CN108877296B - Anti-collision system based on Internet of things - Google Patents
Anti-collision system based on Internet of things Download PDFInfo
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- CN108877296B CN108877296B CN201810860036.5A CN201810860036A CN108877296B CN 108877296 B CN108877296 B CN 108877296B CN 201810860036 A CN201810860036 A CN 201810860036A CN 108877296 B CN108877296 B CN 108877296B
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- G08G—TRAFFIC CONTROL SYSTEMS
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
本发明公开了一种基于物联网的防碰撞系统，管廊内设有若干定位基站和定位标签，定位标签包括与控制模块连接的UWB测距模块，定位基站包括与信号处理模块连接的UWB测距模块，定位基站与定位标签之间以UWB通讯方式获取定位数据；信号处理模块以任一定位标签为中心，将一定范围内的其他定位标签的定位数据，反馈给该定位标签的控制模块。其充分考虑了电力施工管廊内高温、高湿度、高信号干扰及其能见度差的作业环境对传感器标签节点信号探测的影响，其定位精准、能耗低、监控全面效果好，多层预警机制协同作用，有效降低了相互间的碰撞风险，提高作业的安全性，具有重要的工程意义和推广应用价值。
The invention discloses an anti-collision system based on the Internet of Things. A number of positioning base stations and positioning labels are arranged in a pipe gallery. The positioning labels include a UWB ranging module connected with a control module, and the positioning base station includes a UWB measuring module connected with a signal processing module. The distance module, the positioning base station and the positioning tag obtain the positioning data through UWB communication; the signal processing module takes any positioning tag as the center, and feeds back the positioning data of other positioning tags within a certain range to the control module of the positioning tag. It fully considers the influence of high temperature, high humidity, high signal interference and poor visibility in the power construction pipe gallery on the signal detection of sensor tag nodes. It has accurate positioning, low energy consumption, good overall monitoring effect, and multi-layer early warning mechanism. The synergistic effect effectively reduces the risk of collision with each other and improves the safety of the operation, which has important engineering significance and popularization and application value.
Description
Technical Field
The invention relates to an anti-collision system, in particular to an anti-collision system based on the Internet of things, and belongs to the field of power pipe gallery construction.
Background
With the rapid development of economy and the rapid increase of urban population in China, the development of various underground projects becomes a necessary trend in order to solve the pressure brought to the aspects of environment and the like by the relative concentration of population mobility and employment points, meet the requirements of national environment change and develop various underground projects.
The tunnel pipe gallery is used as an engineering building of an underground passage and presents a remarkable growth trend due to the unique advantages of the tunnel pipe gallery. In the power transmission operation, the wiring requirements of tunnel pipe galleries such as river crossing, lake bottom, mountain crossing and the like are also frequently met.
Tunnel piping lane engineering exists in hard complicated environment more, easily receives hydrogeological conditions's influence in actual construction operation process, and the inside air of piping lane and light are not enough simultaneously, high humidity and high signal interference scheduling problem have also aggravated the construction degree of difficulty. Construction accidents frequently become a major challenge for the development of tunnel pipe gallery engineering.
The construction operation transport vehicle of power transmission in the piping lane bears the burden in the power transmission operation in the piping lane, often bears the weight of super high voltage apparatus, if take place swift current car, the collision accident such as rear-end collision, collision will cause the great loss to operation personnel's life and property safety, guarantees that the safe operation of construction operation transport vehicle in the piping lane is the important basis of realizing electric power tunnel transportation.
However, in recent years, collision accidents of the working vehicle are frequent due to inadequate field safety monitoring, incompleteness, unscientific nature and weak awareness of safety precautions of operators.
Therefore, a set of scientific, reasonable, efficient and comprehensive anti-collision system capable of realizing sensing positioning and high monitoring in a complex environment is established to eliminate potential risks in operation, and the anti-collision system has important practical value and practical significance.
At present, an outdoor GPS positioning technology is mature, but is not suitable for operation in a pipe gallery with complex environmental problems such as high-intensity signal interference, attenuation and the like; the traditional vehicle early warning radar adopts laser and camera video radar to reduce collision risk, and has the defects of short detection distance, dust in a tunnel, low visibility and the like, and poor early warning effect; simultaneously, the vehicle passes through loudspeaker in the piping lane and reminds vehicle and personnel's anticollision means low efficiency single on every side, and vehicle and personnel can not in time know with other vehicle's relative distance and speed, are difficult to in time make the reaction and take emergent evasion measure.
In conclusion, construction and transportation operations in a pipe gallery such as electric power transportation have serious defects in the aspect of safety.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a method.
In order to achieve the above object, the present invention adopts the following technical solutions:
an anti-collision system based on the Internet of things, a plurality of positioning base stations and positioning labels are arranged in a pipe gallery,
the positioning tag comprises a UWB ranging module connected with a control module,
the positioning base station comprises a UWB ranging module connected with the signal processing module,
positioning data is acquired between the positioning base station and the positioning tag in a UWB communication mode, wherein the positioning data comprises a positioning tag IP, a positioning base station IP, a distance and an orientation;
the signal processing module takes any positioning tag as a center, and feeds back the positioning data of other positioning tags in a certain range to the control module of the positioning tag.
The positioning tag is internally provided with an LORA module connected with the control module, and performs positioning data transmission with a gateway base station outside the pipe rack in an LORA spread spectrum communication mode;
the gateway base station is internally provided with a control device and an LORA module connected with the control device.
The signal processing module of the positioning base station is connected with the control device of the gateway base station outside the pipe gallery to transmit the positioning data of the positioning label.
An anti-collision system based on the Internet of things further comprises a server, wherein the server comprises a main control chip and an Ethernet chip,
the main control chip receives the positioning data of the positioning label transmitted by the gateway base station through the Ethernet, generates alarm information after analysis, and reversely transmits the alarm information to the positioning label through the gateway base station.
The anti-collision system based on the Internet of things further comprises a visual device, wherein the visual device is used for visualizing data fed back by the main control chip through the Ethernet and comprises positioning data and alarm information of the positioning labels.
The fixing point of the positioning tag comprises: personnel, tools and vehicles.
Further, the vehicle is provided with a radar device which comprises a radar sensor module, a collision risk calculation module and an early warning module;
the radar sensor module is arranged at the front end of the vehicle and used for acquiring the relative distance between the vehicle and a front obstacle in real time;
the collision risk calculation module acquires the wheel speed of a vehicle body through a CAN interface, calculates the predicted collision time (TTC) by combining the relative distance fed back by the radar sensor and outputs alarm instructions of different levels according to different TTCs;
and the early warning module receives the warning instructions of different levels output by the collision risk calculation module and sends out acousto-optic warning signals of different levels.
The positioning method for positioning the base station and the positioning label in the pipe gallery comprises the following steps:
a1, establishing a coordinate system for three-dimensional space positioning in a pipe gallery, and installing positioning base stations at certain intervals in a tunnel, wherein each positioning base station is provided with an ID (identity);
a2, the positioning base station sends radio frequency signals at a certain working frequency through a built-in antenna, and the range of the working area is scanned to determine whether a positioning label exists in the working area; if the positioning tag exists, the matching information of the positioning tag is received, and a wireless radio frequency communication link is established between the positioning base station and the positioning tag to transmit and exchange the azimuth information;
a3, ranging the positioning base station and the positioning label by UWB communication mode, and calculating the relative distance between the label and each positioning base station.
The method for generating the alarm information by the server comprises the following steps:
b1, the server carries out comparison calculation of the relative positions among the positioning labels according to the positioning data of the positioning labels;
b2, when the relative position between the positioning labels is lower than different preset values, the server generates alarm commands of different levels;
b3, the server transmits the alarm instruction to the gateway base station through the Ethernet, and then transmits the alarm instruction back to the positioning label in the pipe gallery through an LORA spread spectrum transmission mode;
b4, the positioning label outputs alarm information of different grades by the control module according to the received alarm instructions of different grades.
The data visualization method of the visual device comprises the following steps:
c1, the server resolves each hexadecimal string received from the gateway base station into a decimal number to represent the position of the positioning label to the positioning base station;
c2, after the server obtains the position of a positioning label to four positioning base stations, three-point positioning calculation is sequentially carried out, and an average value is obtained for multiple times;
c3, the server takes the average value as a specific position and sends the specific position to a display program of the visual device in real time through a TCP/IP protocol to carry out display operation;
and C4, the visual device calculates the display position of the acquired specific position according to the corresponding function relation and displays the display position on the visual device, thereby realizing real-time dynamic display of the environment of the visual device.
The invention has the advantages that:
according to the anti-collision system based on the Internet of things, aiming at the defects of safety technology in the construction operation of the power pipe gallery, the movable positioning labels are used for respectively carrying out real-time positioning and accurate distance measurement among workers, construction tools and freight vehicles; forming a wireless sensing network through each positioning base station; and a safe and stable dual communication mechanism is realized through wired transmission of the positioning base station and LORA communication of the positioning label; the positioning data is actively analyzed through the server, and alarm information of each level is actively provided; and then, by arranging radar devices on vehicles with high mobility and dangerousness, real-time positioning monitoring and safety early warning are realized in an all-around manner.
According to the anti-collision system based on the Internet of things, the influence of high-temperature, high-humidity, high-signal interference and poor visibility operation environment in a power construction pipe gallery on the signal detection of the label node of the sensor is fully considered, the anti-collision system is accurate in positioning, low in energy consumption and good in overall monitoring effect, and the multi-layer early warning mechanism has a synergistic effect, so that the collision risk among the anti-collision system and the anti-collision system effectively reduce the operation safety, and have important engineering significance and popularization and application value.
Drawings
Fig. 1 is a topological structure diagram of an internet-of-things-based anti-collision system according to the present invention.
Fig. 2 is a schematic structural diagram of a module of the internet-of-things-based anti-collision system according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
The invention discloses an anti-collision system based on the Internet of things. The pipe gallery internal module comprises a positioning label, a positioning base station and a radar device; the pipe gallery outer module comprises a gateway base station, a server and a visual device.
Location basic station (anchor point) and location label in the piping lane mainly are used for the real-time location tracking of construction operation haulage vehicle and construction operation personnel in the piping lane under the complex environment.
Every certain distance installation location basic station in the pipe rack constitutes the wireless sensor network in the pipe rack from this, carries out accurate range finding with the UWB communication mode between location basic station and the location label. The positioning tag is arranged in a cab of a construction tool and a construction operation transport vehicle, and consists of a UWB ranging module, a control module and an LORA module; the positioning base station comprises a signal processing module and a UWB ranging module.
The radar device is mainly used for detecting the relative distance between a vehicle in an inner rail traveling area of a pipe gallery and a front obstacle and between the vehicle and an operator in real time and giving an early warning to a vehicle driver in real time; the radar device consists of a radar sensor module, a collision risk calculation module and an early warning module; the radar sensor is arranged at the front end of a cab of the construction operation transport vehicle, and the distance between an obstacle in front of the vehicle and the relative speed between the obstacle in front of the vehicle and the obstacle moving in front are detected by emitting millimeter waves and analyzing target echoes; the collision risk calculation module is used for calculating and processing an alarm strategy, and calculating predicted collision time (TTC) and outputting alarm instructions of different levels according to different TTCs by extracting speed, distance and azimuth information of the radar sensor, inputting a wheel speed signal of a vehicle body through a CAN (controller area network) interface (vehicle-mounted OBD (on-board diagnostics) for fusion calculation processing; and the acousto-optic early warning module receives the warning instruction output by the collision risk calculation module, and sends out acousto-optic warning signals of different levels to remind a driver of processing the danger signal.
The gateway base station outside the pipe gallery is mainly used for collecting positioning data of the positioning labels and sending the positioning data to the server through the Ethernet. The gateway base station is composed of an LORA module, a control device and an Ethernet chip. The location label in the piping lane and gateway base station realize long-range, low-power consumption's data transmission through the LORA spread spectrum communication mode, and the location label transmits the location data that record between self and location base station (anchor point) to the gateway base station outside the piping lane through the LORA spread spectrum communication mode.
The server (positioning engine) is mainly used for communicating with the gateway base station, receiving positioning data, performing data calculation and analysis processing, and reversely transmitting an analysis processing result to the positioning label to realize alarming of vehicles or personnel at different levels; important basis is provided for operation safety training and behavior control of the power construction pipe gallery; the gateway base station performs data transmission with a server (positioning engine) through an ethernet network.
The visual device is mainly used for monitoring the construction operation site in the pipe gallery in real time; the visual device makes a high-performance high-visual expression graph with high impact force through OpenGL, and visually positions and monitors a construction operation site in a pipe gallery in real time. The server outputs the specific position data obtained by data analysis calculation to a display program of the visual device, and the program calculates the display position and displays the display position on the visual device, so that the visualization of the real-time position information of the vehicles and the personnel in the corridor is realized.
In the specific implementation:
1. integrated STM32F103 microprocessor and DWM1000 location UWB chip on the circuit board of location base station, integrated DWM1000 location UWB chip, STM32F103 microprocessor and LORA chip on the circuit board of location label, integrated LORA chip, STM32F103 microprocessor and ethernet chip on the circuit board of gateway base station.
2. The universal meter is used for detecting and debugging the integrated circuit board of the positioning base station, the positioning label and the gateway base station, the working requirements are met, the screwdriver is adopted to be installed and fixed in a box which is processed according to the size and the shape of the circuit board, and the screw and the circuit board are connected out and are isolated by a rubber ring to prevent the circuit board from short circuit.
3. And installing the boxed positioning base stations in the tunnel at intervals of 100 meters, and ensuring good line contact and clear routing in the wiring process. The positioning labels of the operators are worn uniformly, and the positions of the positioning labels can be selected from left arm pockets of the working clothes. The positioning tag of the construction transportation work vehicle is installed in a fixed position inside the vehicle and connected with the vehicle brake interface. The gateway base station is placed near the out-of-lane workstation and establishes an ethernet connection with the server positioning engine. And simultaneously, establishing data connection between the server and the data display visual device.
4. The radar sensor of the vehicle-mounted forward radar device is installed in the center of a bumper of each vehicle, can be arranged behind a vehicle logo or the bumper and can also move left or right by 30cm, and the radar sensor is connected with the collision risk calculation module and the acousto-optic early warning module through a circuit to ensure good circuit contact.
5. After the system is started, the relative distance between a positioning label in a pipe gallery and four positioning base stations is measured by using a UWB positioning technology, the positioning label transmits relative position information to gateway base stations outside the pipe gallery in an LORA spread spectrum communication transmission mode, the gateway base stations collect and receive distance data of the positioning label and then transmit the distance data to a server positioning engine through Ethernet for analysis and calculation processing, the server positioning engine uses the time difference of radio signal propagation between the positioning label and two different positioning base stations measured by the UWB positioning technology to obtain the distance difference of the positioning label relative to four groups of positioning base stations, the specific position of the label is calculated by a certain accurate equation and is transmitted to a display program of a visual device in real time by a TCP/IP protocol for display operation, and the visual device calculates the display position of the obtained specific data according to the corresponding functional relation and displays the display position on the visual device, therefore, real-time dynamic display of the environment of the visual device is realized.
6. And the server carries out comparison calculation of the relative positions among the positioning labels according to the calculated specific positions of the positioning labels, and when the relative positions among the labels are lower than different preset values, the server sends out anti-collision alarm commands of different levels and transmits the anti-collision alarm commands to the gateway base station through the Ethernet, and then transmits the anti-collision alarm commands back to the positioning labels of the vehicle devices in the pipe gallery and the positioning labels on the bodies of the operators in a LORA spread spectrum transmission mode. And the positioning label outputs alarms of different grades to personnel and vehicles according to the received anti-collision alarm instructions of different grades.
7. Furthermore, the vehicle-mounted positioning tag can be connected with a system of a vehicle, particularly an emergency braking system, and when the alarm level is the highest level, the alarm information generated by the vehicle-mounted positioning tag can directly make emergency braking operation through the vehicle system.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (5)
1. An anti-collision system based on the Internet of things is characterized in that a plurality of positioning base stations and positioning labels are arranged in a pipe gallery,
the positioning tag comprises a control module and a UWB ranging module connected with the control module,
the positioning base station comprises a signal processing module and a UWB ranging module connected with the signal processing module,
positioning data is acquired between the positioning base station and the positioning tag in a UWB communication mode, wherein the positioning data comprises a positioning tag IP, a positioning base station IP, a distance and an orientation;
the signal processing module takes any positioning tag as a center and feeds positioning data of other positioning tags in a certain range back to the control module of the positioning tag;
the positioning tag is internally provided with an LORA module connected with the control module, and transmits positioning data with a gateway base station outside the pipe rack in an LORA spread spectrum communication mode;
the gateway base station is internally provided with a control device and an LORA module connected with the control device;
the signal processing module of the positioning base station is connected with a control device of the gateway base station outside the pipe gallery to transmit the positioning data of the positioning tag;
also comprises a server, the server comprises a main control chip and an Ethernet chip,
the main control chip receives positioning data of the positioning label transmitted by the gateway base station through the Ethernet, generates alarm information after analysis, and reversely transmits the alarm information to the positioning label through the gateway base station;
the visual device is used for visualizing the data fed back by the main control chip through the Ethernet, and the data comprise positioning data and alarm information of the positioning label;
a method of data visualization of a visualization device comprising the steps of:
c1, the server resolves each hexadecimal string received from the gateway base station into a decimal number to represent the position of the positioning label to the positioning base station;
c2, after the server obtains the position of a positioning label to four positioning base stations, three-point positioning calculation is sequentially carried out, and an average value is obtained for multiple times;
c3, the server takes the average value as a specific position and sends the specific position to a display program of the visual device in real time through a TCP/IP protocol to carry out display operation;
and C4, the visual device calculates the display position of the acquired specific position according to the corresponding function relation and displays the display position on the visual device, thereby realizing real-time dynamic display of the environment of the visual device.
2. The internet of things-based collision avoidance system of claim 1, wherein the fixing point of the positioning tag comprises: personnel, tools and vehicles.
3. The internet of things-based anti-collision system according to claim 2, wherein the vehicle is provided with a radar device, and the radar device comprises a radar sensor module, a collision risk calculation module and an early warning module;
the radar sensor module is arranged at the front end of the vehicle and used for acquiring the relative distance between the vehicle and a front obstacle in real time;
the collision risk calculation module acquires the speed of the vehicle body through the CAN interface, calculates the predicted collision time by combining the relative distance fed back by the radar sensor module and outputs alarm instructions of different levels according to different predicted collision times;
and the early warning module receives the warning instructions of different levels output by the collision risk calculation module and sends out acousto-optic warning signals of different levels.
4. The internet of things-based anti-collision system according to claim 1, wherein the positioning method of the positioning tag and the positioning base station comprises the following steps:
a1, establishing a coordinate system for three-dimensional space positioning in a pipe gallery, and installing positioning base stations at certain intervals in a tunnel, wherein each positioning base station is provided with an ID (identity);
a2, the positioning base station sends radio frequency signals at a certain working frequency through a built-in antenna, and the range of the working area is scanned to determine whether a positioning label exists in the working area; if the positioning tag exists, the matching information of the positioning tag is received, and a wireless radio frequency communication link is established between the positioning base station and the positioning tag to transmit and exchange the azimuth information;
a3, ranging the positioning base station and the positioning label by UWB communication mode, and calculating the relative distance between the label and each positioning base station.
5. The internet of things-based anti-collision system according to claim 1, wherein the method for generating the alarm information by the server comprises the following steps:
b1, the server carries out comparison calculation of the relative positions among the positioning labels according to the positioning data of the positioning labels;
b2, when the relative position between the positioning labels is lower than different preset values, the server generates alarm commands of different levels;
b3, the server transmits the alarm instruction to the gateway base station through the Ethernet, and then transmits the alarm instruction back to the positioning label in the pipe gallery through an LORA spread spectrum transmission mode;
b4, the positioning label outputs alarm information of different grades by the control module according to the received alarm instructions of different grades.
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