CN117784009A - UWB global positioning method for crane in high-voltage transformer substation - Google Patents
UWB global positioning method for crane in high-voltage transformer substation Download PDFInfo
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- CN117784009A CN117784009A CN202410014130.4A CN202410014130A CN117784009A CN 117784009 A CN117784009 A CN 117784009A CN 202410014130 A CN202410014130 A CN 202410014130A CN 117784009 A CN117784009 A CN 117784009A
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Abstract
The invention discloses a UWB global positioning method for a crane in a high-voltage transformer substation, which comprises the steps of designing UWB labels and base station equipment, installing UWB labels and base stations, establishing UWB signal transmission and communication, selecting and realizing a positioning algorithm, carrying out signal processing and data analysis, integrating a system, optimizing the system and the like, and the steps can accurately position the crane.
Description
Technical Field
The invention relates to the technical field of global positioning, in particular to a UWB global positioning method for a crane in a high-voltage transformer substation.
Background
High voltage substations are important sites for energy transport and distribution, where cranes play a vital role within the substation as important transportation means. The positioning requirements for cranes within high voltage substations are becoming higher and higher, mainly because: safety requirements: high voltage equipment and dangerous areas exist in the high voltage transformer substation, and if the crane position is inaccurate, safety accidents can be caused. Production efficiency requirements are as follows: the crane in the high-voltage transformer substation needs to be operated in a narrow space, and if the crane cannot be accurately positioned, the production efficiency and the working efficiency can be affected. In order to meet the positioning requirements of cranes in high-voltage substations, UWB global positioning technology is widely used. The UWB technology has the advantages of high precision, high real-time performance, strong anti-interference capability and the like, and is very suitable for positioning application of a crane in a high-voltage transformer substation. Meanwhile, the cost of the UWB technology is also continuously reduced along with the development of the technology, so that the UWB technology has feasibility and practicability in practical application. Therefore, the technical background of the UWB global positioning method based on the crane in the high-voltage transformer substation is mainly due to the increase of the crane positioning requirement in the high-voltage transformer substation and the maturity of UWB technology, and the UWB global positioning method has the advantages of high precision, high real-time performance, strong anti-interference capability and the like.
Disclosure of Invention
The invention aims to provide a UWB global positioning method for a crane in a high-voltage transformer substation, so as to solve the problems that the positioning requirement of the crane in the high-voltage transformer substation is higher and higher at present, but the prior art does not have a perfect solution.
In order to achieve the above purpose, the present invention provides the following technical solutions: the UWB global positioning method for the crane in the high-voltage transformer substation comprises the following steps:
step S1: two groups of binocular cameras are adopted to reconfirm the working environment scene, an electric field sensor detects the voltage of an electrified body, and a safe operation model area is established according to collision evaluation indexes;
step S2: establishing a three-dimensional visual map and coordinates of the transformer substation through combining the UWB system and the three-dimensional data of the transformer substation;
step S3: real-time track coordinates of the hung object and the suspension arm are shown by a visual inertial fusion system;
step S4: the MEMS sensor is used for electrified detection, and coordinates of an electric shock prevention area are set to automatically generate an electronic security fence and establish coordinates;
step S5: and finally judging whether the suspension arm and the suspended object are in the early warning area or not or the trend of entering the early warning area, if so, alarming on site, and if not, projecting real-time coordinate conversion into the three-dimensional model for display.
As a preferred technical solution, step S1 includes installing a positioning base station and a tag on the crane, positioning the crane position in combination with vision technology, and mapping the position into the substation 3D model, thereby obtaining the distance between the space coordinates of the real-time hoisting device and the charged device.
As a preferred technical solution, step S2 includes that when the working crane enters the working site, the system enters the working state, the binocular cameras fixed at two points on the working site are combined with the reinforced auxiliary positioning labels adhered at two positions of the boom and the hook to dynamically position the working action of the crane, and the binocular cameras fixed at two points move along with the action of the working crane to position the crane boom, the suspended object and the preset position in real time.
As a preferable technical scheme, step S3 installs UWB positioning base station and label, power frequency electric field measuring sensor on the crane, recognizes electrified equipment through electrostatic induction principle, combines vision technique positioning crane position to map this position into the transformer substation 3D model, thereby acquire real-time hoisting equipment space coordinates and distance between electrified equipment and supplementary enhancement positioning module data.
As a preferred technical solution, step S3 includes setting a certain fixed point as the origin of the crane coordinate system, determining the positions of the boom and the suspended object in the crane coordinate system under the precisely calculated detection positioning of the fusion of the visual inertial navigation system, and acquiring the relevant information of the positions of the boom and the suspended object by the visual technology in the fixed module fused with the IMU module and the binocular camera module placed on the boom, thereby determining the relative position of the suspended object, namely, the specific position in the crane coordinate system.
As a preferable technical scheme, the step S3 comprises the steps of fusing the obtained auxiliary enhanced positioning module data with the information of the binocular camera, and then completing correction and optimization work of the fused data based on the fused positioning information to accurately position the operation device in real time.
As a preferable technical scheme, in the step S4, the electric field intensity is detected through the MEMS electric field sensor probe, the distance measuring module detects the distance information between the electric field sensor probe and the charged object, and coordinates of an electric shock prevention area are set to automatically generate an electronic security fence and establish the coordinates.
As a preferable technical scheme, in the step S5, whether the crane is in the early warning area or not is judged through the real-time positions of the acquired crane and the acquired boom, if the crane is in the early warning area, an alarm is given.
Compared with the prior art, the invention has the beneficial effects that:
the UWB global positioning method for the crane in the high-voltage transformer substation is suitable for the crane in the high-voltage transformer substation, and can establish a communication link between the crane and a base station by installing the UWB tag on the crane and arranging the UWB base station in the transformer substation. UWB tags on the crane transmit UWB signals and the base station receives the signals and performs position calculations. The method comprises the implementation steps of designing UWB labels and base station equipment, installing UWB labels and base stations, establishing UWB signal transmission and communication, selecting and realizing a positioning algorithm, carrying out signal processing and data analysis, and integrating and optimizing a system, and through the steps, accurate positioning of crane positions can be realized. Compared with the prior art, the method has the advantages of high precision and reliability, which is very important for the operation and management of the crane in the high-voltage transformer substation, can improve the working efficiency, reduce the accident risk and provide better safety.
Drawings
FIG. 1 is a schematic diagram of the equipment workflow of the UWB global positioning method for cranes in high voltage substations of the present invention;
FIG. 2 is a flow chart of a method of the present invention for UWB global positioning of a crane within a high voltage substation.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the present invention provides a technical solution: the UWB global positioning method for the crane in the high-voltage transformer substation comprises the following steps of:
UWB tag and base station design: in this method, UWB tags and base station devices need to be designed and installed. UWB tags are crane mounted devices for transmitting and receiving UWB signals. The base station is equipment installed in the transformer substation and is used for receiving UWB signals sent by the crane and performing positioning calculation.
UWB signal transmission and communication: in this method, wireless communication between the UWB tag on the crane and the base station is required. The UWB tag communicates with the base station by transmitting UWB signals and transmits crane position information to the base station.
Positioning algorithm: in this method, the crane position needs to be calculated using a positioning algorithm. Common positioning algorithms include triangulation, polygonal methods, weighted averaging methods, and the like. These algorithms use distance or signal strength information between the crane and the plurality of base stations to derive the exact position of the crane.
Signal processing and data analysis: in this method, the received UWB signal needs to be processed and analyzed. This includes demodulation of the signal, delay measurements, signal strength measurements, etc. The distance information between the crane and the base station can be extracted by processing and analyzing the signals, so that positioning is realized.
System integration and optimization: in the method, a UWB positioning system is integrated into a crane in a high-voltage transformer substation, and system optimization is performed. This includes rational installation of UWB antennas and tags, optimization of UWB signal maps, optimization of positioning algorithms, etc., to improve accuracy and stability of global positioning.
The specific method flow is as follows:
first, UWB tags and base station equipment suitable for use in cranes in high voltage substations are designed and manufactured. The UWB tag should be compact and lightweight, be easily mounted on a crane, and be capable of transmitting and receiving UWB signals. The base station is installed in the transformer substation and can receive UWB signals sent by the crane and perform positioning calculation.
And secondly, installing the designed UWB tag on a crane, and ensuring the position of the UWB tag to be fixed and stable. Meanwhile, base station equipment is installed at a proper position in the high-voltage transformer substation so as to ensure that UWB signals sent by a crane can be received.
Then, a wireless communication link between the UWB tag and the base station is set. By configuring the communication parameters between the UWB tag and the base station, it is ensured that they are capable of two-way communication. Thus, the UWB tag may send crane position information to the base station, and the base station may send instructions or requests to the crane.
And then selecting a suitable positioning algorithm to calculate the crane position. Common algorithms include triangulation, polygon, weighted averaging, and the like. And selecting and realizing the most suitable positioning algorithm according to actual conditions and requirements.
The received UWB signal is then processed and analyzed. This includes demodulation of the signal, delay measurements, signal strength measurements, etc. And extracting distance information between the crane and the base station by processing and analyzing the signals, and using the distance information for subsequent positioning calculation.
And finally integrating the UWB positioning system with a crane in the high-voltage transformer substation, and optimizing the system. The correct installation positions of the UWB antenna and the tag are ensured, a UWB signal map is optimized, positioning algorithm parameters are adjusted, and the like, so that the accuracy and stability of global positioning are improved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The UWB global positioning method for the crane in the high-voltage transformer substation is characterized by comprising the following steps of:
step S1: two groups of binocular cameras are adopted to reconfirm the working environment scene, an electric field sensor detects the voltage of an electrified body, and a safe operation model area is established according to collision evaluation indexes;
step S2: establishing a three-dimensional visual map and coordinates of the transformer substation through combining the UWB system and the three-dimensional data of the transformer substation;
step S3: real-time track coordinates of the hung object and the suspension arm are shown by a visual inertial fusion system;
step S4: the MEMS sensor is used for electrified detection, and coordinates of an electric shock prevention area are set to automatically generate an electronic security fence and establish coordinates;
step S5: and finally judging whether the suspension arm and the suspended object are in the early warning area or not or the trend of entering the early warning area, if so, alarming on site, and if not, projecting real-time coordinate conversion into the three-dimensional model for display.
2. The global positioning method of UWB for a crane in a high voltage substation according to claim 1, wherein the step S1 comprises installing a positioning base station and a tag on the crane, positioning the crane position in combination with visual technology, and mapping the position into a 3D model of the substation, thereby obtaining the distance between the real-time hoisting device space coordinates and the live device.
3. The global positioning method of UWB for crane in high voltage transformer station according to claim 1, wherein step S2 comprises the step of moving the crane boom, the suspended object and the predetermined position in real time by the system entering the working state after the crane enters the working site, and the two-point fixed binocular cameras placed on the working site are combined with the reinforced auxiliary positioning labels adhered to the boom and the hook to perform dynamic positioning of crane working motion.
4. The global positioning method of UWB for a crane in a high voltage transformer substation according to claim 1, wherein the step S3 is to install a UWB positioning base station and a tag, a power frequency electric field measuring sensor on the crane, identify the charged equipment by electrostatic induction principle, position the crane by combining visual technology, and map the position into a 3D model of the transformer substation, thereby obtaining the distance between the space coordinates of the real-time hoisting equipment and the charged equipment and the auxiliary reinforcing positioning module data.
5. The global positioning method of UWB for a crane in a high voltage transformer substation according to claim 1, wherein the step S3 comprises setting a certain fixed point as the origin of a crane coordinate system, determining the positions of the boom and the suspended object in the crane coordinate system by precisely calculated detection positioning fused by a visual inertial navigation system, and acquiring the related information of the positions of the boom and the suspended object by visual technology in a fixed module fused by an IMU module and a binocular camera module placed on the boom, thereby determining the relative position of the suspended object, namely, the specific position in the crane coordinate system.
6. The global positioning method of UWB for crane in high voltage transformer station according to claim 4, wherein step S3 comprises fusing the obtained auxiliary reinforced positioning module data with the information of the binocular camera, and then completing the corrective optimization work of the fused data based on the fused positioning information, so as to accurately position the working device in real time.
7. The global positioning method of UWB for crane in high voltage transformer station according to claim 1, wherein in step S4, the electric field intensity is detected by the MEMS electric field sensor probe, the distance measuring module detects the distance information from the charged object, and the coordinates of the anti-electric shock area are set to automatically generate the electronic security fence and the coordinates are established.
8. The UWB global positioning method for cranes in high voltage substations according to claim 1, wherein in step S5, it is determined whether the crane and boom are in the pre-warning area or not by the collected real-time positions of the crane and boom, if so, an alarm is given.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410014130.4A CN117784009A (en) | 2024-01-04 | 2024-01-04 | UWB global positioning method for crane in high-voltage transformer substation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410014130.4A CN117784009A (en) | 2024-01-04 | 2024-01-04 | UWB global positioning method for crane in high-voltage transformer substation |
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| CN117784009A true CN117784009A (en) | 2024-03-29 |
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| CN202410014130.4A Pending CN117784009A (en) | 2024-01-04 | 2024-01-04 | UWB global positioning method for crane in high-voltage transformer substation |
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