CN117238092B - Industrial factory risk early warning method based on oblique photography and man-vehicle positioning - Google Patents
Industrial factory risk early warning method based on oblique photography and man-vehicle positioning Download PDFInfo
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Abstract
The invention belongs to the technical field of industrial safety monitoring, and aims to provide an industrial factory risk early warning method based on oblique photography and man-vehicle positioning, which comprises the following steps: three-dimensional modeling is carried out on the factory area; acquiring operation data of all target devices; matching and mapping the plant three-dimensional model with the operation data of all target devices into a virtual twin space; judging the risk condition of each target device in real time to carry out risk marking and displaying the risk marking in a virtual twin space; determining a primary risk path based on the target device with the risk tag; acquiring personnel positioning data and vehicle positioning data in real time, mapping the personnel positioning data and the vehicle positioning data into a virtual twin space, and presenting the virtual twin space; when the target personnel and/or the target vehicle are/is judged to be located in the first-level risk path, an alarm prompt is sent to the target personnel and/or the target vehicle, and an early warning prompt is carried out in the virtual twin space. According to the invention, the risk condition is dynamically updated in real time according to the actual running state of the equipment, so that risk prompts are accurately sent to personnel and vehicles.
Description
Technical Field
The invention belongs to the technical field of industrial safety monitoring, and particularly relates to an industrial factory risk early warning method based on oblique photography and man-vehicle positioning.
Background
Along with the digitalized transformation of the steel industry, the steel industry enters a deepwater area, and the safety control of walking personnel and running vehicles in the factory area is also digitalized and intelligent. The management of the industrial dangerous area is mainly carried out by adopting a plan view, a field mark and other modes to manage and control the entry of pedestrians and vehicles, and safety personnel are required to periodically patrol and check monitoring pictures in real time in the management and control process, so that the personnel and vehicles entering the area cannot be found and processed in time.
In the prior art, some factories acquire video information, analyze the video information to perform risk identification, output video risk screenshot, and prompt risks to security management staff. Some factories introduce a digital twin technology, equipment is monitored through a three-dimensional virtual environment after three-dimensional modeling, and a four-color early warning diagram is established in the three-dimensional virtual environment in advance, so that real-time monitoring is realized, however, the risk prompting mode is very limited, on one hand, real-time and accurate prompting cannot be realized according to the change condition of the risk of the equipment, on the other hand, personnel are in the risk range or the boundary of the risk range during prompting, the risk cannot be effectively reduced, and the safety is required to be further improved.
In view of the foregoing, there is a need in the art for an industrial factory risk early warning method based on oblique photography and man-car positioning to solve the above-mentioned problems.
Disclosure of Invention
Object of the invention
The invention aims to provide an industrial factory risk early warning method based on oblique photography and man-car positioning, and aims to solve the problems that in the prior art, real-time and accurate risk prompt cannot be realized according to the actual running state of equipment for safety prevention and control of an industrial factory, the risk reduction effect is limited, and the safety is required to be further improved.
(II) technical scheme
In order to solve the problems, the invention provides an industrial factory risk early warning method based on oblique photography and man-car positioning, which comprises the following steps:
carrying out three-dimensional modeling on a factory by adopting an unmanned aerial vehicle oblique photography mode, and constructing a factory three-dimensional model, wherein the factory three-dimensional model at least comprises models of all target devices and models of factory paths;
acquiring operation data of all target devices in real time;
matching and mapping the plant area three-dimensional model with the operation data of all the target devices into a virtual twin space, wherein the virtual twin space is displayed through a visual platform;
determining the risk situation of each target device in real time based on the operation data of each target device, and marking the risk of the target device with risk, and displaying the risk situation of the target device with risk marking in the virtual twin space;
determining a primary risk path in a model of the factory floor path based on the target device having the risk tag;
acquiring personnel positioning data of all target personnel in real time by adopting a UWB mode;
acquiring vehicle positioning data of all target vehicles in real time by adopting a GPS mode;
mapping the personnel positioning data and the vehicle positioning data into the virtual twin space and presenting in real time in a personnel model and vehicle model mode;
and under the condition that the target personnel and/or the target vehicle are located in the primary risk path, sending an alarm prompt to the target personnel and/or the target vehicle and carrying out an early warning prompt in the virtual twin space.
Preferably, determining the risk situation of each target device in real time based on the operation data of each target device and performing risk marking on the target device with risk, displaying the risk situation of the target device with risk marking in the virtual twin space, including:
judging the risk condition of each target device in real time based on the operation data of each target device, determining the risk level of the target device with risk, and displaying a risk display mode corresponding to the risk level for the target device with risk in the virtual twin space;
wherein different risk levels correspond to different risk display modes.
Preferably, the risk display mode is that electronic fences with colors are formed around a model of target equipment with risks in a virtual twin space, different risk levels correspond to the electronic fences with different colors, the risk levels comprise a major risk, a larger risk and a general risk, and the colors of the electronic fences corresponding to the major risk, the larger risk and the general risk are red, orange and yellow respectively;
determining a primary risk path in a model of the factory floor path based on the target device having the risk tag, comprising:
determining a primary risk path corresponding to the target device of the significant risk, the greater risk, and the general risk in the model of the factory floor path based on the target device of the significant risk, the greater risk, or the general risk.
Preferably, the primary risk path is a path in the factory floor that is in direct communication with the significant risk, the greater risk, and the generally risk target devices.
Preferably, the primary risk path is a path in the factory floor that communicates with the target devices of the significant risk, the greater risk, and the general risk and has a path length no greater than a preset length.
Preferably, the higher the risk level of the target device, the longer the length of the primary risk path.
Preferably, the risk level further comprises a low risk, the color of the electronic fence corresponding to the low risk being blue;
if the low risk target device is not on the primary risk path, the target person and the target vehicle are set to enter the blue electronic fence of the low risk target device without issuing an alarm prompt.
Preferably, both temporary personnel and temporary vehicles outside the factory floor are configured with UWB tags;
the method further comprises the steps of:
acquiring positioning data of all temporary personnel and all temporary vehicles in real time by adopting a UWB mode;
mapping the positioning data of all temporary personnel and all temporary vehicles into the virtual twin space and presenting the positioning data in real time in a temporary target model mode;
and under the condition that the temporary personnel and/or the temporary vehicle are located in the primary risk path or the blue electronic fence, sending an alarm prompt to the temporary personnel and/or the temporary vehicle and carrying out early warning prompt in the virtual twin space.
Preferably, sending an alarm prompt to the target person and/or the target vehicle comprises:
under the condition that an alarm prompt is sent to the target person, sending a person alarm prompt to a user terminal of the target person, wherein the person alarm prompt comprises at least one of a bell sound prompt, a voice prompt and a vibration prompt;
and under the condition that an alarm prompt is sent to the target vehicle, sending a vehicle alarm prompt to a vehicle-mounted terminal of the target vehicle, wherein the vehicle alarm prompt comprises at least one of a bell sound prompt, a voice prompt and a lamplight flashing prompt.
Preferably, the method further comprises:
in the event that the target person and/or the target vehicle is determined to be in a red, orange or yellow electronic fence, a risk response plan is initiated and a log is generated.
(III) beneficial effects
The technical scheme of the invention has the following beneficial technical effects:
the unmanned aerial vehicle oblique photography mode is adopted to model a factory, modeling data is more accurate and is closer to a real scene, the three-dimensional model of the factory is matched with the operation data of all target devices and mapped into a virtual twin space, real-time monitoring of all target devices can be achieved through the visualization platform, the change condition of risks of the target devices can be judged in real time through the operation data of the target devices, for example, the risk level of the target devices and the risk level of the target devices can be judged in real time, in this way, the risk monitoring can be dynamically and dynamically adjusted in real time according to the actual operation state of the target devices, the primary risk path can also be dynamically and dynamically adjusted in real time, a judging basis based on the real-time dynamic adjustment of the risk condition is provided for subsequent human-vehicle positioning data, the positions of the target personnel and the target vehicles can be judged in real time through real-time monitoring of the target personnel and the target vehicles, and an alarm prompt can be sent to the target personnel and/or the target vehicles under the condition of the primary risk path of dynamic change, and the warning prompt can be conveniently managed by the safety management personnel and the safety management personnel in the twin space, the early warning device can be accurately set up in the real-time, and the safety warning area is far compared with the prior warning area.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of an industrial factory risk early warning method based on oblique photography and man-vehicle positioning of the present invention;
FIG. 2 is a schematic diagram of a first embodiment of a primary risk path of the present invention;
FIG. 3 is a schematic diagram of a first level risk path embodiment II of the present invention;
FIG. 4 is a schematic diagram of a first level risk path embodiment three of the present invention;
fig. 5 is a schematic diagram of a first level risk path embodiment four of the present invention.
Specific embodiments of the present invention have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The term "plurality" in embodiments of the present invention means two or more, and other adjectives are similar.
The invention provides an industrial factory risk early warning method based on oblique photography and man-vehicle positioning, which aims to realize real-time and accurate prompt according to the change condition of the risk of equipment, and can be used for prompting in a long distance from personnel to an early warning area, thereby effectively reducing the risk and improving the safety.
Referring to fig. 1, fig. 1 is a flowchart of an industrial factory risk early warning method based on oblique photography and man-car positioning according to the present invention, the method comprising the steps of:
s1: and carrying out three-dimensional modeling on the factory by adopting an unmanned aerial vehicle oblique photography mode, and constructing a factory three-dimensional model which at least comprises models of all target devices and models of factory paths.
In an alternative implementation manner, 5 high-definition lenses are mounted on the unmanned aerial vehicle, wherein 4 high-definition lenses are obliquely arranged at 45 degrees obliquely downwards along different four directions, the last 1 high-definition lens is vertically arranged downwards, high-precision data acquisition can be carried out by using the 5 high-definition lenses, the unmanned aerial vehicle adopts low-altitude flight in the image data acquisition process, but the flight height of the unmanned aerial vehicle is ensured to be higher than the highest target device in all target devices, preprocessing is carried out on acquired data after the data acquisition is completed, automatic modeling and model optimization are started by using oblique photographing software, and the modeling software comprises ContextCaputre, DP-Modeler, 3Dmax and the like. It should be noted that the above modeling method is merely exemplary, and those skilled in the art may perform oblique photography three-dimensional modeling based on any known method.
In the invention, the plant three-dimensional model comprises models of all target devices and models of plant paths, and the purpose of constructing the models of all target devices is to monitor the running state of the target devices on a visual platform more intuitively in a virtual twin space in the follow-up process, and also serve as a model foundation for judging whether the target devices have risks or not and to monitor and link with the models of the plant paths in the follow-up process.
S2: and acquiring the operation data of all the target devices in real time.
In some embodiments, the target device may refer to a specific device, or may refer to an integrated device formed by a plurality of machines, or may refer to a general term of all devices in a region, where the present invention is particularly applicable to large devices, and the large devices occupy a larger area in a factory area, and generally occupy a larger area alone, for example, for an application scenario of a steel plant, the target device may include a blast furnace, a powder making workshop, a pump house, a coke oven, a silo, a cooling tower, a water cooling tower, a primary cooler, a silo, a coke quenching tower, and the like, and of course, the foregoing target device is merely exemplary and not limiting the present invention.
S3: and matching the plant three-dimensional model with the operation data of all the target devices, and mapping the plant three-dimensional model into a virtual twin space, wherein the virtual twin space is displayed through a visual platform.
In some embodiments, a model of a target device in a factory three-dimensional model is associated with operation data of the target device and mapped into a virtual twin space, so that an operation state of the target device can be monitored through a visual platform, for example, for a blast furnace of a steel factory, the blast furnace model can be mapped into the virtual twin space, meanwhile, the current operation state of the blast furnace can be displayed based on actual operation data of the blast furnace in the virtual twin space, in particular, the visual platform can be provided with a UI interface, and a safety manager can observe the operation data on the UI interface to monitor the state of the blast furnace. For example, the parameters of the blast furnace may be the blast temperature, the charging speed, the gas content of the blast furnace, etc.
S4: and judging the risk situation of each target device in real time based on the operation data of each target device, and marking the risk of the target device with risk, and displaying the risk situation of the target device with risk marking in the virtual twin space.
Determining whether the target device is at risk may be distinguished by determining the open-closed state of the target device, or whether some important parameter data of the target device exceeds a set threshold, or the like.
In some preferred embodiments, the step S4 includes:
judging the risk condition of each target device in real time based on the operation data of each target device, determining the risk level of the target device with risk, and displaying a risk display mode corresponding to the risk level for the target device with risk in a virtual twin space; wherein, different risk grades correspond to different risk display modes. That is, it is necessary to determine the risk condition of each target device, and determine the risk level of the blast furnace device when it is determined that there is a risk, where the risk level is highly divided, different risk levels are required to be displayed in different risk display modes in the virtual twin space, and different risk display modes may be distinguished by colors, different shapes, or different identifications, or may be distinguished by combinations of elements such as colors, shapes, identifications, or the like, and may be flexibly set by those skilled in the art, which is not limited by the present invention.
Preferably, the risk display mode is that electronic fences with colors are formed around a model of target equipment with risks in the virtual twin space, different risk levels correspond to the electronic fences with different colors, the risk levels comprise major risks, major risks and general risks, and the colors of the electronic fences corresponding to the major risks, the major risks and the general risks are red, orange and yellow respectively.
Further, the risk level may also include a low risk, the color of the electronic fence corresponding to the low risk being blue.
Generally, for areas with significant risk, large risk and general risk, areas requiring management and control of vehicles are only security management personnel and authorized personnel, other factory personnel are not allowed to enter, and low-risk areas and factory personnel in non-risk areas can enter normally in principle.
It should be noted that, the risk condition of each target device is determined in real time, the risk level of one target device is not fixed, but changes in real time in combination with the operation data of the target device, for example, when a certain target device is turned on, the target device is a device with a significant risk, when the target device is turned off, the target device is a device with no risk or low risk, for example, when the temperature parameter value of a certain device is higher than the first temperature set threshold, the target device is a device with a significant risk, when the temperature parameter value of the certain device is lower than or equal to the first set threshold and higher than the second temperature set threshold, the target device is a device with a relatively high risk, and when the temperature parameter value of the target device is lower than or equal to the third set threshold, the color of the corresponding electronic fence can also be dynamically adjusted, so that the primary risk path determined later can also be dynamically adjusted.
Of course, the above-described manner of classifying risk levels is merely exemplary, and does not constitute any limitation of the present invention.
S5: a primary risk path in a model of the factory floor path is determined based on the target device having the risk tag.
In a preferred embodiment, the step S5 includes:
a first-level risk path corresponding to the target device of significant risk, greater risk, and general risk in the model of the factory floor path is determined based on the target device of significant risk, greater risk, or general risk.
That is, when the general risk and above target devices appear in the factory, all the general risk and above target devices need to set a primary risk path corresponding to the general risk and for example, when a blast furnace of a steel plant is a heavy risk and a cooling tower is a general risk, the primary risk path is set according to the position of the blast furnace and the position of the cooling tower, the primary risk path is set, and the advantage of setting the primary risk path is that a person vehicle does not need to approach or enter a corresponding electronic fence to alarm, but needs to alarm when on the primary risk path, so that the alarm on a target person and a target vehicle can be operated in advance, and because the primary risk path corresponds to the target device of the risk, if the target person and/or the target vehicle is located on the primary risk path, it can be determined that the target person and/or the target vehicle is highly likely to travel towards the target device of the risk.
S6: and acquiring personnel positioning data of all target personnel in real time by adopting a UWB mode.
Specifically, a plurality of UWB base stations may be set in the factory, and the plurality of UWB base stations may be set at regular intervals or may be set in an irregular manner, and preferably, the plurality of UWB base stations may cover all areas of the factory, so as to realize dead angle-free monitoring on the target person, and the target person may wear a UWB wearable device, such as a UWB helmet, a UWB watch, or the like, where the UWB wearable device has a tag that can be identified by the UWB base station, so as to accurately locate the position of the target person in real time.
S7: and acquiring vehicle positioning data of all target vehicles in real time by adopting a GPS mode.
Specifically, vehicle positioning data of all target vehicles can be obtained through a differential GPS mode, the target vehicles are vehicles stored in the system in advance, unique identifiers for distinguishing different vehicles can be used as vehicle identification codes, and the differential GPS mode has the advantages of high positioning accuracy and capability of accurately identifying the positions of the target vehicles in real time.
S8: the personnel positioning data and the vehicle positioning data are mapped into the virtual twin space and are presented in real time in a personnel model and vehicle model mode.
Preferably, the personnel model and the vehicle model may be pre-stored in the system, and for target personnel with different functions, different personnel models may be used for distinguishing, for example, the personnel model may display name, function and/or other information, the personnel model with different colors may also refer to target personnel with different functions, the vehicle model may be built according to different models of types or categories of vehicles, and the person skilled in the art may flexibly set the model.
S9: and under the condition that the target personnel and/or the target vehicle are located in the first-level risk path, sending an alarm prompt to the target personnel and/or the target vehicle and carrying out early warning prompt in the virtual twin space.
Optionally, in a case of sending an alarm prompt to the target person, sending a person alarm prompt to a user terminal of the target person, wherein the person alarm prompt includes at least one of a bell sound prompt, a voice prompt and a vibration prompt. That is, the alarm prompt to the target person can be sent through the mobile phone, the tablet or the mobile wearable device of the user, so that the target person can respond quickly. Of course, alternatively, a plurality of broadcasters or acousto-optic prompters may be disposed in the factory, and the target personnel may be prompted by broadcasting or acousto-optic prompting.
Optionally, in a case of sending an alarm prompt to the target vehicle, sending a vehicle alarm prompt to an on-board terminal of the target vehicle, wherein the vehicle alarm prompt includes at least one of a bell sound prompt, a voice prompt and a light flashing prompt. Because the driver in the target vehicle has lower perception to the outside, the driver can prompt the target vehicle through the ringtone prompt, the voice prompt and/or the lamplight flickering prompt of the vehicle-mounted terminal, thereby realizing the quick response of the target vehicle.
In the above, if the target person is on the target vehicle, the information may be sent to both the user terminal of the target person and the vehicle-mounted terminal of the target vehicle, so as to perform multiparty early warning prompt.
In one possible scenario, if a low risk target device is not on the primary risk path, the target person and target vehicle are set to enter the blue electronic fence of the low risk target device without issuing an alarm alert. It should be noted that, in some cases, if a low-risk or no-risk target device is on the primary risk path, since the primary risk path leads to other target devices that are determined to be generally at risk and above, an early warning prompt is still sent to the target person and/or the target vehicle when the target person and/or the target vehicle is on the primary risk path.
The technical solution of the present invention is further described below by means of a number of different embodiments of the primary risk path.
Example 1
As shown in fig. 2, the first-level risk path is a path directly communicated with a target device with significant risk, greater risk and general risk in a factory, for example, when the target device with significant risk is advanced to a certain target device, the target device can be reached only by sequentially passing through a first path and then passing through a second path, and then the first path is a path indirectly communicated with the target device, and the second path is a path directly communicated with the target device, in this case, the first path is not the first-level risk path, and the second path is the first-level risk path. In fig. 2, the blast furnace is determined as a target device with a large risk, the periphery thereof in the virtual twin space forms a red electronic fence, the coke oven is determined as a target device with a large risk, the periphery thereof in the virtual twin space forms an orange electronic fence, the electric furnace is determined as a target device with a low risk, the periphery thereof in the virtual twin space forms a blue electronic fence, the thermal power station is determined as a target device without risk, the path directly communicating with the blast furnace is a primary risk path, and the path directly communicating with the coke oven is also a primary risk path.
Example two
As shown in fig. 3, the first-level risk path is a path that can be covered in a preset radius R of each target device with major risk, larger risk and general risk in the factory as a center. In fig. 3, the blast furnace is determined as a target device with a large risk, the periphery of the blast furnace forms a red electronic fence in the virtual twin space, the coke oven is determined as a target device with a large risk, the periphery of the blast furnace forms an orange electronic fence in the virtual twin space, the electric furnace is determined as a target device with a low risk, the periphery of the electric furnace forms a blue electronic fence in the virtual twin space, the thermal power station is determined as a target device without risk, and paths which can be covered in the preset radius R of the blast furnace and the coke oven are respectively taken as circle centers of the blast furnace and the coke oven.
Example III
As shown in fig. 4, the primary risk paths are paths in the factory area which are communicated with target devices with significant risks, greater risks and general risks, and have path lengths not greater than a preset length, and the lengths of all primary paths are the same. Compared with the second embodiment, the present embodiment can further attach to the actual situation, and since different paths may be straight paths or curved paths, the criteria for avoiding the risk prompting range from being too large due to too many curved paths in the preset radius or avoiding the difference in the criteria of each path due to too many paths of different lengths in the preset radius are set according to the actual path length on the paths. In fig. 4, the blast furnace is determined as a target device with a large risk, the periphery thereof in the virtual twin space forms a red electronic fence, the coke oven is determined as a target device with a large risk, the periphery thereof in the virtual twin space forms an orange electronic fence, the electric furnace is determined as a target device with a low risk, the periphery thereof in the virtual twin space forms a blue electronic fence, the thermal power station is determined as a target device without risk, and the lengths of all primary paths are the same.
Example IV
As shown in fig. 5, the primary risk path is a path in the factory, which is communicated with the target devices with significant risks, greater risks and general risks, and has a path length not greater than a preset length, and the higher the risk level of the target device, the longer the corresponding primary path length, and the greater the length of the primary path corresponding to the target device with significant risks is than the primary path corresponding to the target device with greater risks, and the primary path corresponding to the target device with greater risks is greater than the primary path corresponding to the target device with general risks. Compared with the third embodiment, the risk paths with different lengths can be formulated in a targeted manner according to the level of the risk, and the prompt time obtained by the target personnel and/or the target equipment is different, so that the risk is avoided greatly, and the safety is further improved. In fig. 5, the blast furnace is determined as a target device with a large risk, the periphery thereof forms a red electronic fence in the virtual twin space, the coke oven is determined as a target device with a large risk, the periphery thereof forms an orange electronic fence in the virtual twin space, the electric furnace is determined as a target device with a low risk, the periphery thereof forms a blue electronic fence in the virtual twin space, the thermal power station is determined as a target device without risk, and the length of the primary risk path corresponding to the blast furnace is greater than the length of the primary risk path corresponding to the coke oven.
Preferably, the method of the present invention further comprises:
in the case that it is determined that the target person and/or the target vehicle is located in the red, orange or yellow electronic fence, a risk response plan is started, and a log is generated, that is, when the target person and/or the target vehicle enter the red, orange or yellow electronic fence, an early warning prompt indicating that the target person and/or the target vehicle is not received/not noticed/deliberately ignored and is located in the first-level risk path before, at this time, the system starts the risk response plan, where the plan may be pre-stored in the system, and the plan includes specific actions when corresponding emergency situations are handled, for example, notifying a nearest security manager to go to the site for management, or closing a channel leading to the interior of the target device, or closing the corresponding target device when some conditions allow.
In some embodiments, the methods of the present invention further comprise:
and when the target person and/or the target vehicle are determined to be in the red, orange or yellow electronic fence, sending path planning information or emergency stop area information for avoiding the risk equipment to the target person and/or the target vehicle. That is, when the target person and/or the target vehicle are in the red, orange or yellow electronic fence, the target person and/or the target vehicle are in the relatively dangerous position, at this time, the target person and/or the target vehicle can be guided away from the area where the target device at risk is located by sending the path planning information of the avoidance risk device to the target person and/or the target vehicle, or the target person and/or the target vehicle can be guided to the specific emergency stop area to wait for rescue by sending the emergency stop area information to the target person and/or the target vehicle, wherein the path planning information of the avoidance risk device or the emergency stop area information can be sent to the user terminal of the target person, for example, the path planning information of the avoidance risk device or the emergency stop area information can be displayed in the APP of the user terminal, the path planning information of the avoidance risk device or the emergency stop area information can be sent to the vehicle on the vehicle, and if the target person is on the target vehicle, the path planning information of the avoidance risk device can be sent to the user terminal of the target person and the vehicle on the vehicle, so as to perform the multi-party warning prompt.
Preferably, both temporary personnel and temporary vehicles outside the factory floor are configured with UWB tags; the method of the invention further comprises:
acquiring positioning data of all temporary personnel and all temporary vehicles in real time by adopting a UWB mode;
mapping the positioning data of all temporary personnel and all temporary vehicles into a virtual twin space and presenting in real time in a temporary target model mode;
and under the condition that the temporary personnel and/or the temporary vehicle are located in the primary risk path or in the blue electronic fence, sending an alarm prompt to the temporary personnel and/or the temporary vehicle and carrying out early warning prompt in the virtual twin space.
In the above, the foreign personnel and the foreign vehicles in the factory area can be monitored and controlled by the control method, when the foreign personnel and the foreign vehicles enter the factory, devices capable of being monitored need to be configured, UWB tags are arranged in the devices so as to be detected and perceived by UWB base stations in the factory area, and identification codes only aiming at the foreign personnel and the foreign vehicles are arranged in the UWB tags in the devices so as to distinguish the devices from target personnel and target vehicles, and low-risk areas are limited to be inaccessible and can only be moved in risk-free areas for the foreign personnel and the foreign vehicles.
The User terminal (User Equipment) according to the embodiments of the present invention may be a USB storage device, other personal computer memory device, and a dongle, and may also communicate with one or more Core Networks (CN) via a radio access Network (Radio Access Network, RAN), and the UE may be a mobile terminal device, such as a mobile phone (or "cellular" phone), and a computer with a mobile terminal device, for example, may be a portable, pocket, hand-held, computer-built-in, or vehicle-mounted mobile device, which exchanges voice and/or data with the radio access Network. Such as personal communication services (Personal Communication Service, PCS) phones, cordless phones, session initiation protocol (Session Initiated Protocol, SIP) phones, wireless local loop (Wireless Local Loop, WLL) stations, personal digital assistants (Personal Digital Assistant, PDA), personal computers, tablet computers, machine-type communication (Machine-type Communication, MTC) terminal devices, and the like.
The terms "first," "second," "third," "fourth," and the like in the description of the invention and in the above figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (3)
1. An industrial factory risk early warning method based on oblique photography and man-vehicle positioning is characterized by comprising the following steps:
carrying out three-dimensional modeling on a factory by adopting an unmanned aerial vehicle oblique photography mode, and constructing a factory three-dimensional model, wherein the factory three-dimensional model at least comprises models of all target devices and models of factory paths;
acquiring operation data of all target devices in real time;
matching and mapping the plant area three-dimensional model with the operation data of all the target devices into a virtual twin space, wherein the virtual twin space is displayed through a visual platform;
determining the risk condition of each target device in real time based on the operation data of each target device, and determining the risk level of the target device with risk, wherein a risk display mode corresponding to the risk level is displayed for the target device with risk in the virtual twin space, the risk display mode is that electronic fences with colors are formed around a model of the target device with risk in the virtual twin space, different risk levels correspond to the electronic fences with different colors, and the risk levels comprise major risk, general risk and low risk, and the colors of the electronic fences corresponding to the major risk, the general risk and the low risk are red, orange, yellow and blue respectively;
determining a primary risk path corresponding to the target devices with the significant risk, the greater risk and the general risk in the model of the factory floor path based on the target devices with the significant risk, the greater risk or the general risk, wherein the primary risk path is a path which is communicated with the target devices with the significant risk, the greater risk and the general risk in the factory floor and has a path length not larger than a preset length, and the higher the risk level of the target devices is, the longer the primary risk path is;
acquiring personnel positioning data of all target personnel in real time by adopting a UWB mode;
acquiring vehicle positioning data of all target vehicles in real time by adopting a GPS mode;
mapping the personnel positioning data and the vehicle positioning data into the virtual twin space and presenting in real time in a personnel model and vehicle model mode;
under the condition that the target personnel and/or the target vehicle are located in the primary risk path, sending an alarm prompt to the target personnel and/or the target vehicle and carrying out an early warning prompt in the virtual twin space;
if the low-risk target device is not on the primary risk path, the target person and the target vehicle are set to enter the blue electronic fence of the low-risk target device without sending an alarm prompt;
both the temporary personnel and the temporary vehicle outside the factory area are configured with UWB tags, and the UWB tags are provided with identification codes only aiming at the external personnel and the external vehicle, so as to distinguish the target personnel and the target vehicle;
the method further comprises the steps of:
acquiring positioning data of all temporary personnel and all temporary vehicles in real time by adopting a UWB mode;
mapping the positioning data of all temporary personnel and all temporary vehicles into the virtual twin space and presenting the positioning data in real time in a temporary target model mode;
and under the condition that the temporary personnel and/or the temporary vehicle are located in the primary risk path or the blue electronic fence, sending an alarm prompt to the temporary personnel and/or the temporary vehicle and carrying out early warning prompt in the virtual twin space.
2. An industrial factory floor risk warning method based on oblique photography and man-car localization as claimed in claim 1, wherein issuing an alarm prompt to the target person and/or the target car comprises:
under the condition that an alarm prompt is sent to the target person, sending a person alarm prompt to a user terminal of the target person, wherein the person alarm prompt comprises at least one of a bell sound prompt, a voice prompt and a vibration prompt;
and under the condition that an alarm prompt is sent to the target vehicle, sending a vehicle alarm prompt to a vehicle-mounted terminal of the target vehicle, wherein the vehicle alarm prompt comprises at least one of a bell sound prompt, a voice prompt and a lamplight flashing prompt.
3. An industrial factory floor risk warning method based on oblique photography and man-car localization as claimed in claim 1, further comprising:
in the event that the target person and/or the target vehicle is determined to be in a red, orange or yellow electronic fence, a risk response plan is initiated and a log is generated.
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