CN115932928A - Positioning method, system, device, equipment and storage medium based on substation - Google Patents
Positioning method, system, device, equipment and storage medium based on substation Download PDFInfo
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Abstract
The application provides a positioning method, a positioning system, a positioning device, positioning equipment and a storage medium based on a power transformation place, wherein the method comprises the following steps: if the fact that the operating personnel pass through a preset access channel of the power transformation place is detected, the fact that the operating personnel enter a target area of the power transformation place is determined, a target positioning mode corresponding to the target area is determined, position information corresponding to the target positioning mode is obtained from position information of the operating personnel according to the target positioning mode and serves as target position information of the operating personnel, the target position information is sent to the application platform, the position, corresponding to the target position information, of the application platform in a three-dimensional scene graph of the power transformation place is made to be displayed, and identification of the operating personnel is displayed. And the target position information of the operating personnel is determined according to the target positioning mode corresponding to the target area, the positioning precision is high, and the cost of positioning and deploying is reduced.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a positioning method, system, apparatus, device, and storage medium based on a substation location.
Background
The transformer substation is a place for converting voltage and current, receiving electric energy and distributing electric energy in an electric power system, and the transformer substation in a power plant is a boosting transformer substation and is used for boosting the electric energy generated by a generator and then feeding the electric energy into a high-voltage power grid.
Currently, the location technology based on the substation area is Ultra Wide Band (UWB), which is a "stand-alone" wireless communication technology, and it will bring low power consumption, high bandwidth and relatively simple wireless communication technology to interface cards and contact technologies of wireless Local Area Networks (LANs) and Personal Area Networks (PANs).
However, for the outdoor of the substation, the outdoor of the substation is relatively open, and a large number of UWB positioning base stations need to be installed, so that the cost is high, and the positioning accuracy is low.
Disclosure of Invention
In view of this, embodiments of the present application provide a positioning method, system, apparatus, device and storage medium based on a substation location, so as to solve the problems that a large number of UWB positioning base stations are installed outdoors, which is expensive and has low positioning accuracy.
In a first aspect, an embodiment of the present application provides a positioning method based on a power transformation site, including:
if the fact that an operator passes through a preset access channel of a power transformation place is detected, determining that the operator enters a target area of the power transformation place;
determining a target positioning mode corresponding to the target area;
according to the target positioning mode, acquiring position information corresponding to the target positioning mode from the position information of the operator as the target position information of the operator;
and sending the target position information to an application platform so that the application platform displays the identifier of the operator at the position corresponding to the target position information in the three-dimensional scene graph of the power transformation site.
In an optional embodiment, the determining that the operator enters the target area of the power transformation site includes:
and determining the target area according to the position information of the operator before passing through the preset access channel.
In an optional embodiment, if it is detected that the operator passes through a preset access passage of a power transformation site, before the operator is determined to enter a target area of the power transformation site, the method further includes:
receiving first reminding information sent by detection equipment arranged at the preset access channel; the first reminding information is information sent by the detection equipment under the condition that the detection equipment detects that the preset access passage has an obstacle;
acquiring an image of the preset access channel from image acquisition equipment arranged at the preset access channel according to the first reminding information;
determining whether the obstacle in the preset access channel is the operator or not according to the image;
and if the obstacle is the operator, determining that the operator passes through the preset access channel.
In an optional embodiment, the determining a target positioning manner corresponding to the target area includes:
and if the target area is an indoor area of the power transformation place, determining that the ultra-wideband UWB positioning mode is the target positioning mode.
In an optional embodiment, the determining a target positioning manner corresponding to the target area includes:
and if the target area is an outdoor area of the power transformation place, determining that the carrier phase difference RTK positioning mode is the target positioning mode.
In an optional embodiment, the method further comprises:
and if the target position information indicates that the operator is located in a preset range of preset operation and inspection equipment of the power transformation place, pushing second reminding information to the operator.
In a second aspect, an embodiment of the present application further provides a positioning system for a power transformation site, including: the system comprises a server, an application platform, a first positioning base station, a second positioning base station and wearable equipment, wherein a positioning tag and a positioning module are arranged on the wearable equipment;
the first positioning base station and the positioning tag are used for carrying out ultra wide band UWB positioning on an operator, and the second positioning base station and the positioning module are used for carrying out carrier phase difference RTK positioning on the operator;
the server is used for the positioning method based on the power transformation site in any one of the first aspect, and the application platform is used for displaying the identifier of the operator at a corresponding position in a three-dimensional scene graph of the power transformation site.
In a third aspect, an embodiment of the present application further provides a positioning device for a power transformation site, including:
the system comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining that an operator enters a target area of a power transformation place if the operator is detected to pass through a preset access channel of the power transformation place;
the determining module is further configured to determine a target positioning manner corresponding to the target area;
the acquisition module is used for acquiring position information corresponding to the target positioning mode from the position information of the operator as the target position information of the operator according to the target positioning mode;
and the sending module is used for sending the target position information to an application platform so that the application platform displays the identification of the operating personnel at the position corresponding to the target position information in the three-dimensional scene graph of the power transformation site.
In an optional embodiment, the determining module is specifically configured to:
and determining the target area according to the position information of the operator before passing through the preset access channel.
In an optional embodiment, the apparatus further comprises:
the receiving module is used for receiving first reminding information sent by detection equipment arranged at the preset access channel; the first reminding information is information sent by the detection equipment under the condition that the detection equipment detects that the preset access passage has an obstacle;
the acquisition module is further used for acquiring an image of the preset access channel from image acquisition equipment arranged at the preset access channel according to the first reminding information;
the determining module is further configured to determine whether the obstacle in the preset access channel is the operator according to the image;
the determination module is further configured to determine that the operator passes through the preset access channel if the obstacle is the operator.
In an optional implementation manner, the determining module is specifically configured to:
and if the target area is an indoor area of the power transformation place, determining that the ultra-wideband UWB positioning mode is the target positioning mode.
In an optional implementation manner, the determining module is specifically configured to:
and if the target area is an outdoor area of the power transformation place, determining that the carrier phase difference RTK positioning mode is the target positioning mode.
In an optional implementation manner, the sending module is further configured to:
and if the target position information indicates that the operator is located in a preset range of preset operation and inspection equipment of the power transformation place, pushing second reminding information to the operator.
In a fourth aspect, an embodiment of the present application further provides an electronic device, including: the positioning method comprises a processor, a memory and a bus, wherein the memory stores machine readable instructions executable by the processor, when an electronic device runs, the processor and the memory communicate through the bus, and the processor executes the machine readable instructions to execute the positioning method based on the substation location according to any one of the first aspect.
In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to perform the substation location based positioning method according to any one of the first aspects.
The application provides a positioning method, a positioning system, a positioning device, positioning equipment and a storage medium based on a power transformation place, wherein the method comprises the following steps: if the fact that the operating personnel pass through a preset access channel of the power transformation place is detected, the fact that the operating personnel enter a target area of the power transformation place is determined, a target positioning mode corresponding to the target area is determined, position information corresponding to the target positioning mode is obtained from position information of the operating personnel according to the target positioning mode and serves as target position information of the operating personnel, the target position information of the operating personnel is sent to the application platform, and therefore the application platform displays the identification of the operating personnel at the position corresponding to the target position information in a three-dimensional scene graph of the power transformation place. And the target position information of the operating personnel is determined according to the positioning mode corresponding to the target area, so that the positioning precision is high, and the cost of positioning and deploying is reduced.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a first schematic flowchart of a positioning method based on a substation location according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a positioning method based on a substation location according to an embodiment of the present application;
fig. 3 is a third schematic flowchart of a positioning method based on a substation location according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a positioning system based on a substation location according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a UWB positioning principle provided by an embodiment of the present application;
fig. 6 is an architecture diagram of a UWB positioning network deployment provided by an embodiment of the present application;
fig. 7 is an architecture diagram of an RTK positioning network deployment provided by an embodiment of the present application;
fig. 8 is a schematic structural diagram of a positioning device based on a power transformation site according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below 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 the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Because of the diversification of the operation environment of the transformer substation, and the instruments of the operation at the transformer substation are complicated and changeable, this makes to meet with significant challenge to the transformer substation safety operation and inspection, bring great danger for the operating personnel if adopt traditional safety management flow to carry out safety operation and inspection to the transformer substation, and changeable operation environment makes the operating personnel of different job duties correspond different operation areas, there is the risk that takes place the maloperation and leads to the casualties accident, complicated changeable personnel business turn over changes and has caused huge threat to the security of equipment in the operation and inspection area, bring the challenge to electric power safety management like this.
The operation and maintenance management requirements of the alternating-current and direct-current ultrahigh-voltage transformer substation are high, the specialized degree of maintenance operation is high, the safety operation and maintenance responsibility is great, higher requirements are provided for the personal safety intelligent prevention and management means of the transformer substation along with the improvement of the intelligent management level of the transformer substation, and timely risk finding and real-time reminding cannot be achieved through the means of manual monitoring on the operation site. At present, an Ultra Wide Band (UWB) positioning technology is generally adopted to position an operator to intelligently manage personal safety of the operator, and the UWB positioning technology has the characteristics of strong anti-interference performance, high transmission rate, extremely Wide bandwidth, low power consumption, good confidentiality and very low transmission power, and is suitable for installing UWB positioning base stations and positioning tags indoors, but a large number of UWB positioning base stations are required to be installed outdoors in a spacious manner to meet the requirement that the positioning accuracy reaches 10cm, the cost is high, and the ideal positioning effect cannot be achieved.
Based on the method, a brand-new substation real-scene modeling technology based on space accurate coordinates is adopted, application expansion of three-dimensional real scenes of accurate space positions of the power big data fusion substation and safety control is developed, sensing precision, presentation details and functional soundness of power three-dimensional panoramic data intelligent fusion are improved, and real-time analysis and early warning of operation site safety are achieved by combining a real-time positioning interaction function of intelligent wearable equipment.
The application aims at the problem that the outdoor precision of a UWB positioning technology is low, and provides a fusion positioning method based on an operation scene of a power transformation place (such as a transformer substation).
The positioning method based on the substation location provided by the present application is described below with reference to several specific embodiments.
Fig. 1 is a schematic flow chart of a positioning method based on a substation location according to an embodiment of the present disclosure.
As shown in fig. 1, the method may include:
s101, if the fact that the operator passes through a preset access channel of the power transformation place is detected, the fact that the operator enters a target area of the power transformation place is determined.
The electric substation consists of an outdoor area, an indoor area and a preset access channel, the preset access channel can be a door between the outdoor area and the indoor area, and an operator is a person for carrying out safe operation and inspection on equipment in the electric substation.
When the condition that the operator passes through the preset access passage of the power transformation place is detected, the target area of the power transformation place, which can be understood as the outdoor area or the indoor area of the power transformation place, where the operator enters the outdoor area or the indoor area of the power transformation place through the access door, can be determined.
It should be noted that an image capture device may be disposed at the preset access passage, the image capture device is configured to capture an image of the preset access passage, and send the image to the server, the server may determine whether the operator passes through the preset access passage according to the image, and if it is determined that the operator passes through the preset access passage, the server may also determine a target area where the operator enters according to an orientation of the operator in the image, for example, if the operator faces an outdoor area of the power transformation site, the target area is an outdoor area, and if the operator faces an indoor area of the power transformation site, the target area is an indoor area.
And S102, determining a target positioning mode corresponding to the target area.
The target area and the positioning mode have a mapping relation, different target areas correspond to different positioning modes, and according to the mapping relation, the positioning mode corresponding to the target area entered by the operator can be determined to be the target positioning mode.
For example, the positioning mode corresponding to the outdoor area of the power transmission site is Real-time kinematic (RTK) positioning, and the positioning mode corresponding to the indoor area is UWB positioning.
And S103, acquiring position information corresponding to the target positioning mode from the position information of the operator according to the target positioning mode as the target position information of the operator.
The position information of the operator can be real-time position information obtained by positioning the operator in real time by adopting different positioning modes, the different positioning modes can comprise RTK positioning and UWB positioning, the operator is positioned by adopting different positioning modes to obtain the position information of the operator in different positioning modes, the position information is sent to a server, and the server receives the position information of the operator in different positioning modes.
According to the target positioning mode, position information corresponding to the target positioning mode is acquired from position information of an operator, the position information corresponding to the target positioning mode is used as target position information of the operator, namely, according to a target area entered by the operator, the corresponding positioning mode is selected, and the position information of the operator positioned by the corresponding positioning mode is used as the target position information of the operator.
And S104, sending the target position information of the operator to the application platform so that the application platform displays the identifier of the operator at the position corresponding to the target position information in the three-dimensional scene graph of the power transformation site.
The application platform can be deployed on the display equipment, the server sends target position information of an operator to the application platform, the application platform receives the target position information, displays the identification of the operator at the position corresponding to the target position information in a three-dimensional scene graph of the power transformation site, namely, the target position information is used as the displayed position information, and visual position positioning of the operator is achieved in the visual three-dimensional scene graph, so that real-time positioning of the operator in a target area by adopting a target positioning mode is achieved, wherein the three-dimensional scene graph is a pre-constructed scene graph of the power transformation site.
It should be noted that the identifier of the operator may be a text identifier of the operator or an image identifier, and the specific display mode of the identifier is not particularly limited in this embodiment.
In the positioning method based on the power transformation place, the target positioning mode corresponding to the target area is determined according to the target area of the power transformation place where the operator enters, then the target position information of the operator is determined according to the target positioning mode, and the identifier of the operator is displayed at the corresponding position in the three-dimensional scene graph of the power transformation place, so that the operator is positioned according to the target area of the power transformation place where the operator enters, the positioning precision is improved, the same positioning mode (such as UWB positioning) is avoided being deployed, and the cost of positioning deployment is reduced.
In one possible implementation manner of the step S101, the determining the target area where the operator enters the substation site includes:
and determining the target area according to the position information of the operator before passing through the preset access passage.
The server can obtain position information of an operator obtained by positioning the operator in real time in different positioning modes, and can determine the area before the operator passes through the preset access channel according to the position information before the operator passes through the preset access channel, and then determine a target area which the operator enters through the preset access channel according to the area before the operator passes through the access channel.
In an optional embodiment, the method may further include:
and if the target position information indicates that the operator is located in a preset range of the preset operation and detection equipment of the power transformation site, pushing second reminding information to the operator.
Whether the operating personnel are located in a preset range of preset operation and inspection equipment of a power transformation place or not is determined according to the target position information, if the operating personnel are determined to be located in the preset range of the preset operation and inspection equipment of the power transformation place, second reminding information is pushed to the operating personnel, the second reminding information is used for reminding the operating personnel to strengthen operation and inspection safety and pay attention to safety, and the second reminding information can be pushed to a mobile phone of the operating personnel.
Wherein, predetermine fortune and examine equipment and can lead to the fortune of personal safety to receive the risk for taking place the maloperation easily and examine equipment.
In some cases, second reminding information can be sent to a wearable device of an operator, the wearable device can be a safety helmet, the operator in a power transformation place usually wears the safety helmet during operation and inspection, the server can also push the second reminding information to the safety helmet of the operator, and the safety helmet can broadcast the second reminding information in voice so as to carry out safety reminding on the operator.
Fig. 2 is a schematic flow diagram of a second positioning method based on a power transformation site according to an embodiment of the present application, and as shown in fig. 2, if it is detected that an operator passes through a preset access passage of the power transformation site, before determining that the operator enters a target area of the power transformation site, the method may further include:
s201, receiving first reminding information sent by detection equipment arranged at a preset access channel.
First warning information is the information that detection device sent under the condition that detects to predetermine the access passage and have the barrier, and first warning information can be including predetermineeing the positional information of access passage, and wherein, detection device for example can be infrared correlation equipment, and infrared correlation equipment can include transmitter and receiver, and the transmitter can set up in the top of predetermineeing the access passage, and the receiver can set up in predetermineeing the access passage bottom.
Because the preset access channel is shielded from the positioning module in the RTK positioning and the positioning label in the UWB positioning, the positioning effect of the obstacles at the preset access channel in the RTK positioning and the UWB positioning is poor, and therefore the infrared correlation equipment can be used for positioning in the preset access channel.
The infrared correlation device comprises a transmitter, a receiver and a server, wherein the transmitter of the infrared correlation device sends infrared light to the receiver in a low-frequency emission and time division detection mode, once a barrier blocks any two adjacent beams of light sent by the transmitter for more than 30ms, the receiver immediately outputs an alarm signal, and after the server receives the alarm signal, the fact that a preset access passage has the barrier can be determined.
S202, acquiring an image of the preset access channel from image acquisition equipment arranged at the preset access channel according to the first reminding information.
And S203, determining whether the obstacle in the preset access channel is an operator according to the image.
And S204, if the obstacle is an operator, determining that the operator passes through a preset access channel.
The preset access passage is provided with an image acquisition device for acquiring images of the preset access passage and sending the images to the server.
The server determines that the preset access channel is provided with the obstacle according to the received first reminding information, then the image of the preset access channel is obtained from the image acquisition equipment arranged at the preset access channel, image recognition is carried out on the image to determine whether the obstacle in the preset access channel is an operator or not, whether the obstacle is an operator or not can be recognized through identity feature matching, and if the obstacle is determined to be the operator, the operator is determined to pass through the preset access channel.
That is to say, the operation personnel has arrived the gate position, can also take place for application platform with the positional information who predetermines the access way to make application platform predetermine access way corresponding position department in the three-dimensional scene picture in transformer substation place, show operation personnel's sign, in order to through the visual position monitoring of realization to operation personnel.
And then, when the operator goes out of the door or enters the door, switching the positioning mode of the operator into RTK positioning or UWB positioning according to the position information of the operator before going out of the door or entering the door, positioning the operator in real time by adopting the switched positioning mode, and displaying the identifier of the operator at the corresponding position in the three-dimensional scene graph.
Based on fig. 1, fig. 3 is a third schematic flowchart of a positioning method based on a substation location provided in an embodiment of the present application, and as shown in fig. 3, in a possible implementation manner of the step S102, determining a target positioning manner corresponding to a target area includes:
and S301, if the target area is an indoor area of a substation, determining that the UWB positioning mode is the target positioning mode.
Wherein, UWB locate mode can realize through UWB locate mode basic station and UWB locate tag, if the target area is the indoor area in transformer station, then confirms UWB locate mode to be the target locate mode to adopt UWB locate mode and UWB locate tag to fix a position the operation personnel, UWB locate tag can set up on operation personnel's wearable equipment, for example on the safety helmet.
And S302, if the target area is an outdoor area of the power transformation place, determining that the RTK positioning mode is the target positioning mode.
The RTK positioning mode can be realized through the RTK positioning base station and the positioning module, if the target area is an outdoor area of a power transformation place, the RTK positioning mode is determined to be the target positioning mode, the RTK positioning base station and the positioning module are adopted to position an operator, and the positioning module can be arranged on wearable equipment of the operator, such as a safety helmet.
It can be understood that outdoor positioning adopts high-precision positioning safety helmet cooperation RTK location basic station and personal WIFI to provide stable position service, indoor UWB location label cooperation UWB location basic station that adopts provides stable position service, and the gate adopts infrared correlation technique, and infrared correlation equipment detects the operating personnel of business turn over gate all the time to upload position information to the electrical transformation system server, and correspond the sign that shows the operating personnel on application platform.
The fusion positioning method adopted by the embodiment adopts an RTK positioning mode outdoors, and can obtain a measuring method of centimeter-level precision outdoors in real time, the RTK positioning base station adopts a carrier phase dynamic real-time difference technology, and after acquiring satellite signals, the RTK positioning base station transmits observation values and site coordinate information to a high-precision safety helmet together through a data chain, and the high-precision safety helmet carries out real-time carrier phase difference processing on the acquired satellite signals and a received data chain to obtain accurate positioning data and sends the positioning data to a server, wherein only one RTK positioning base station needs to be deployed on a roof, an operator wears the high-precision safety helmet, and the high-precision safety helmet is communicated with the RTK positioning base station to obtain positioning information with an error of less than 10 cm.
Adopt UWB locate mode at indoor location, at indoor installation UWB location basic station, install UWB location label on the high accuracy safety helmet, through the communication with UWB location basic station to the error of acquireing is less than 10 cm's high accuracy locating information, and the basic station sends this location data for the server.
It should be noted that, in the present embodiment, the requirement that the positioning error is 10cm is ensured by the method of fusion positioning, and for the specific implementation process of the RTK positioning mode and the UWB positioning mode, reference may be made to the related description.
The positioning system based on the substation location provided by the present application is described with reference to the embodiments of fig. 4 to 7.
Fig. 4 is a schematic structural diagram of a positioning system based on a substation location according to an embodiment of the present application, and as shown in fig. 4, the positioning system may include: the system comprises a server 10, an application platform 20, a first positioning base station 30, a second positioning base station 40 and a wearable device 50, wherein a positioning tag 501 and a positioning module 502 are arranged on the wearable device 50.
The first positioning base station 30 and the positioning tag 501 are used for performing UWB positioning on an operator, the second positioning base station 40 and the positioning module 502 are used for performing RTK positioning on the operator, the server 10 is used for executing the above positioning method based on a power transformation site, and the application platform 20 is used for displaying an identifier of the operator at a corresponding position in a three-dimensional scene graph of the power transformation site.
Wherein, first positioning base station 30 can be UWB positioning base station, UWB positioning base station fixed mounting is around the environment, and its UWB pulse signal who receives and measure UWB positioning label is in order to obtain the positioning data of high accuracy (promptly positional information), has multiple forms such as indoor type, industry type, explosion-proof type, supports multiple power supply mode and data interface.
The second positioning base station 40 can provide a stable location service for the RTK positioning base station, and has high accuracy and high speed.
The positioning tag 501 can be a UWB positioning tag and is carried in an operator and materials, the UWB positioning pulse signals are sent out periodically, the UWB positioning pulse signals can be arranged on wearable devices 50 in various forms such as a work card, a bracelet, a safety helmet and a wristwatch, the UWB positioning pulse signals are applicable to different application scenes, the UWB positioning tag has the advantages of being low in power consumption, portable, waterproof, dustproof and the like, the tags are mutually independent, and the UWB positioning tag is simple and convenient to install and deploy.
The positioning module 502 can be a high-precision GPS combined Beidou dual-frequency positioning module, and can be arranged on the wearable device 50, and the wearable device 50 and the RTK positioning base station are connected through wireless WIFI.
The server 10 may be a power transformation system server, on which an internet of Things (IoT) positioning platform may be deployed, and configured to receive positioning data of a UWB positioning base station, complete high-precision position calculation, and around a high-precision position, develop practical functions such as thermodynamic diagrams, electronic fences, trajectory presentation, and device management, and also provide an Application Programming Interface (API) for a user to perform secondary development on an Application side.
The system may further include a detection device 60, configured to collect positioning data of a preset access passage, and send the positioning data to the server.
Fig. 5 is a schematic diagram of a UWB positioning principle provided in an embodiment of the present application, and as shown in fig. 5, the UWB positioning principle includes an end side, a network side, a platform side, and an application side, where the end side is deployed with a worker plate, the worker plate is provided with a UWB positioning tag, the network side is deployed with a UWB positioning base station, the platform side is deployed with an Internet of Things (IoT) IoT positioning platform, and the application side is deployed with an application platform.
The UWB positioning tag is a movable positioned object and sends nanosecond pulse signals to the periphery, the UWB pulse signals are extremely narrow in time domain width, have extremely high time resolution and are naturally suitable for high-precision positioning, UWB base stations fixedly installed on the periphery receive and measure the pulse signals, positioning measurement information such as the arrival time of the pulse signals is obtained through calculation such as filtering and sliding correlation, the positioning measurement information is uploaded to a server through a Message Queue (MQ) communication mode, the server adopts a time difference of arrival (TDOA) in UWB position calculation, namely positioning is carried out according to the time difference of the signals reaching the base stations, and the position information is converted into position information in a three-dimensional scene graph and displayed on an application platform.
In the positioning system based on the power transformation place of this embodiment, the cost expenses of location deployment have been reduced through the reasonable deployment of server, application platform, first location basic station, second location basic station, wearable equipment, location label and location module.
Fig. 6 is an architecture diagram of UWB positioning network deployment provided by the embodiment of the present application, as shown in fig. 6, including a UWB positioning base station, a switch, an IOT positioning platform, an application platform, and a wearable device, where the wearable device is a UWB work card, a bracelet, and a safety helmet that are equipped with a UWB positioning tag.
UWB positioning base station generally installs around the location area, and the position is fixed, and generally will install 4 at least base stations, and the base station position is correlated with positioning accuracy by force, needs to carry out accurate measurement correction.
The switch can be for supporting the switch of Power Over Ethernet (POE), and the POE switch is connected with each UWB location basic station, realizes the data communication between UWB location basic station and the IOT location platform, also can supply Power for the base station through the POE mode.
Fig. 7 is an architecture diagram of RTK positioning network deployment provided in the embodiment of the present application, and as shown in fig. 7, the RTK positioning network deployment includes a high-precision intelligent helmet, an RTK base station, and a server, where the RTK base station is composed of a differential antenna, a differential receiver, and a differential positioning cloud service, and the centimeter-level high-precision positioning is implemented by using technologies such as Beidou + GPS multi-mode multi-frequency Global Navigation Satellite System (GNSS) positioning, RTK differential positioning, and the like.
The high-precision safety helmet comprises a terminal positioning module and a terminal main control module, wherein a mobile main control system, a mobile communication network module and a short-distance communication network module are arranged in the terminal main control module, the main control system is realized through terminal application, the terminal application is provided with a GNSS positioning enhancement Software Development Kit (SDK) in a deployment mode so as to receive differential data sent by an RTK positioning base station and send the differential data to the terminal positioning module, the mobile communication network module is a 4G communication module and a 5G communication module and provides communication for the safety helmet on the RTK positioning base station, the short-distance communication network module is a User Datagram Protocol (UDP) communication module and provides communication for the terminal positioning module and the terminal main control module.
The terminal positioning module is internally provided with an antenna, a GNSS positioning module, a short-range communication network module and an application processor so as to receive satellite signals sent by a satellite and differential data sent by an RTK base station and calculate a high-precision position.
The differential positioning cloud service is deployed on an RTK positioning base station, differential data are provided for a high-precision safety helmet in a UDP multicast mode, a terminal positioning module of the high-precision safety helmet uploads a high-precision position to a server through a terminal main control system, the high-precision position is converted into a position in a three-dimensional scene graph and is displayed on an application platform, the terminal positioning module is further used for acquiring a rough position and sending the rough position to the RTK positioning base station through the terminal main control system, and the RTK positioning base station acquires the differential data according to the rough position by adopting a positioning differential algorithm.
To sum up, the specific process of fusion positioning provided by the embodiment of the present application includes the following steps:
step 1, configuring a high-precision safety helmet network to be connected with the carry-on WIFI, and configuring an RTK positioning base station and a UWB positioning base station to be connected with the carry-on WIFI.
And 2, fixing the UWB positioning base station indoors in a power transformation place, and ensuring the starting-up stable operation state of the base station.
And 3, deploying an RTK positioning base station on the outdoor roof of the substation to ensure the stable running state of the base station when the base station is started.
And 4, mounting the UWB positioning tag on a high-precision safety helmet.
And 5, installing the infrared correlation equipment at the position of the top of the doorway.
And 6, when the operator works indoors, the UWB positioning base station acquires positioning information through communication with the UWB positioning tag on the safety helmet, uploads the positioning information to the power transformation system server, and converts the position information into a three-dimensional graph to be displayed on the application platform.
And 7, when the operator works from indoor to outdoor, the operator arrives at the door position, the position where the operator arrives at the door is scanned through the infrared correlation device, the position information of the door is uploaded to the power transformation system server, the position information is converted into a three-dimensional graph to be displayed on the application platform, and the positioning mode is switched into an RTK positioning mode.
And 8, when the operator arrives at the outdoor operation, the high-precision safety helmet acquires the position information through the communication with the RTK positioning base station, uploads the position information to the power transformation system server through WIFI, and converts the position information into a three-dimensional graph to be displayed on the application platform.
And 9, when the operator returns to the indoor operation from the outdoor, the operator arrives at the door position, the fixed position information of the door is uploaded to the power transformation system server, the position information is converted into a three-dimensional graph to be displayed on the application platform, and the positioning mode is switched into the UWB positioning mode.
Based on the same inventive concept, a positioning device based on a power transformation site corresponding to the positioning method based on the power transformation site is further provided in the embodiment of the present application, and as the principle of solving the problem of the device in the embodiment of the present application is similar to that of the positioning method based on the power transformation site in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and repeated details are omitted.
Fig. 8 is a schematic structural diagram of a positioning apparatus based on a power transformation site according to an embodiment of the present application, where the apparatus may be integrated in an electronic device. As shown in fig. 8, the apparatus may include:
the determining module 401 is configured to determine that an operator enters a target area of a power transformation site if it is detected that the operator passes through a preset access channel of the power transformation site;
the determining module 401 is further configured to determine a target positioning manner corresponding to the target area;
an obtaining module 402, configured to obtain, according to a target location manner, location information corresponding to the target location manner from location information of an operator as target location information of the operator;
the sending module 403 is configured to send the target location information to the application platform, so that the application platform displays the identifier of the operator at a location corresponding to the target location information in the three-dimensional scene graph of the substation.
In an optional embodiment, the determining module 401 is specifically configured to:
and determining the target area according to the position information of the operator before passing through the preset access passage.
In an optional embodiment, the apparatus further comprises:
a receiving module 404, configured to receive first prompting information sent by a detection device arranged at a preset access passage; the first reminding information is information sent by the detection equipment under the condition that the detection equipment detects that the preset access passage has an obstacle;
the obtaining module 402 is further configured to obtain, according to the first reminding information, an image of the preset access channel from an image acquisition device arranged at the preset access channel;
the determining module 401 is further configured to determine whether an obstacle in a preset access channel is an operator according to the image;
the determining module 401 is further configured to determine that the operator passes through a preset access channel if the obstacle is the operator.
In an optional embodiment, the determining module 401 is specifically configured to:
and if the target area is an indoor area of the power transformation place, determining that the ultra-wideband UWB positioning mode is a target positioning mode.
In an optional embodiment, the determining module 401 is specifically configured to:
and if the target area is an outdoor area of the power transformation place, determining that the carrier phase difference RTK positioning mode is a target positioning mode.
In an optional implementation manner, the sending module 403 is further configured to:
and if the target position information indicates that the operator is located in a preset range of preset operation and inspection equipment in the power transformation place, pushing second reminding information to the operator.
The description of the processing flow of each module in the device and the interaction flow between the modules may refer to the related description in the above method embodiments, and will not be described in detail here.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device may be implemented by the server.
As shown in fig. 9, the apparatus may include: the positioning method comprises a processor 601, a memory 602 and a bus 603, wherein the memory 602 stores machine-readable instructions executable by the processor 601, when the electronic device runs, the processor 601 and the memory 602 communicate through the bus 603, and the processor 601 executes the machine-readable instructions to execute the positioning method based on the substation location.
The embodiment of the application also provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the processor executes the positioning method based on the substation location.
In the embodiments of the present application, when being executed by a processor, the computer program may further execute other machine-readable instructions to perform other methods as described in the embodiments, and for the method steps and principles of specific execution, reference is made to the description of the embodiments, and details are not repeated here.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit the technical solutions, and the scope of the present application is not limited to the above-mentioned embodiments, although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still make modifications or changes to the embodiments described in the foregoing embodiments, or make equivalent substitutions for some features, within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A positioning method based on a power transformation site is characterized by comprising the following steps:
if the fact that an operator passes through a preset access channel of a power transformation place is detected, determining that the operator enters a target area of the power transformation place;
determining a target positioning mode corresponding to the target area;
according to the target positioning mode, acquiring position information corresponding to the target positioning mode from position information of the operator as target position information of the operator;
and sending the target position information to an application platform so that the application platform displays the identifier of the operator at the position corresponding to the target position information in the three-dimensional scene graph of the power transformation site.
2. The method of claim 1, wherein the determining that the operator enters the target area of the power transformation site comprises:
and determining the target area according to the position information of the operator before passing through the preset access channel.
3. The method of claim 1, wherein if it is detected that the operator passes through a preset access passage of a power transformation site, before the operator is determined to enter a target area of the power transformation site, the method further comprises:
receiving first reminding information sent by detection equipment arranged at the preset access channel; the first reminding information is information sent by the detection equipment under the condition that the detection equipment detects that the preset access passage has an obstacle;
acquiring an image of the preset access channel from image acquisition equipment arranged at the preset access channel according to the first reminding information;
determining whether the obstacle in the preset access channel is the operator according to the image;
and if the obstacle is the operator, determining that the operator passes through the preset access channel.
4. The method according to claim 1, wherein the determining the target positioning mode corresponding to the target area comprises:
and if the target area is an indoor area of the power transformation place, determining that the ultra-wideband UWB positioning mode is the target positioning mode.
5. The method according to claim 1, wherein the determining the target positioning mode corresponding to the target area comprises:
and if the target area is an outdoor area of the power transformation place, determining that the carrier phase difference RTK positioning mode is the target positioning mode.
6. The method of claim 1, further comprising:
and if the target position information indicates that the operator is located in a preset range of preset operation and inspection equipment of the power transformation place, pushing second reminding information to the operator.
7. A positioning system based on a substation site, comprising: the system comprises a server, an application platform, a first positioning base station, a second positioning base station and wearable equipment, wherein a positioning tag and a positioning module are arranged on the wearable equipment;
the first positioning base station and the positioning tag are used for carrying out ultra wide band UWB positioning on an operator, and the second positioning base station and the positioning module are used for carrying out carrier phase difference RTK positioning on the operator;
the server is used for executing the positioning method based on the power transformation site as claimed in any one of claims 1 to 6, and the application platform is used for displaying the identification of the operator at the corresponding position in the three-dimensional scene graph of the power transformation site.
8. The utility model provides a positioner based on transformer station, its characterized in that includes:
the system comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining that an operator enters a target area of a power transformation place if the operator is detected to pass through a preset access channel of the power transformation place;
the determining module is further configured to determine a target positioning manner corresponding to the target area;
the acquisition module is used for acquiring position information corresponding to the target positioning mode from the position information of the operator as the target position information of the operator according to the target positioning mode;
and the sending module is used for sending the target position information to an application platform so that the application platform displays the identification of the operating personnel at the position corresponding to the target position information in the three-dimensional scene graph of the power transformation site.
9. An electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine readable instructions executable by the processor, when an electronic device runs, the processor and the memory communicate through the bus, and the processor executes the machine readable instructions to execute the substation location based positioning method according to any one of claims 1 to 6.
10. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program is executed by a processor to perform the positioning method based on a power transformation site according to any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310154180.8A CN115932928A (en) | 2023-02-23 | 2023-02-23 | Positioning method, system, device, equipment and storage medium based on substation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310154180.8A CN115932928A (en) | 2023-02-23 | 2023-02-23 | Positioning method, system, device, equipment and storage medium based on substation |
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