objects marked by UWB labels, the system directly judges whether the human bodies and objects are abnormal or not according to the positions and the motion states. For human bodies and objects which are not marked by UWB labels, the system can still identify the human bodies and objects with abnormal motion states according to the method of the invention.
Drawings
FIG. 1 is a flow chart of the operation of the present invention.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The UWB, ultra Wide Band, is a wireless carrier communication technology, which does not adopt a sinusoidal carrier, but uses nanosecond non-sinusoidal narrow pulses to transmit data, so the occupied frequency spectrum is very Wide.
Safety positioning refers to a positioning method capable of positioning personnel and objects in an engineering area in real time and identifying the existence of the personnel or the objects in an unsafe area or an area where the personnel or the objects should not appear. Once the positioning system identifies that personnel or objects exist in unsafe areas or areas where the personnel or objects should not exist based on the method, the system can send out alarm signals to prompt related personnel to quickly remove dangers, and the safety of personnel equipment construction and operation in engineering areas is ensured.
As shown in the general flowchart of the present invention of fig. 1, the present invention comprises the steps of:
step one: the UWB radar device and the UWB imaging device collect one-dimensional time signals, two-dimensional space signals and three-dimensional space signals in a multi-frame fusion mode;
the one-dimensional time signal, the two-dimensional space signal and the three-dimensional space signal are the space human body and object information obtained by the UWB radar device or the UWB imaging device, and the information is combined into a function F (t, x, y, z) or F (t, x, y) taking time as one of independent variables and space coordinates as the rest independent variables through multi-frame fusion operation.
The UWB radar apparatus is a pulse radar using 3.1-10.6GHz electromagnetic wave pulses as radar signal carriers. The transmitter of the UWB radar device emits electromagnetic wave energy to a certain direction of space through an antenna, and an object in the direction reflects the electromagnetic wave; the radar antenna receives the reflected wave and sends it to the receiving device for processing, and extracts certain information about the object, such as the distance from the target object to the radar, the rate of change of distance or radial velocity, azimuth, altitude, etc. In the present invention, a UWB base station shared with a UWB tag positioning device is used as a transmitter of a UWB radar device. The UWB radar device does not directly extract the human body and the object reflecting the electromagnetic wave, but directly processes the human body and the object into a three-dimensional space signal containing the information of the human body and the object;
the UWB imaging device uses electromagnetic waves of 3.1-10.6GHz, the lens of the UWB imaging device is equivalent to a convex lens, after the electromagnetic waves emitted by the UWB base station irradiate on a human body and an object, reflected light is converged on the UWB detection array after passing through the lens of the UWB imaging device, and an inverted and contracted real image is formed. The UWB detection array can be used as a carrier for recording information, and the real image can be recorded as a two-dimensional space signal.
Step two: the one-dimensional time signal, the two-dimensional space signal and the three-dimensional space signal are converted into original multi-dimensional wavelet transformation signals through multi-dimensional wavelet transformation; the transformation formula is as follows:
or (b)
Wherein, WT F Is a function after wavelet transformation;
f is a function before wavelet transformation;
psi is a transform basis wavelet of the wavelet transform;
a is the time dimension window width;
b is the space dimension window width;
t is the time argument of the function before wavelet transformation;
x, y, z are the spatial arguments of the function before wavelet transformation;
τ is the time argument of the wavelet transformed function;
χ, ψ, ω are the spatial arguments of the wavelet transformed function.
Step three: the UWB tag positioning device acquires a virtual wavelet transformation signal in a virtual simulation mode;
UWB tag positioning is a real-time positioning of units of a logged system. The UWB label positioning device is based on the principle that a plurality of positioning base stations with known coordinates are arranged indoors, a person needing to be positioned carries a positioning label, the label emits pulses according to a certain frequency, the distance is continuously measured with the plurality of base stations, and the position of the label is determined through a certain accurate algorithm. The positioning method has the advantages that the operation resources occupied by each unit are the lowest, and each person is guaranteed to carry with the UWB label by combining with the construction and operation management system; meanwhile, after all detected devices are provided with UWB labels, the system can completely master the dynamic state of the whole park under normal conditions. And according to the set safety limit rule, an alarm can be timely given to the danger.
Step four: the original multidimensional wavelet transformation signal and the virtual wavelet transformation signal are converted into processed multidimensional wavelet transformation signals through difference;
step five: step four, the processed multidimensional wavelet transformation signals are converted into position and motion state information of abnormal human bodies and objects through recognition of abnormality and inverse transformation; the human body and the object with the motion speed of 0.3-30m/s relative to the reference system selected in the static state of the detection system are directly identified, and the human body and the object with the motion speed of 0.3-30m/s relative to the reference system selected in the static state of the detection system are directly ignored.
The virtual wavelet transformation signal is a wavelet transformation signal obtained by simulating and calculating the human body and the object marked by the tag in the UWB tag positioning after the computer reads the running state of the human body and the object.Or (b)In the invention, different types of human bodies and objects recorded in the system corresponding to the UWB tag can obtain different virtual wavelet transformation signals, and meanwhile, the calculated virtual wavelet transformation signals can be changed due to different motion states of the human bodies and the objects.
The processed multidimensional wavelet transformation signal is the difference result between the original multidimensional wavelet transformation signal and the virtual wavelet transformation signal, and is the signal to be analyzed by the final method.
Or (b)
The content of the invention is not limited to the examples listed, and any equivalent transformation to the technical solution of the invention that a person skilled in the art can take on by reading the description of the invention is covered by the claims of the invention.
Claims (3)
1. A motion detection method for UWB safety positioning based on time domain wavelet transformation is characterized in that: the method comprises the following steps:
step one: synthesizing a function by a multi-frame fusion mode from a one-dimensional time signal, a two-dimensional space signal and a three-dimensional space signal acquired by a UWB radar device or a UWB imaging device, wherein the function is F (t, x, y, z) or F (t, x, y) taking time as one independent variable and space coordinates as the rest independent variables;
step two: converting the function F (t, x, y, z) or F (t, x, y) obtained in the step one into an original multidimensional wavelet transformation signal through multidimensional wavelet transformation; the transformation formula is as follows:
or (b)
Wherein, WT F Is a function after wavelet transformation;
f is a function before wavelet transformation;
psi is a transform basis wavelet of the wavelet transform;
a is the time dimension window width;
b is the space dimension window width;
t is the time argument of the function before wavelet transformation;
x, y, z are the spatial arguments of the function before wavelet transformation;
τ is the time argument of the wavelet transformed function;
χ, ψ, ω are the spatial arguments of the wavelet transformed function;
step three: the UWB tag positioning device acquires a virtual wavelet transformation signal in a virtual simulation mode;
step four: the original multidimensional wavelet transformation signal and the virtual wavelet transformation signal are converted into processed multidimensional wavelet transformation signals through difference;
step five: and step four, the processed multidimensional wavelet transformation signals are converted into position and motion state information of abnormal human bodies and objects through recognition of abnormality and inverse transformation.
2. A motion detection method for UWB security positioning based on time domain wavelet transform according to claim 1, characterized in that: the UWB radar device, the UWB imaging device and the UWB tag positioning device share a UWB base station.
3. A motion detection method for UWB security positioning based on time domain wavelet transform according to claim 2, characterized in that: in the fifth step, the human body and the object with the motion speed of 0.3-30m/s relative to the reference system in the stationary state of the detection system are directly identified.
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