CN110221251A - It is a kind of for positioning the remote monitoring method of power station personnel positions coordinate - Google Patents
It is a kind of for positioning the remote monitoring method of power station personnel positions coordinate Download PDFInfo
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- CN110221251A CN110221251A CN201910620114.9A CN201910620114A CN110221251A CN 110221251 A CN110221251 A CN 110221251A CN 201910620114 A CN201910620114 A CN 201910620114A CN 110221251 A CN110221251 A CN 110221251A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 238000012360 testing method Methods 0.000 claims description 58
- 230000015572 biosynthetic process Effects 0.000 claims description 15
- 230000004044 response Effects 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241001347978 Major minor Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 230000005236 sound signal Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
To enable administrative staff promptly and accurately to grasp the positioning of personnel and track following information in gallery, guarantee the safety of operating personnel in gallery, cope with all kinds of emergency events, improve power station safety management level, the present invention provides a kind of for positioning the remote monitoring method of power station personnel positions coordinate, comprising: the three-dimensional map of setting power station inner space；Obtain power station personnel location information；Visual information is carried out on the three-dimensional map to the power station personnel location information；Visual information is transferred to monitoring and control of hydropower station end, the monitoring and control of hydropower station end is located at power station distal end.The present invention can break through the defect that can only position personnel positions in plane in the prior art, and carry out the signal source switching of efficient positioning ultrasonic signal, to automatically, efficiently realize the positioning and long-range monitoring of power station personnel positions.
Description
Technical field
The present invention relates to monitoring technology fields, more particularly, to a kind of for positioning power station personnel positions coordinate
Remote monitoring method.
Background technique
The positioning method being widely used at present is GPS positioning, but the positioning method is indoors under environment, due to wall etc.
The obstruction of barrier, GPS signal is weaker, is difficult to realize positioning.Therefore it must develop other indoor positioning technologies.Power station work
Journey hinge internal structure is complicated, specifically includes that pressure pipeline, major-minor workshop and clipping room, main transformer hole, bus tunnel, tail water pressure regulation
Room, tail water connecting tube, tailrace tunnel, tailrace tunnel bulkhead gate room, outlet adit and vertical shaft, ventilate into factory's access tunnel, tail tune hole, tail
Lock access tunnel, tail tune and tail lock connection hole, tail lock air inlet hole, tail lock drain tunnel, main building air inlet hole, divulge information simultaneous safe hole, master
Become drain tunnel, tail tune drain tunnel, main transformer air inlet hole and newly-increased working tunnel.
The technical solution positioned using this audio signal of ultrasonic wave, but this kind of technical solution exists in the prior art
It is typically only capable to the position of positioning plane, for there are the positioning of the position of non-same level there is no solution.
Summary of the invention
To enable administrative staff promptly and accurately to grasp the positioning of personnel and track following information in gallery, guarantee to make in gallery
The safety of industry personnel copes with all kinds of emergency events, improves power station safety management level, needs to inside Hydropower Project hinge
Staff position.
For this purpose, the present invention provides a kind of for positioning the remote monitoring method of power station personnel positions coordinate, comprising:
The three-dimensional map of power station inner space is set；
Obtain power station personnel location information；
Visual information is carried out on the three-dimensional map to the power station personnel location information；
Visual information is transferred to monitoring and control of hydropower station end, the monitoring and control of hydropower station end is located at power station distal end.
Further, the acquisition power station personnel location information includes: to be located at different height and position by least three
Ultrasonic signal is received and dispatched in the positioning unit of different level position and power station personnel, each positioning unit is made respectively to obtain a sky
Between distance；It is as the centre of sphere, with three space lengths using three positioning units positioned at different height and positioned at different level position
Radius does spherical surface, determines that the intersection point of three spherical surfaces is the spatial position of power station personnel；For at least three positioning unit,
With the position of positioning unit wherein farthest apart from the spatial position for the first preset spatial position, apart from the spatial position
The position of nearest positioning unit is the second preset spatial position；It is preset less than first with the distance apart from the spatial position
The corresponding distance in spatial position and any positioning unit for being greater than the corresponding distance in the second preset spatial position are reference location
Unit；It is the center of circle using the mean value of three space lengths as radius, the reference location unit, the area of space of formation is the
One assignment test space；It is the center of circle, the sky of formation by radius, the reference location unit of the mean value of each down space distance
Between region be the second assignment test space；In response in the described first preset spatial position in first assignment test space
Within the scope of and except the second assignment test spatial dimension, by the described second preset spatial position and described first pre-
If spatial position between distance difference arithmetic square root as default testing radius, and with the described first preset space bit
It is set to the center of circle, the area of space of formation is third assignment test space；Otherwise, exist in response to the described first preset spatial position
It is preset by described second within the first assignment test spatial dimension and within the second assignment test spatial dimension
The arithmetic square root of sum of the distance between spatial position and the first preset spatial position, which is used as, presets testing radius, and with
The first preset spatial position is the center of circle, and the area of space of formation is third assignment test space；Otherwise, in response to described
First preset spatial position is within the second assignment test spatial dimension and in the first assignment test spatial dimension
Except, by the sum of the distance between the described second preset spatial position and the first preset spatial position square add institute
State the arithmetic square of the sum of square of the difference of the distance between the second preset spatial position and the first preset spatial position
For root as default testing radius, and using the described second preset spatial position as the center of circle, the area of space of formation is third positioning
The test space；When the space body of the overlapping region between first assignment test space and second assignment test space
When long-pending and third assignment test space spatial volume is less than 0.73, the described first preset spatial position and second are determined
Preset spatial position does not need to adjust, and otherwise changes at least one positioning unit for determining the first preset spatial position
With at least one positioning unit of the second preset spatial position and repeat the above steps, until first assignment test space
The spatial volume of overlapping region between second assignment test space and the space body in third assignment test space
Until product is less than 0.73.
Further, positioning unit one space length of acquisition includes:
Positioning unit sends the first ultrasonic signal to power station personnel positions and records the first signal sending time；
Power station personnel receive the first ultrasonic signal and record the first signal reception time；
Power station personnel send the second ultrasonic signal to the positioning unit and record second signal sending time, and described the
Two ultrasonic signals are the response signal of the first ultrasonic signal, and first ultrasonic signal and second ultrasonic wave are believed
Number frequency it is different；
When the positioning unit receives the second ultrasonic signal and records the second signal reception for receiving the second ultrasonic signal
Between；
The positioning unit determined according to first signal sending time and first signal reception time and power station
The positioning list that first distance and the second signal sending time and the second signal receiving time between personnel determine
Second distance between member and power station personnel calculates the average value of the sum of first distance and second distance as the positioning unit
The distance between power station personnel.
Further, when the difference and the second receiving time of the first receiving time and the first sending time are sent with second
The difference of time is respectively less than preset time threshold, and the difference between three space lengths is less than pre-determined distance difference
When, determine that the intersection point of three spherical surfaces is the spatial position of power station personnel；Otherwise, using related fixed with this three space lengths
The 4th positioning unit other than bit location obtains the 4th space length, and by this in first three space length biggish two with this
Three new space lengths of 4th space length composition, then determine whether the difference for meeting the first receiving time and the first sending time
The difference of value and the second receiving time and the second sending time is respectively less than preset time threshold, and three space lengths that
Difference between this is less than the condition of pre-determined distance difference.
The beneficial effects of the present invention are: the defect that can only position personnel positions in plane in the prior art can be broken through, and
The signal source switching for carrying out efficient positioning ultrasonic signal, to automatically, efficiently realize power station personnel positions
Positioning and long-range monitoring.
Detailed description of the invention
Fig. 1 shows the flow diagram of the method for the present invention.
Specific embodiment
The present invention provides a kind of for positioning the remote monitoring method of power station personnel positions coordinate, comprising:
The three-dimensional map of power station inner space is set；
Obtain power station personnel location information；
Visual information is carried out on the three-dimensional map to the power station personnel location information；
Visual information is transferred to monitoring and control of hydropower station end, the monitoring and control of hydropower station end is located at power station distal end.
Preferably, the acquisition power station personnel location information includes: to be located at different height by least three and be located at
The positioning unit of different level position and power station personnel receive and dispatch ultrasonic signal, and each positioning unit is made respectively to obtain a space
Distance；It is located at different height using three and is located at the positioning unit of different level position as the centre of sphere, with three space lengths for half
Diameter does spherical surface, determines that the intersection point of three spherical surfaces is the spatial position of power station personnel；For at least three positioning unit, with
Wherein the position of the positioning unit farthest apart from the spatial position be the first preset spatial position, with apart from the spatial position most
The position of close positioning unit is the second preset spatial position；With the distance apart from the spatial position less than the first preset sky
Between the corresponding distance in position and to be greater than any positioning unit of the corresponding distance in the second preset spatial position be reference location list
Member；It is the center of circle by radius, the reference location unit of the mean value of three space lengths, the area of space of formation is first
Assignment test space；It is the center of circle, the space of formation by radius, the reference location unit of the mean value of each down space distance
Region is the second assignment test space；In response in the described first preset spatial position in first assignment test space model
Within enclosing and except the second assignment test spatial dimension, the described second preset spatial position and described first are preset
Spatial position between distance difference arithmetic square root as default testing radius, and with the described first preset spatial position
For the center of circle, the area of space of formation is third assignment test space；Otherwise, in response to the described first preset spatial position in institute
It states within the first assignment test spatial dimension and within the second assignment test spatial dimension, by the described second preset sky
Between sum of the distance between position and the first preset spatial position arithmetic square root as default testing radius, and with institute
Stating the first preset spatial position is the center of circle, and the area of space of formation is third assignment test space；Otherwise, in response to described
One preset spatial position within the second assignment test spatial dimension and the first assignment test spatial dimension it
Outside, by the sum of the distance between the described second preset spatial position and the first preset spatial position square plus described
The arithmetic square root of the sum of square of the difference of the distance between the second preset spatial position and the first preset spatial position
As default testing radius, and using the described second preset spatial position as the center of circle, the area of space of formation is that third positioning is surveyed
Try space；When the spatial volume of the overlapping region between first assignment test space and second assignment test space
When with the spatial volume in third assignment test space less than 0.73, the described first preset spatial position and second pre- is determined
If spatial position do not need to adjust, otherwise change at least one positioning unit for determining the first preset spatial position and
At least one positioning unit of second preset spatial position simultaneously repeats the above steps, until first assignment test space with
The spatial volume of overlapping region between second assignment test space and the spatial volume in third assignment test space
Until 0.73.
Preferably, positioning unit one space length of acquisition includes:
Positioning unit sends the first ultrasonic signal to power station personnel positions and records the first signal sending time；
Power station personnel receive the first ultrasonic signal and record the first signal reception time；
Power station personnel send the second ultrasonic signal to the positioning unit and record second signal sending time, and described the
Two ultrasonic signals are the response signal of the first ultrasonic signal, and first ultrasonic signal and second ultrasonic wave are believed
Number frequency it is different；
When the positioning unit receives the second ultrasonic signal and records the second signal reception for receiving the second ultrasonic signal
Between；
The positioning unit determined according to first signal sending time and first signal reception time and power station
The positioning list that first distance and the second signal sending time and the second signal receiving time between personnel determine
Second distance between member and power station personnel calculates the average value of the sum of first distance and second distance as the positioning unit
The distance between power station personnel.
Preferably, when the difference and the second receiving time of the first receiving time and the first sending time are sent with second
Between difference be respectively less than preset time threshold, and the difference between three space lengths is less than pre-determined distance difference
When, determine that the intersection point of three spherical surfaces is the spatial position of power station personnel；Otherwise, using related fixed with this three space lengths
The 4th positioning unit other than bit location obtains the 4th space length, and by this in first three space length biggish two with this
Three new space lengths of 4th space length composition, then determine whether the difference for meeting the first receiving time and the first sending time
The difference of value and the second receiving time and the second sending time is respectively less than preset time threshold, and three space lengths that
Difference between this is less than the condition of pre-determined distance difference.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (4)
1. a kind of for positioning the remote monitoring method of power station personnel positions coordinate characterized by comprising
The three-dimensional map of power station inner space is set；
Obtain power station personnel location information；
Visual information is carried out on the three-dimensional map to the power station personnel location information；
Visual information is transferred to monitoring and control of hydropower station end, the monitoring and control of hydropower station end is located at power station distal end.
2. according to claim 1 for positioning the remote monitoring method of power station personnel positions coordinate, which is characterized in that
The acquisition power station personnel location information includes: to be located at different height by least three and be located at determining for different level position
Bit location and power station personnel receive and dispatch ultrasonic signal, and each positioning unit is made respectively to obtain a space length；It is located at three
The different height and positioning unit for being located at different level position is the centre of sphere, using three space lengths as radius does spherical surface, determines three
The intersection point of a spherical surface is the spatial position of power station personnel；For at least three positioning unit, wherein apart from the space
The position of the farthest positioning unit in position is the first preset spatial position, with the positioning unit nearest apart from the spatial position
Position is the second preset spatial position；With the distance apart from the spatial position it is corresponding less than the first preset spatial position away from
From and be greater than the second preset spatial position it is corresponding with a distance from any positioning unit be reference location unit；With three skies
Between distance mean value be radius, the reference location unit is the center of circle, the area of space of formation is the first assignment test space；With
The mean value of each down space distance is radius, the reference location unit is the center of circle, and the area of space of formation is the second positioning
The test space；In response in the described first preset spatial position within the first assignment test spatial dimension and described
It, will be between the described second preset spatial position and the first preset spatial position except second assignment test spatial dimension
Arithmetic square root apart from its difference is used as default testing radius, and using the described first preset spatial position as the center of circle, formation
Area of space is third assignment test space；Otherwise, it is surveyed in response to the described first preset spatial position in first positioning
It tries within spatial dimension and within the second assignment test spatial dimension, by the described second preset spatial position and described
The arithmetic square root of sum of the distance between first preset spatial position is used as default testing radius, and preset with described first
Spatial position is the center of circle, and the area of space of formation is third assignment test space；Otherwise, in response to the described first preset space
Position is within the second assignment test spatial dimension and except the first assignment test spatial dimension, by described second
Sum of the distance between preset spatial position and the first preset spatial position square adds the described second preset sky
Between distance between position and the first preset spatial position difference the sum of square arithmetic square root as default test
Radius, and using the described second preset spatial position as the center of circle, the area of space of formation is third assignment test space；When institute
Spatial volume and the third for stating the overlapping region between the first assignment test space and second assignment test space are fixed
When the spatial volume in bit test space is less than 0.73, the described first preset spatial position and the second preset spatial position are determined
It does not need to adjust, otherwise changes at least one positioning unit and the second preset sky for determining the first preset spatial position
Between position at least one positioning unit and repeat the above steps, until first assignment test space and it is described second positioning
Until the spatial volume in the spatial volume of the overlapping region between the test space and third assignment test space is less than 0.73.
3. according to claim 2 for positioning the remote monitoring method of power station personnel positions coordinate, which is characterized in that
One positioning unit obtains a space length
Positioning unit sends the first ultrasonic signal to power station personnel positions and records the first signal sending time；
Power station personnel receive the first ultrasonic signal and record the first signal reception time；
Power station personnel send the second ultrasonic signal to the positioning unit and record second signal sending time, described the second to surpass
Acoustic signals are the response signal of the first ultrasonic signal, and first ultrasonic signal and second ultrasonic signal
Frequency is different；
The positioning unit receives the second ultrasonic signal and records the second signal receiving time for receiving the second ultrasonic signal；
The positioning unit determined according to first signal sending time and first signal reception time and power station personnel
Between the positioning unit that determines of first distance and the second signal sending time and the second signal receiving time with
Second distance between the personnel of power station, calculate first distance and second distance and average value as the positioning unit and water
The distance between power station personnel.
4. according to claim 2 for positioning the remote monitoring method of power station personnel positions coordinate, which is characterized in that
When the first receiving time and the difference of the first sending time and the difference of the second receiving time and the second sending time are respectively less than
Preset time threshold, and the difference between three space lengths be less than pre-determined distance difference when, determine three spherical surfaces
Intersection point be power station personnel spatial position；Otherwise, using other than positioning unit related with this three space lengths
Four positioning units obtain the 4th space length, and biggish two and the 4th space length group in first three space length by this
Three space lengths of Cheng Xin, then determine whether the difference for meeting the first receiving time and the first sending time and the second reception
The difference of time and the second sending time is respectively less than preset time threshold, and the difference between three space lengths is small
In the condition of pre-determined distance difference.
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| CN201910620114.9A CN110221251B (en) | 2019-07-10 | 2019-07-10 | Remote monitoring method for positioning personnel position coordinates of hydropower station |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114110353A (en) * | 2021-12-17 | 2022-03-01 | 成都大汇智联科技有限公司 | GNSS positioning module's adjustment mechanism |
| CN116047988A (en) * | 2023-03-31 | 2023-05-02 | 成都大汇物联科技有限公司 | Hydropower station remote control system, method and terminal based on Internet of things |
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| CN110221251B (en) | 2023-04-07 |
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