CN114221998B - Lighting and positioning control method based on UWB intelligent lamp - Google Patents
Lighting and positioning control method based on UWB intelligent lamp Download PDFInfo
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
- H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/175—Controlling the light source by remote control
- H05B47/19—Controlling the light source by remote control via wireless transmission
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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Abstract
The invention discloses an illumination and positioning control system based on a UWB intelligent lamp, which comprises a positioning device, wherein the positioning device sends a signal containing information of operators to the intelligent lamp; an intelligent lamp is arranged on the operation area and used for responding to the approach or the separation of operators to realize the opening or closing and brightness adjustment, and acquiring and uploading the received operator information; the transmission module is used for receiving, storing and processing information sent by the intelligent lighting lamp, sending down an instruction and transmitting up in real time; the server receives the uploaded information, and obtains and displays the positions of the corresponding areas of the intelligent lighting lamps, the information of operators and the number of the operators after the information is processed; and the acquired information is displayed in real time in a terminal in a data form. The accurate positioning of the operators is convenient, and the operators are managed conveniently. Also discloses a lighting and positioning control system method based on the UWB intelligent lamp.
Description
Technical Field
The invention relates to illumination and high-precision personnel positioning technology in a workplace, in particular to an illumination and positioning control system and method based on a UWB intelligent lamp.
Background
The positioning of operators in industrial and mining places (indoor and outdoor environments in industrial areas) is an important component for realizing information security management of mines, the monitoring personnel needs to actually master the real-time position of the operators and judge whether the positions of the operators are abnormal, and meanwhile, the operators can find hidden dangers to timely contact with a monitoring center, so that important guarantee is provided for security management and rescue and relief work.
At present, most of the illumination in the working area of the high-risk industry adopts a traditional metal halogen lamp or a sodium lamp with high energy consumption, low efficiency, short service life and difficult maintenance, and cannot respond to the call of national energy conservation and emission reduction. The problems of disordered management, long time delay, small coverage, low positioning precision, small communication capacity and the like of the intelligent lighting lamp commonly used in the market generally exist in the technologies such as ZigBee, BLE, RFID and the like at present due to the fact that personnel actually flow frequently and the topography is complex during industrial and mining operations in high-risk industries such as mines, petrochemical industry and the like, and the basic operation environment requirements of heavy safety, high efficiency and high quality of lighting and positioning in the high-risk energy industry cannot be met.
Disclosure of Invention
Aiming at the technical problems, the invention provides an illumination and positioning control system and method based on a UWB intelligent lamp.
The technical scheme for solving the technical problems is as follows:
the invention also discloses an illumination and positioning control system based on the UWB intelligent lamp, which comprises a positioning device, a plurality of intelligent lamps, a server and a plurality of transmission modules;
the intelligent lamp is assigned with a unique ID and is bound to a designated position in an operation area, and is used for receiving a signal containing the information of the operator by the positioning device and uploading the received information of the operator and the duration of the operator at the current position to the server; wherein the working area comprises an uphole and/or downhole area of a mine; the intelligent lamp is also used for responding to the approach or the separation of operators to realize the opening or closing and brightness adjustment; the intelligent lamp is also used for uploading running state data of the intelligent lamp to the server and receiving a control instruction sent by the server;
the positioning device is used for sending a signal containing the information of the operator to the intelligent lamp, wherein the positioning device is carried by the operator; the information of the worker includes, but is not limited to, name, age, job title;
the transmission module is used for receiving, storing and processing the operator information sent by the intelligent lamp and uploading the operator information to the server in real time;
the server is used for receiving the operator information uploaded by the transmission module, and obtaining the operator information and the number of the corresponding areas of the intelligent lamps after processing the operator information; the intelligent lamp control system is also used for receiving the running state data of the intelligent lamp and issuing control instructions to the intelligent lamp; calculating and determining the current position coordinates of the operators, and establishing a track file according to the received operator information, duration time, position information corresponding to the intelligent lamp ID and the position coordinates of the operators;
the transmission module is connected and communicated with the intelligent lamp and the server; the intelligent lamp is in communication connection with the positioning device.
Further, the intelligent lighting lamp comprises a processor, and a power module, a near field communication device, a networking module, a light source module and a dimming module which are connected with the processor; the light source module comprises a lamp, and is respectively and electrically connected with the power supply module and the dimming module; the processor controls the on/off of the light source module, the light effect adjustment, the signal processing of the near field communication device and the signal processing of the networking module, the networking module communicates with the transmission module to upload the information of the operator of the positioning device and receive the control instruction, the near field communication device is used for acquiring the signal sent by the positioning device, and the power supply module is used for supplying power; the dimming module is used for adjusting the brightness of the intelligent lamp.
Still further, the intelligent lighting lamp further comprises an electric parameter acquisition module, wherein the electric parameter acquisition module is electrically connected with the power supply module and the processor, and is used for acquiring relevant operation state data of the lamp and uploading the operation state data to the server, and the operation state data comprise, but are not limited to, voltage, current and power.
Further, the positioning device comprises a controller and a UWB positioning module, and the controller is connected with the UWB positioning module.
Further, the system further comprises a sensor node for uploading data through the transmission module and/or the adjacent intelligent lamps, wherein the sensor node is connected with the intelligent lamps and/or the transmission module and is used for uploading environmental parameters in an operation area, and the sensor node comprises one or more of a PM2.5 sensor, a methane sensor, a carbon monoxide sensor, a temperature and humidity sensor, a brightness/illuminance sensor, a motion or infrared sensor and a vibration sensor.
Further, the positioning device further comprises a triggering mechanism for sending a distress signal and/or responding to a roll call, the triggering mechanism is connected with a processor and/or a server of the intelligent lamp, and the triggering mechanism comprises operator information and current position coordinates corresponding to the positioning device; wherein the triggering mechanism comprises, but is not limited to, an SOS key and/or a pull-buckle switch and/or a human body sign detection device.
Further, the server also comprises a plurality of databases of rule violations, and the obtained information of the operators, the corresponding motion trail information and the corresponding time information are substituted into the judgment logic of the rule violations, so that whether the operation behavior is rule violations is judged, and early warning information is sent to the parties and/or related monitoring personnel when the rule violations occur.
Further, the system also comprises a monitoring platform connected with the server and used for displaying the information of the operators, the duration time information of the corresponding areas, the position information corresponding to the intelligent lamp ID and the position coordinates of the operators and displaying the number of people in each area under the well; the method and the device realize the inquiry and playback of the historical motion trail of any appointed person in any appointed time period.
Further, the server comprises an alarm unit for realizing regional electronic fence, and configures authority to enter an unauthorized area for alarming.
Illumination and positioning control based on UWB intelligent lamps and lanterns includes the following steps:
s1, arranging a plurality of intelligent lamps in an operation area, carrying a positioning device by an operator, wherein the intelligent lamps are assigned with unique IDs and are bound to designated positions in the operation area, and simultaneously, ID numbering is carried out on the positioning device;
s2, the positioning device sends a signal containing the information of the operator to the intelligent lamp;
s3, the intelligent lamp acquires and uploads the received information of the operator and the duration time of the operator at the current position;
s4, the server receives the operator information uploaded by the transmission module, and acquires the operator information and the number of the corresponding areas of the intelligent lamps;
s5, the server calculates and determines the current position coordinates of the operators;
s6, the server establishes a track file according to the received operator information, duration time, position information corresponding to the intelligent lamp ID and the position coordinates of the operator.
Further, the method for acquiring the position coordinates comprises the following steps:
s51, dividing intelligent lamps arranged in an operation area into a first-level intelligent lamp and a plurality of second-level intelligent lamps;
s52, numbering the intelligent lamps and the positioning device by using a server, wherein the number of the first-level intelligent lamp is base station 1, and the other second-level intelligent lamps are sequentially numbered from No. 2 to No. n, namely base station 2 to base station n; the positioning device of the operator is numbered as labels 1 to n through a server;
s53, measuring the distance from the base station to the tag 1, wherein S A1TA ，S A2T1 ，S A3T1 …，S AnT1 Is the distance of the base station to tag 1;
s54, the base station 1 sends a signal to the whole network, and other base stations immediately send the signal to the tag 1 after receiving the signal of the base station 1;
s55, after receiving signals of the base station 1, the tag 1 records the arrival time of the signals, and then waits until signals from the base station 2, the base station 3, the base station 4 and the base station n arrive, calculates arrival time differences (t 2-t 1), (t 3-t 1) and …, (tn-t 1) of the base station 2, the base station 3, the base station 4 and the base station n from arrival time t1 of all the base stations to the tag 1;
s56, obtaining an estimated position value of the target to be positioned by using a TDOA algorithm;
s57, taking the estimated position value as an initial value of Kalman filtering, and obtaining a final estimated value by using a Kalman filtering algorithm.
Further, the estimated position value of the target to be positioned is obtained by using a TDOA algorithm, and the equation set of the TDOA algorithm is as follows:
where tn is the time base station n arrives at tag 1;
Further, the specific step S57 includes:
the state equation for a discrete control process system is:
x k+1 ＝ A x k + B μ k+1 +ω k+1
wherein x is k+1 Is the system state at time k+1; omega k+1 Is a gaussian random variable of process noise; mu (mu) k+1 Is the control quantity of the system at the moment k+1; a and B are system parameters, which are matrices for multimode systems;
the corresponding observation matrix is:
Z k+1 ＝[θ s，k+1 γ s，k+1 ] T ＝H k+1 x k+1 +v k+1
wherein Z is k+1 Is the measurement at time k+1; h k+1 Is an identity matrix; v (v) k+1 Is a gaussian random variable that measures noise;
estimating the present state based on the previous state:
in the method, in the process of the invention,
is the result of using the last state prediction; x is x k/k Is the optimal result of the last state; mu (mu) k+1 Is the control quantity of the present state;
the minimum mean square error matrix is:
P k+1/k ＝AP k/k A T +Q
wherein P is k/k Is an estimated value x k/k Is a minimum mean square error matrix of (2); p (P) k+1/k Is that
Is a covariance of (2); q is the covariance in the process;
the kalman gain is:
wherein R is k+1 Is the observation noise v k+1 Is a covariance matrix of (a);
the optimal estimate of the K+1 state is:
maintaining continuity of the system until the end, updating x in the K+1 state k+1/k+1 Is of the covariance of:
P k+1|k+1 ＝(I-K k+1 )HP k+1|k
corrected by Kalman filtering
The method comprises the following steps:
order the
Compensating clock drift so that clocks between the master base station and the slave base station are kept synchronous;
one Y information matrix defining the kalman gain matrix is:
wherein Y is used for representing the difference value between the actual clock deviation and the predicted clock deviation;
the degree of coincidence of the current input and the current filter state:
if the OM is larger than a preset threshold, the current input is not trusted, the current state is not updated, and the data is directly discarded.
Compared with the prior art, the invention has the following technical effects:
according to the intelligent lighting system, the problems of lighting and high-precision positioning in an operation area are solved through the positioning device, the plurality of intelligent lamps, the server and the plurality of transmission modules, so that a monitoring person can conveniently master the activity condition of the operation person in real time and can timely warn the monitoring person and the operation person of accidents possibly caused by mistakenly entering a forbidden area or leaving an appointed operation area, and the accidents are effectively prevented; meanwhile, the control modes of ' people come to light on ' and people go to light off ' of the intelligent lamp are realized through near field communication identification between the positioning device and the intelligent lamp; the system is combined with the sensor, so that the functions of on-line spot inspection, environment monitoring, intelligent management of intelligent lighting fixtures and the like of equipment can be realized.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a positioning network model of the improved TDOA algorithm of the present invention;
fig. 3 is a flow chart of the method of the present invention.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
The following describes concepts related to embodiments of the present disclosure, and UWB (Ultra Wide Band) technology is a wireless carrier communication technology, which does not use a sinusoidal carrier, but uses non-sinusoidal narrow pulses of nanosecond order to transmit data, so that the spectrum occupied by the technology is Wide.
Example 1
An operator positioning control method based on UWB technology, referring to FIG. 3, comprises the following steps:
s1, arranging a plurality of intelligent lamps in an operation area, carrying a positioning device by an operator, wherein the intelligent lamps are assigned with unique IDs and are bound to designated positions in the operation area, and simultaneously, ID numbering is carried out on the positioning device;
s2, the positioning device sends a signal containing the information of the operator to the intelligent lamp;
s3, the intelligent lamp acquires and uploads the received information of the operator and the duration time of the operator at the current position;
s4, the server receives the operator information uploaded by the transmission module, and acquires the operator information and the number of the corresponding areas of the intelligent lamps;
s5, the server calculates and determines the current position coordinates of the operators;
s6, the server establishes a track file according to the received operator information, duration time, position information corresponding to the intelligent lamp ID and the position coordinates of the operator.
Further, referring to fig. 2, the method for acquiring the position coordinates includes:
s51, dividing intelligent lamps arranged in an operation area into a first-level intelligent lamp and a plurality of second-level intelligent lamps;
s52, numbering the intelligent lamps and the positioning device by using a server, wherein the number of the first-level intelligent lamp is base station 1, and the other second-level intelligent lamps are sequentially numbered from No. 2 to No. n, namely base station 2 to base station n; the positioning device of the operator is numbered as labels 1 to n through a server;
s53, measuring the distance from the base station to the tag, wherein the number is S A1TA ，S A2T1 ，S A3T1 …，S AnT1 Is the distance of the base station to tag 1;
s54, the base station 1 sends a signal to the whole network, and other base stations immediately send the signal to the tag 1 after receiving the signal of the base station 1;
s55, after receiving signals of the base station 1, the tag 1 records the arrival time of the signals, and then waits until signals from the base station 2, the base station 3, the base station 4 and the base station n arrive, calculates arrival time differences (t 2-t 1), (t 3-t 1) and …, (tn-t 1) of the base station 2, the base station 3, the base station 4 and the base station n from arrival time t1 of all the base stations to the tag 1;
s56, obtaining an estimated position value of the target to be positioned by using a TDOA algorithm;
s57, taking the estimated position value as an initial value of Kalman filtering, and obtaining a final position coordinate by using a Kalman filtering algorithm.
The estimated position value of the target to be positioned is obtained by using a TDOA algorithm, and the equation set of the TDOA algorithm is as follows:
where tn is the time base station n arrives at tag 1;
Since the distance between base station 1 and base station n can be measured by site, no ranging estimator is needed. In the TDOA positioning process, the tag receives the signal, but it does not transmit the signal, no collision interference occurs, and the tag 1 and the tag 2 are relatively independent, so that expansion of multiple tags can be realized.
The clock synchronization of the base station is realized at the initial moment through the TDOA algorithm, the error is inevitably generated when the signal is blocked by a non-line-of-sight obstacle in the transmission process in the face of the complex mine environment, and the error is eliminated by adopting the Kalman filtering error detection algorithm for the problem.
The state equation for a discrete control process system is:
x k+1 ＝ A x k + B μ k+1 +ω k+1
wherein x is k+1 Is the system state at time k+1; omega k+1 Is a gaussian random variable of process noise; mu (mu) k+1 Is the control quantity of the system at the moment k+1; a and B are system parameters, which are matrices for multimode systems;
the corresponding observation matrix is:
Z k+1 ＝[θ s，k+1 γ s，k+1 ] T ＝H k+1 x k+1 +v k+1
wherein Z is k+1 Is the measurement at time k+1; h k+1 Is an identity matrix; v (v) k+1 Is a gaussian random variable that measures noise;
estimating the present state based on the previous state:
in the method, in the process of the invention,
is the result of using the last state prediction; x is x k/k Is the optimal result of the last state; mu (mu) k+1 Is the control quantity of the present state;
the minimum mean square error matrix is:
P k+1|k ＝AP k|k A T +Q
wherein P is k/k Is an estimated value x k/k Is a minimum mean square error matrix of (2); p (P) k+1/k Is that
Is a covariance of (2); q is the covariance in the process;
the kalman gain is:
wherein R is k+1 Is the observation noise v k+1 Is a covariance matrix of (a);
the optimal estimate of the K+1 state is:
maintaining continuity of the system until the end, updating x in the K+1 state k+1/k+1 Is of the covariance of:
P k+1|k+1 ＝(I-K k+1 )HP k+1|k
corrected by Kalman filtering
The method comprises the following steps:
order the
Compensating clock drift so that clocks between the master base station and the slave base station are kept synchronous;
one Y information matrix defining the kalman gain matrix is:
wherein Y is used for representing the difference value between the actual clock deviation and the predicted clock deviation;
the degree of coincidence of the current input and the current filter state:
if OM is greater than a preset threshold, the current input is not trusted, the current state is not updated, and the data is directly discarded, so that the filter is prevented from being greatly influenced by an error data packet.
Through the above process, clock bias and interference in the transmission process can be eliminated.
Example 2
The invention also discloses an operator positioning control system based on UWB technology, referring to FIG. 1, comprising a positioning device, a plurality of intelligent lamps, a server and a plurality of transmission modules; the transmission module is connected and communicated with the intelligent lamp and the server; the intelligent lamp is in communication connection with the positioning device.
The intelligent lamp is allocated with a unique ID and bound to a designated position in an operation area, and is used for receiving a signal containing the information of the operator from the positioning device and uploading the received information of the operator and the duration of the operator at the current position to the server; the intelligent lamp is also used for responding to the approach or the separation of operators to realize the opening or closing and brightness adjustment; the intelligent lamp is also used for uploading the running state data of the intelligent lamp to the server and receiving a control instruction sent by the server.
Specifically, the intelligent lighting lamp comprises a processor, and a power module, a near field communication device, a networking module, a light source module and a dimming module which are connected and controlled by the processor; the light source module comprises a lamp, and is respectively and electrically connected with the power supply module and the dimming module; the processor receives and controls the on/off of the light source module and the light effect adjustment, and is used for the signal processing of the near field communication device and the signal processing of the networking module; the networking module is communicated with the transmission module to upload the information of the operator of the positioning device and receive the control instruction, and comprises a limited communication module and/or a wireless communication module; the power supply module is used for supplying power, and comprises a storage battery, an electrochemical capacitor (super capacitor) and the like, wherein the charging mode is not limited to USB and wireless charging; the dimming module is used for adjusting the brightness of the intelligent lamp and can be a PWM dimming module or other forms; the near field communication device is used for acquiring signals sent by the positioning device and identifying, the fact that an operator approaches to the start of the light source module is achieved through control of the processor is identified, when the operator is identified to be far away, the processor controls the dimming module to adjust the brightness of light, and control modes such as 'people come to light on and people go to light off' are achieved, wherein near field communication (near field communication) is achieved, data exchange can be conducted under the condition that equipment using NFC technology approaches to each other, the equipment is integrated and evolved through non-contact Radio Frequency Identification (RFID) and interconnection intercommunication technology, and functions of an induction card reader, an induction card and point-to-point communication are integrated on a single chip; the smart light fixtures described herein include, but are not limited to, explosion-proof or non-explosion-proof smart light fixtures (LEDs and other light source smart lighting fixtures).
It is worth explaining that the wired communication module is one or more modules of Ethernet, KNX, ABB, LON, EIB, CAN, RS485, RS232 and MBUS; the wireless communication module is one or more of LoRa, zigBee, wifi, lifi, NBIOT, wi-Sun, sigfox, Z-ware, SUb-1GHz, 433MHz, 2.4GHz, ZETA, thread, NFC, UWB, bluetooth, 4G and 5G.
The positioning device is used for sending a signal containing the information of the operator to the intelligent lamp, wherein the positioning device is carried by the operator; the information of the worker includes, but is not limited to, name, age, job title; the positioning device can also be connected with a safety helmet, a chest card type, a watch belt type (including blood pressure, heart rate and other test functions), and the positioning device comprises but is not limited to explosion-proof or non-explosion-proof, active or passive.
The transmission module is used for receiving, storing and processing the operator information sent by the intelligent lamp and uploading the operator information to the server in real time. The transmission module may employ a multifunctional Gateway, which is also referred to herein as Gateway (Gateway) as an intersystem connector, protocol converter. The gateway is the most complex network interconnection device on the transport layer to implement network interconnection, and is only used for network interconnection with two higher-layer protocols different. The gateway may be used for both wide area network and local area network interconnections. A gateway is a computer system or device that acts as a translation rendition. The gateway is a translator between two systems using different communication protocols, data formats or languages, and even architectures that are quite different.
The server is used for receiving the operator information uploaded by the transmission module, and obtaining the operator information and the number of the corresponding areas of the intelligent lamps after processing the operator information; the intelligent lamp control system is also used for receiving the running state data of the intelligent lamp and issuing control instructions to the intelligent lamp; and calculating and determining the current position coordinates of the operators, and establishing a track file according to the received operator information, duration time, position information corresponding to the intelligent lamp ID and the position coordinates of the operators, wherein the track file also contains names, ages and roles of the operators, the entering and leaving time and the stay time of the operators in a designated area and the like. The capacity of the server system can reach more than 5000 people, the position delay is not more than 1 second under the condition that shielding is not serious, the static positioning precision is less than or equal to 30 cm, and the dynamic positioning precision is less than or equal to 1 meter.
The transmission module is connected with the intelligent lamp and the server in a wired or wireless mode and communicated with the intelligent lamp and the server; the intelligent lamp is in communication connection with the positioning device. Limited connectivity means include, but are not limited to, ethernet, KNX, ABB, LON, EIB, CAN, RS485, RS232, and MBUS, and wireless connectivity means include, but are not limited to, loRa, zigBee, wifi, lifi, NBIOT, wi-Sun, sigfox, Z-ware, SUb-1GHz, 433MHz, 2.4GHz, ZETA, thread, NFC, UWB, bluetooth, 4G, 5G.
Example 3
The intelligent lighting lamp is characterized by further comprising an electric parameter acquisition module, wherein the electric parameter acquisition module is connected with the power supply module and the processor, and is used for acquiring relevant operation state data of the lamp and uploading the operation state data to a server through a temperature sensor, and the operation state data comprise but are not limited to voltage, current and power; when the server judges that the intelligent lamp is powered off or powered off by alternating current according to the data of the electric parameter acquisition module, a storage battery or a super capacitor in the intelligent lamp power module supplies power to the intelligent lamp, the intelligent lamp informs a processor (each time 3-5 times of information is sent) in the short-time (second-level) discharging process of the battery or the super capacitor, the server actively reports the monitoring platform, and the short message informs operation staff, so that the trouble caused by too many short messages is avoided being directly reported to the monitoring platform by a plurality of intelligent lamps, the operation staff receives the trouble caused by too many short messages at the same time, abnormal alarm is realized, abnormal alarm records are generated, the EXCEL report can be inquired, the EXCEL report can be derived, and meanwhile, the intelligent lamp can acquire a state control instruction sent by the system server, and the on-off or light effect adjustment of the intelligent lamp is realized.
Example 4
The difference from embodiment 2 is that the positioning device includes a controller and a UWB positioning module, the controller and the UWB positioning module are connected, the UWB positioning module includes a UWB base station and a UWB signal tag, a communication antenna and a shield are mounted on the UWB base station, the communication antenna is used for directionally detecting the orientation of the UWB signal tag, the communication antenna has a front surface and a back surface, the front surface of the communication antenna is opposite to the UWB signal tag, and the back surface of the communication antenna is opposite to the shield.
Example 5
The system is distinguished from other embodiments in that the system further comprises a sensor node for uploading data through the transmission module and/or an adjacent smart luminaire, the sensor node being connected to the smart luminaire and/or the transmission module for uploading environmental parameters in the work area, wherein the sensor node comprises one or several of, but not limited to, a PM2.5 sensor, a methane sensor, a carbon monoxide sensor, a temperature and humidity sensor, a brightness/illuminance sensor, a motion or infrared sensor, a vibration sensor. The sensor node is connected with the intelligent lamp and/or the transmission module in a limited and/or wireless mode, wherein the limited connection mode comprises an Ethernet, KNX, ABB, LON, EIB, CAN, RS485, RS232 and MBUS, and the wireless connection mode comprises LoRa, zigBee, wifi, lifi, NBIOT, wi-Sun, sigfox, Z-wire, SUb-1GHz, 433MHz, 2.4GHz, ZETA, thread, NFC, UWB, bluetooth, 4G and 5G.
The PM2.5 sensor is used for detecting PM2.5 values in the environment, the methane sensor is used for detecting the concentration of methane in the environment, the carbon monoxide sensor is used for detecting the concentration of carbon monoxide in the environment, the temperature and humidity sensor is used for detecting the temperature and the humidity in the environment, the brightness/illuminance sensor is used for detecting illumination brightness values in the environment, and the motion or infrared sensor is used for detecting the movement of people or objects; the vibration sensor is used for detecting vibration conditions of a working area.
The intelligent lighting system comprises a plurality of intelligent lighting devices, a plurality of sensor nodes, a transmission module and a control unit, wherein the sensor nodes upload data through the transmission module or the adjacent intelligent lighting devices, and are preferably connected through the intelligent lighting devices for facilitating layout, and are used for performing illumination or other control linkage according to environmental parameters, for example, the sensor nodes sense that the ambient illuminance is lower, and the intelligent lighting devices adjust the brightness of a light source module of the intelligent lighting devices while uploading illuminance data so as to ensure normal illumination of the place.
Example 6
The system also comprises a monitoring platform connected with the server, and is used for displaying the information of the operators, the duration information of the corresponding areas, the position information corresponding to the intelligent lamp ID and the position coordinates of the operators, and displaying the number of people in each area under the well; the method and the device realize the inquiry and playback of the historical motion trail of any appointed person in any appointed time period.
Example 7
The server is different from other embodiments in that the server comprises an alarm unit for realizing regional electronic fence, and configures rights, and enters an unauthorized area to alarm; dividing the intelligent lamp into areas and setting corresponding area access conditions, wherein the area access conditions comprise the forbidden access of a designated area or the forbidden access of the designated area; the virtual electronic fence function is realized, the area of the virtual electronic fence can be set at the front end of the webpage through the access server, and the area is defined as an area which is forbidden to leave or enter in a specific time period; when a person is unauthorized to enter or exit the electronic fence, the system server can trigger an automatic alarm.
Example 8
The difference with other embodiments is that the positioning device further comprises a triggering mechanism for sending a distress signal, and the triggering mechanism is connected with a processor and/or a server of the intelligent lamp; the triggering mechanism for sending the distress signal can be an SOS key, a pull buckle switch or a vital sign sensor.
When a worker presses an SOS key or pulls a pull button switch, the positioning device is touched to give an alarm; or the triggering mechanism is a vital sign sensor connected with the intelligent lamp processor, and when abnormal human body sign data (such as heart rate and blood pressure) are detected, the triggering mechanism triggers the alarm condition on the positioning device.
The server informs the monitoring personnel to start rescue when receiving the distress signal, and the informing mode comprises the steps of displaying alarm information, alarming or starting an alarm lamp to give an alarm, so that the monitoring personnel or site security personnel can acquire the alarm condition and rapidly ask for help.
Example 9
The difference from other embodiments is that the positioning device further comprises a trigger mechanism for roll calling, which is connected with the server and/or the intelligent lamp, wherein the trigger mechanism for roll calling can be an SOS key or a pull buckle switch.
The server sends a roll call request to the positioning device through the transmission module and/or the intelligent lamp, an operator operates the positioning device to respond, and the response can be triggered through an SOS key or a pull buckle switch on the positioning device, or the positioning device in an operation area can respond to the roll call request to trigger automatically; or the roll call request can be sent by the intelligent lamp, the intelligent lamp captures the signal of the positioning device in the detection area, and then the information of the operator is uploaded.
The system server records the response worker information and the arrival person information to count the roll call condition, and realizes dynamic roll call, so that the system server can facilitate the statistics of the number of people in various complex conditions of mining area personnel, ensure the number of people entering and exiting the mine, and timely find the possible problems of personnel absence, trapped people and the like through the arrival person, the arrival person and the non-arrival person presented by the system server.
Example 10
The method is different from other embodiments in that the server further comprises a plurality of databases of violation rules, and the obtained operator information, corresponding motion trail information and time information are substituted into the judgment logic of the violation rules, so that whether the operation behavior is in violation is judged, and early warning information is sent to the principal and/or related monitoring personnel when the violation occurs.
For example, the upper limit of the travelling speed of the working area is set to be 3 m/s, when the movement track speed of a person is found to be over-limit, the existence of the illegal action is identified, and then the security person or the party is notified to correct the error, so that the accident is prevented.
Example 11
The intelligent lamp control system is different from other embodiments in that intelligent lamps in an operation area are networked or freely grouped through a system server, the control modes of full control, group control, single control and the like of the intelligent lamps are realized, and timing control and dimming control can be carried out on the intelligent lamps through time control planning tasks; the intelligent lamp in the mining area is subjected to daily, monthly and annual statistics on energy consumption and lighting time based on the power data, and can also be subjected to power consumption statistics and lighting time statistics according to the intelligent lamp grouping condition, so that corresponding energy consumption graphs, bar charts, pie charts and the like are generated, and the power consumption data statistics analysis requirements are met; based on the wireless access mode between the intelligent lamp and the transmission module, the information of the intelligent lamp can be flexibly subjected to new addition, deletion and modification management operation on the system server.
Example 12
The system can be linked with the video monitoring, when workers or extraneous people arrive at a limited or unauthorized area, the system automatically alarms, video or picture information is popped up at a monitoring center, the condition of related workers is known, electronic fence or out-of-range warning is realized, and warning is issued through a sound box or loudspeaker in the area, so that the system linkage is realized.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The illumination and positioning control method based on the UWB smart lamp is characterized by comprising a positioning device, at least one smart lamp, a server and a plurality of transmission modules, wherein the system is based on the illumination and positioning control system of the UWB smart lamp;
the intelligent lamp is assigned with a unique ID and is bound to a designated position in an operation area, and is used for receiving a signal containing the information of the operator by the positioning device and uploading the received information of the operator and the duration of the operator at the current position to the server; the intelligent lamp is also used for responding to the approach or the separation of operators to realize the opening or closing and brightness adjustment; the intelligent lamp is also used for uploading running state data of the intelligent lamp to the server and receiving a control instruction sent by the server;
the positioning device is used for sending a signal containing the information of the operator to the intelligent lamp, wherein the positioning device is carried by the operator; the information of the worker includes, but is not limited to, name, age, job title; the positioning device further comprises a triggering mechanism for sending a distress signal, and the triggering mechanism is connected with a processor and/or a server of the intelligent lamp; the triggering mechanism for sending the distress signal is an SOS key, a pull buckle switch or a vital sign sensor;
the transmission module is used for receiving, storing and processing the operator information sent by the intelligent lamp and uploading the operator information to the server in real time;
the server is used for receiving the operator information uploaded by the transmission module, and obtaining the operator information and the number of the corresponding areas of the intelligent lamps after processing the operator information; receiving running state data of the intelligent lamp and issuing a control instruction to the intelligent lamp; calculating and determining the current position coordinates of the operators, and establishing a track file according to the received operator information, duration time, position information corresponding to the intelligent lamp ID and the position coordinates of the operators;
the transmission module is connected and communicated with the intelligent lamp and the server; the intelligent lamp is in communication connection with the positioning device; the intelligent lighting lamp comprises a processor, and a power module, a near field communication device, a networking module, a light source module and a dimming module which are connected with the processor; the light source module comprises a lamp, and is respectively and electrically connected with the power supply module and the dimming module; the processor controls the on/off of the light source module, the light effect adjustment, the signal processing of the near field communication device and the signal processing of the networking module, the networking module communicates with the transmission module to upload the information of the operator of the positioning device and receive the control instruction, and the near field communication device is used for acquiring the signal sent by the positioning device; the power supply module is used for supplying power;
the intelligent lighting lamp further comprises an electric parameter acquisition module, wherein the electric parameter acquisition module is electrically connected with the power supply module and the processor, and is used for acquiring relevant operation state data of the lamp and uploading the operation state data to a server, and the operation state data comprise but are not limited to voltage, current and power; when the server judges that the intelligent lamp is powered off or powered off by alternating current according to the data of the electric parameter acquisition module, the intelligent lamp power module supplies power to the intelligent lamp, the intelligent lamp informs the processor in the discharging process, the server actively reports the monitoring platform, and the short message informs operation and maintenance personnel;
calculating and determining the current position coordinates of the operators, and establishing a track file according to the received operator information, duration time, position information corresponding to the intelligent lamp ID and the position coordinates of the operators, wherein the track file comprises the following steps:
s1, arranging a plurality of intelligent lamps in an operation area, carrying a positioning device by an operator, wherein the intelligent lamps are assigned with unique IDs and are bound to designated positions in the operation area, and simultaneously, ID numbering is carried out on the positioning device;
s2, the positioning device sends a signal containing the information of the operator to the intelligent lamp;
s3, the intelligent lamp acquires and uploads the received information of the operator and the duration of the operator at the current position;
s4, the server receives the operator information uploaded by the transmission module, and acquires the operator information, the number and the duration of the corresponding areas of the intelligent lamps;
s5, the server calculates and determines the current position coordinates of the operators;
s6, the server establishes a track file according to the received operator information, duration time, position information corresponding to the intelligent lamp ID and the position coordinates of the operator;
the method for obtaining the current position of the operator comprises the following steps:
s41, dividing intelligent lamps arranged in an operation area into a first-level intelligent lamp and a plurality of second-level intelligent lamps;
s42, numbering the intelligent lamps and the positioning device by using a server, wherein the number of the first-level intelligent lamp is base station 1, and the other second-level intelligent lamps are sequentially numbered from No. 2 to No. n, namely base station 2 to base station n; the number of the positioning device of the operator is label 1;
s43, measuring the distance from the base station to the tag 1, wherein S A1TA ，S A2T1 ，S A3T1 …，S AnT1 Is the distance of the base station to tag 1;
s44, the base station 1 sends a signal to the whole network, and other base stations immediately send the signal to the tag 1 after receiving the signal of the base station 1;
s45, after receiving signals of the base station 1, the tag 1 records the arrival time of the signals, and then waits until signals from the base station 2, the base station 3, the base station 4 and the base station n arrive, calculates arrival time differences (t 2-t 1), (t 3-t 1) and …, (tn-t 1) of the base station 2, the base station 3, the base station 4 and the base station n from arrival time t1 of all the base stations to the tag 1;
s46, obtaining an estimated position value of an operator by using a TDOA algorithm;
s47, taking the estimated position value as an initial value of Kalman filtering, and obtaining a final position coordinate by using a Kalman filtering algorithm.
2. The UWB-based smart luminaire lighting and positioning control method of claim 1, wherein the system further comprises a sensor node for uploading data through a transmission module and/or an adjacent smart luminaire, the sensor node being connected to the smart luminaire and/or transmission module for uploading environmental parameters in an operating area, wherein the sensor node comprises one or more of, but not limited to, a PM2.5 sensor, a methane sensor, a carbon monoxide sensor, a temperature and humidity sensor, a brightness/illuminance sensor, a motion or infrared sensor, a vibration sensor.
3. The lighting and positioning control method based on the UWB intelligent lamp according to claim 1, wherein the positioning device comprises a controller and a UWB positioning module, and the controller is connected with the UWB positioning module.
4. The lighting and positioning control method based on the UWB intelligent lamps according to claim 1, wherein the system further comprises a monitoring platform connected with the server and used for displaying the information of operators, the duration time information of the corresponding areas, the position information corresponding to the intelligent lamp ID and the position coordinates of the operators, and displaying the number of people in each area under the well; the method and the device realize the inquiry and playback of the historical motion trail of any appointed person in any appointed time period.
5. The lighting and positioning control method based on the UWB intelligent lamps according to claim 1, wherein the server comprises an alarm unit for realizing regional electronic fence, and configures permission to enter an unauthorized region for alarming.
6. The lighting and positioning control method based on the UWB intelligent lamp according to claim 3, wherein the positioning device further comprises a triggering mechanism for sending distress signals and/or responding to roll calls, the triggering mechanism is connected with a processor and/or a server of the intelligent lamp, and the triggering mechanism comprises operator information and current position coordinates corresponding to the positioning device; wherein the triggering mechanism comprises, but is not limited to, an SOS key and/or a pull-buckle switch and/or a human body sign detection device.
7. The lighting and positioning control method based on the UWB intelligent lamp according to claim 1, wherein the server further comprises a plurality of databases of violation rules, and the judgment logic of the violation rules is substituted according to the obtained information of the operators, the corresponding motion trail information and the time information, so that whether the operation behavior is in violation is judged, and early warning information is sent to the parties and/or related monitoring personnel when the violation occurs.
8. The illumination and positioning control method based on the UWB intelligent lamp according to claim 1, wherein the estimated position value of the target to be positioned is obtained by using a TDOA algorithm, and the TDOA algorithm equation set is as follows:
where tn is the time base station n arrives at tag 1;
9. The lighting and positioning control method based on the UWB smart lamp as defined in claim 8, wherein the step S47 specifically comprises:
the state equation for a discrete control process system is:
x k+1 ＝Ax k +Bμ k-1 +ω k+1
wherein x is k+1 Is the system state at time k+1; omega k+1 Is the process noiseA gaussian random variable of sound; mu (mu) k+1 Is the control quantity of the system at the moment k+1; a and B are system parameters, which are matrices for multimode systems;
the corresponding observation matrix is:
wherein Z is k+1 Is the measurement at time k+1; h k+1 Is an identity matrix; v (v) k+1 Is a gaussian random variable that measures noise;
estimating the present state based on the previous state:
in the method, in the process of the invention,
is the result of using the last state prediction; x is x k/k Is the optimal result of the last state; mu (mu) k+1 Is the control quantity of the present state;
the minimum mean square error matrix is:
wherein P is k/k Is an estimated value x k/k Is a minimum mean square error matrix of (2); p (P) k+1/k Is that
Is a covariance of (2); q is the covariance in the process;
the kalman gain is:
wherein R is k+1 Is the observation noise v k+1 Is a covariance matrix of (a);
the optimal estimate of the K+1 state is:
maintaining continuity of the system until the end, updating x in the K+1 state k+1/k+1 Is of the covariance of:
P k+1|k+1 ＝(I-K k+1 )HP k+1|k
corrected by Kalman filtering
The method comprises the following steps:
order the
Compensating clock drift so that clocks between the master base station and the slave base station are kept synchronous;
one Y information matrix defining the kalman gain matrix is:
wherein Y is used for representing the difference value between the actual clock deviation and the predicted clock deviation;
the degree of coincidence of the current input and the current filter state:
if the OM is larger than a preset threshold, the current input is not trusted, the current state is not updated, and the data is directly discarded.
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