Indoor positioning system based on vector position and attitude measurement technology
阅读说明：本技术 基于矢量位姿测量技术的室内定位系统 (Indoor positioning system based on vector position and attitude measurement technology ) 是由 孙博超 景泽涛 杨小民 崔径源 王振林 于 2020-12-18 设计创作，主要内容包括：本发明公开一种基于矢量位姿测量技术的室内定位系统,涉及工地现场巡检技术领域,其能够在施工现场实现监管施工人员是否佩戴安全帽,以及实现电子围栏报警、施工现场工件定位等典型场景应用,从而有效保障施工现场的人员与环境安全,并提升施工现场设备监管效率。本发明所述的基于矢量位姿测量技术的室内定位系统中,智能安全帽平台系统能够用于监管施工人员是否佩戴智能安全帽、并判断提示智能安全帽的佩戴人员是否处于对应的施工区域内,电子围栏平台系统能够用于判断是否存在有人违规跨越电子围栏、并记录当前违规影像,现场工件定位平台系统能够用于对重点的现场工件进行位置跟踪、并保存其位置移动轨迹。(The invention discloses an indoor positioning system based on a vector pose measurement technology, which relates to the technical field of field inspection of a construction site, and can realize supervision on whether a constructor wears a safety helmet or not in the construction site and typical scene application such as electronic fence alarm, construction site workpiece positioning and the like, thereby effectively ensuring the safety of the constructor and the environment in the construction site and improving the supervision efficiency of construction site equipment. In the indoor positioning system based on the vector pose measurement technology, the intelligent safety helmet platform system can be used for monitoring whether a constructor wears an intelligent safety helmet and judging whether a person who prompts the intelligent safety helmet to wear is in a corresponding construction area, the electronic fence platform system can be used for judging whether a person violates a crossing electronic fence and recording a current violation image, and the on-site workpiece positioning platform system can be used for carrying out position tracking on a key on-site workpiece and storing a position moving track of the workpiece.)
1. An indoor positioning system based on a vector pose measurement technology is characterized by comprising:
the intelligent safety helmet platform system is used for supervising whether a constructor wears an intelligent safety helmet or not and judging whether the constructor prompting the intelligent safety helmet is in a corresponding construction area or not;
the electronic fence platform system is used for judging whether a person violates a crossing electronic fence or not and recording a current violation image;
the system comprises a field workpiece positioning platform system, a data processing system and a data processing system, wherein the field workpiece positioning platform system is used for carrying out position tracking on a key field workpiece and can store a position moving track of the key field workpiece.
2. The indoor positioning system based on the vector pose measurement technology of claim 1, wherein the intelligent safety helmet platform system comprises:
the system comprises a receiving unit, a checking-in area and a construction area, wherein the receiving unit is used for receiving electronic tags of all intelligent safety helmets entering a preset checking-in area, which are identified by a checking-in identification device in the preset checking-in area, so as to obtain a checking-in electronic tag set, and receiving all electronic tags read by an electronic tag reading device in a preset construction area so as to obtain a real-time electronic tag set, the real-time electronic tag set comprises electronic tags of all intelligent safety helmets currently in the preset construction area, and each intelligent safety helmet has an electronic tag uniquely corresponding to the intelligent safety helmet;
a determining unit, configured to determine whether all electronic tags in a target electronic tag set corresponding to the preset construction area are included in the real-time electronic tag set, and when all electronic tags in the target electronic tag set corresponding to the preset construction area are not included in the real-time electronic tag set, determine, according to the real-time electronic tag set and the target electronic tag set, target electronic tags that are lacked by the real-time electronic tag set compared with the target electronic tag set, and determine a target intelligent safety cap corresponding to the target intelligent safety cap;
the early warning unit is used for sending a super-regional early warning instruction to the target intelligent safety helmet so as to trigger the target intelligent safety helmet to output a super-regional early warning prompt, and the super-regional early warning prompt can prompt that a wearing person of the target intelligent safety helmet is not in a corresponding construction region.
3. The indoor positioning system based on the vector pose measurement technology of claim 2, wherein the intelligent safety helmet platform system further comprises:
the acquisition unit is used for acquiring the sensing data of the intelligent safety helmet corresponding to each electronic tag in the attendance electronic tag set;
the identification unit is used for identifying the intelligent safety caps in the worn state from all the intelligent safety caps entering the preset attendance checking area based on the sensing data of the intelligent safety caps corresponding to each electronic tag in the attendance checking electronic tag set so as to obtain an intelligent safety cap set;
the recording unit is used for generating attendance records of wearing personnel of each intelligent safety helmet in the intelligent safety helmet set, and the attendance records at least comprise identification moments of electronic tags of the intelligent safety helmets worn by corresponding wearing personnel identified by the attendance identification device.
4. The indoor positioning system based on the vector pose measurement technology of claim 3, wherein the obtaining unit is further configured to obtain a geographical position change condition of the target intelligent safety helmet within a time period of a preset duration after the early warning unit sends an over-region early warning instruction to the target intelligent safety helmet to trigger the target intelligent safety helmet to output an over-region early warning prompt;
the judging unit is further used for determining a moving parameter of the target intelligent safety helmet in the time period according to the geographical position change condition, wherein the moving parameter at least comprises a moving direction of the target intelligent safety helmet; and the intelligent safety helmet is used for judging whether the wearing personnel of the target intelligent safety helmet moves towards the preset construction area or not according to the movement parameters of the target intelligent safety helmet.
5. The indoor positioning system based on the vector pose measurement technology of any one of claims 1-4, wherein the intelligent safety helmet comprises: the system comprises a main control module, an information acquisition module, a transmission module, an image processing module, an image acquisition module, an analysis module, a comparison module and an alarm module, wherein the main control module is electrically connected with the information acquisition module in a bidirectional manner, the information acquisition module is electrically connected with the transmission module, the transmission module is electrically connected with the image processing module, the image processing module is electrically connected with the image acquisition module, the image acquisition module and the main control module are electrically connected with the analysis module in a bidirectional manner, the analysis module is respectively and electrically connected with the comparison module and the 3D image template, the comparison module is electrically connected with the;
the image acquisition module is used for gathering every image that gets into the building site personnel from the surveillance video, image processing module is used for extracting the image of gathering, the 3D image template is used for taking notes the kind colour of intelligent safety cap, the contrast module is used for comparing the image after will extracting with various safety caps, the alarm module is used for warning the control personnel after the contrast fails.
6. The indoor positioning system based on the vector pose measurement technology of claim 1, wherein the electronic fence platform system comprises: the camera shooting monitoring equipment is connected with an alarm and is arranged in an area to be monitored, and a monitoring range covers the monitoring area; the camera monitoring equipment is also connected with a monitoring server, and the monitoring server is arranged in a monitoring room;
the camera monitoring equipment is used for determining a security electronic fence area in a monitored image and acquiring a field video image in real time, the monitoring server is used for comparing the video image with a preset background picture to calculate a difference area, and the preset background picture is a periodically acquired background picture;
when the difference area is larger than a preset threshold value and the displacement track of the pixel point in the difference area is crossed with the safety electronic fence area, judging that the electronic fence is crossed illegally by a person; and when the situation that a person crosses the electronic fence in a violation manner is judged, the monitoring server sends alarm information to the alarm and records the current image.
7. The indoor positioning system based on the vector pose measurement technology of claim 1, wherein the on-site workpiece positioning platform system comprises:
the BIM unit can establish a three-dimensional BIM model of a building according to a construction drawing, and the three-dimensional BIM model comprises geometric attribute information and non-geometric attribute information;
the GPS unit can be used for positioning the field workpiece through a GPS positioner;
and the BIM-GPS unit is used for fusing the positions of the three-dimensional BIM model and the GPS positioner to reflect the distance position relationship between the building and the field workpiece.
8. The indoor positioning system based on the vector pose measurement technology according to claim 7, wherein all the field workpieces are respectively configured with RFID chips, the RFID chips are used for sending radio frequency signals to an RFID positioning base station and reporting corresponding position information of the RFID positioning base station, and the RFID positioning base station sends the position information to a BIM-GPS unit;
the BIM-GPS unit automatically identifies and matches the RFID positioning data and the RFID chip information and displays the position information of all the field workpieces and the relation among all the field workpieces through a display; when the position of the on-site workpiece moves, the BIM-GPS unit automatically switches corresponding areas and realizes linkage, and meanwhile, the position moving track can be saved.
Technical Field
The invention relates to the technical field of field inspection of construction sites, in particular to an indoor positioning system based on a vector pose measurement technology.
Background
The safe construction inspection refers to the inspection of potential safety hazards, harmful and dangerous factors, defects and the like possibly existing in the construction process of a construction site so as to determine the existing states of the potential safety hazards or the harmful and dangerous factors and the defects and the conditions for converting the potential safety hazards, the harmful and dangerous factors and the defects into accidents, so that rectification measures are made, the potential safety hazards, the harmful and dangerous factors are eliminated, and the production safety is ensured.
Specifically, the determination of the safety inspection object should be based on the principle of highlighting the emphasis, and the inspection should be strengthened for the construction processes, parts, equipment and the like which have high risk, are easy to have accidents and have large accident hazard.
The inventor finds out that aiming at the requirements of an engineering project construction site on intelligent monitoring of constructors and equipment, how to provide an indoor positioning system based on a vector pose measurement technology can realize supervision on the construction site whether the constructors wear safety helmets or not, and realize typical scene application such as electronic fence alarming and construction site workpiece positioning, and the like, and the indoor positioning system becomes a technical problem which needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention aims to provide an indoor positioning system based on a vector pose measurement technology, which can realize supervision on whether a constructor wears a safety helmet or not in a construction site, and realize typical scene applications such as electronic fence alarm, construction site workpiece positioning and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
an indoor positioning system based on a vector pose measurement technology comprises: the intelligent safety helmet platform system is used for supervising whether a constructor wears an intelligent safety helmet or not and judging whether the constructor prompting the intelligent safety helmet is in a corresponding construction area or not;
the electronic fence platform system is used for judging whether a person violates a crossing electronic fence or not and recording a current violation image;
the system comprises a field workpiece positioning platform system, a data processing system and a data processing system, wherein the field workpiece positioning platform system is used for carrying out position tracking on a key field workpiece and can store a position moving track of the key field workpiece.
Wherein, intelligent safety helmet platform system includes: the system comprises a receiving unit, a checking-in area and a construction area, wherein the receiving unit is used for receiving electronic tags of all intelligent safety helmets entering a preset checking-in area, which are identified by a checking-in identification device in the preset checking-in area, so as to obtain a checking-in electronic tag set, and receiving all electronic tags read by an electronic tag reading device in a preset construction area so as to obtain a real-time electronic tag set, the real-time electronic tag set comprises electronic tags of all intelligent safety helmets currently in the preset construction area, and each intelligent safety helmet has an electronic tag uniquely corresponding to the intelligent safety helmet;
a determining unit, configured to determine whether all electronic tags in a target electronic tag set corresponding to the preset construction area are included in the real-time electronic tag set, and when all electronic tags in the target electronic tag set corresponding to the preset construction area are not included in the real-time electronic tag set, determine, according to the real-time electronic tag set and the target electronic tag set, target electronic tags that are lacked by the real-time electronic tag set compared with the target electronic tag set, and determine a target intelligent safety cap corresponding to the target intelligent safety cap;
the early warning unit is used for sending a super-regional early warning instruction to the target intelligent safety helmet so as to trigger the target intelligent safety helmet to output a super-regional early warning prompt, and the super-regional early warning prompt can prompt that a wearing person of the target intelligent safety helmet is not in a corresponding construction region.
Specifically, the intelligent safety helmet platform system further comprises: the acquisition unit is used for acquiring the sensing data of the intelligent safety helmet corresponding to each electronic tag in the attendance electronic tag set;
the identification unit is used for identifying the intelligent safety caps in the worn state from all the intelligent safety caps entering the preset attendance checking area based on the sensing data of the intelligent safety caps corresponding to each electronic tag in the attendance checking electronic tag set so as to obtain an intelligent safety cap set;
the recording unit is used for generating attendance records of wearing personnel of each intelligent safety helmet in the intelligent safety helmet set, and the attendance records at least comprise identification moments of electronic tags of the intelligent safety helmets worn by corresponding wearing personnel identified by the attendance identification device.
Further, the obtaining unit is further configured to obtain a geographical position change condition of the target intelligent safety helmet within a time period of a preset time after the early warning unit sends an over-region early warning instruction to the target intelligent safety helmet to trigger the target intelligent safety helmet to output an over-region early warning prompt;
the judging unit is further used for determining a moving parameter of the target intelligent safety helmet in the time period according to the geographical position change condition, wherein the moving parameter at least comprises a moving direction of the target intelligent safety helmet; and the intelligent safety helmet is used for judging whether the wearing personnel of the target intelligent safety helmet moves towards the preset construction area or not according to the movement parameters of the target intelligent safety helmet.
Still further, the smart headgear includes: the system comprises a main control module, an information acquisition module, a transmission module, an image processing module, an image acquisition module, an analysis module, a comparison module and an alarm module, wherein the main control module is electrically connected with the information acquisition module in a bidirectional manner, the information acquisition module is electrically connected with the transmission module, the transmission module is electrically connected with the image processing module, the image processing module is electrically connected with the image acquisition module, the image acquisition module and the main control module are electrically connected with the analysis module in a bidirectional manner, the analysis module is respectively and electrically connected with the comparison module and the 3D image template, the comparison module is electrically connected with the;
the image acquisition module is used for gathering every image that gets into the building site personnel from the surveillance video, image processing module is used for extracting the image of gathering, the 3D image template is used for taking notes the kind colour of intelligent safety cap, the contrast module is used for comparing the image after will extracting with various safety caps, the alarm module is used for warning the control personnel after the contrast fails.
In practical application, the electronic fence platform system comprises: the camera shooting monitoring equipment is connected with an alarm and is arranged in an area to be monitored, and a monitoring range covers the monitoring area; the camera monitoring equipment is also connected with a monitoring server, and the monitoring server is arranged in a monitoring room;
the camera monitoring equipment is used for determining a security electronic fence area in a monitored image and acquiring a field video image in real time, the monitoring server is used for comparing the video image with a preset background picture to calculate a difference area, and the preset background picture is a periodically acquired background picture;
when the difference area is larger than a preset threshold value and the displacement track of the pixel point in the difference area is crossed with the safety electronic fence area, judging that the electronic fence is crossed illegally by a person; and when the situation that a person crosses the electronic fence in a violation manner is judged, the monitoring server sends alarm information to the alarm and records the current image.
Wherein the field workpiece positioning platform system comprises: the BIM unit can establish a three-dimensional BIM model of a building according to a construction drawing, and the three-dimensional BIM model comprises geometric attribute information and non-geometric attribute information;
the GPS unit can be used for positioning the field workpiece through a GPS positioner;
and the BIM-GPS unit is used for fusing the positions of the three-dimensional BIM model and the GPS positioner to reflect the distance position relationship between the building and the field workpiece.
Specifically, all the field workpieces are respectively provided with RFID chips, the RFID chips are used for sending radio frequency signals to an RFID positioning base station and reporting corresponding position information of the RFID positioning base station, and the RFID positioning base station sends the position information to a BIM-GPS unit;
the BIM-GPS unit automatically identifies and matches the RFID positioning data and the RFID chip information and displays the position information of all the field workpieces and the relation among all the field workpieces through a display; when the position of the on-site workpiece moves, the BIM-GPS unit automatically switches corresponding areas and realizes linkage, and meanwhile, the position moving track can be saved.
Compared with the prior art, the indoor positioning system based on the vector pose measurement technology has the following advantages:
in the indoor positioning system based on the vector pose measurement technology, the intelligent safety helmet platform system can be used for supervising whether a constructor wears an intelligent safety helmet and judging whether a person wearing the intelligent safety helmet is in a corresponding construction area or not, the electronic fence platform system can be used for judging whether a person crossing an electronic fence in a violation way exists or not and recording a current violation image, and the on-site workpiece positioning platform system can be used for carrying out position tracking on a key on-site workpiece and storing a position moving track of the workpiece.
Detailed Description
For convenience of understanding, the indoor positioning system based on the vector pose measurement technology provided by the embodiment of the invention is described in detail below.
The embodiment of the invention provides an indoor positioning system based on a vector pose measurement technology, which comprises: the intelligent safety helmet platform system can be used for supervising whether a constructor wears an intelligent safety helmet or not and judging whether the constructor who prompts the intelligent safety helmet is in a corresponding construction area or not;
the electronic fence platform system can be used for judging whether people cross the electronic fence in a violation manner or not and recording the current violation images;
the field workpiece positioning platform system can be used for carrying out position tracking on key field workpieces and storing position moving tracks of the key field workpieces.
Compared with the prior art, the indoor positioning system based on the vector pose measurement technology has the following advantages:
in the indoor positioning system based on the vector pose measurement technology provided by the embodiment of the invention, the intelligent safety helmet platform system can be used for supervising whether a constructor wears an intelligent safety helmet and judging whether a person wearing the intelligent safety helmet is in a corresponding construction area or not, the electronic fence platform system can be used for judging whether a person violates a crossing electronic fence and recording a current violation image, and the on-site workpiece positioning platform system can be used for carrying out position tracking on a key on-site workpiece and storing a position moving track of the workpiece.
Wherein, above-mentioned intelligent safety helmet platform system can include: the system comprises a receiving unit, a checking-in area identification device and a real-time construction area electronic tag reading device, wherein the receiving unit can be used for receiving electronic tags of all intelligent safety helmets entering a preset checking-in area and identified by the checking-in identification device in the preset checking-in area so as to obtain a checking-in electronic tag set, and can be used for receiving all electronic tags read by the preset construction area electronic tag reading device so as to obtain a real-time electronic tag set, the real-time electronic tag set comprises electronic tags of all intelligent safety helmets currently in a preset construction area, and each intelligent safety helmet has an electronic tag uniquely corresponding to the intelligent safety helmet;
the system comprises a judging unit, a processing unit and a processing unit, wherein the judging unit can be used for judging whether all electronic tags in a target electronic tag set corresponding to a preset construction area are included in a real-time electronic tag set, and when all electronic tags in the target electronic tag set corresponding to the preset construction area are not included in the real-time electronic tag set, determining target electronic tags which are lacked in the real-time electronic tag set compared with the target electronic tag set according to the real-time electronic tag set and the target electronic tag set, and determining a corresponding target intelligent safety cap;
the early warning unit can be used for sending an over-regional early warning instruction to the target intelligent safety helmet so as to trigger the target intelligent safety helmet to output an over-regional early warning prompt, and the over-regional early warning prompt can prompt that a wearing person of the target intelligent safety helmet is not in a corresponding construction region.
Specifically, the above intelligent safety helmet platform system may further include: the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit can be used for acquiring the sensing data of the intelligent safety helmet corresponding to each electronic tag in an attendance electronic tag set;
the identification unit can be used for identifying the intelligent safety caps in the worn state from all the intelligent safety caps entering a preset attendance checking area based on the sensing data of the intelligent safety caps corresponding to each electronic tag in the attendance checking electronic tag set so as to obtain an intelligent safety cap set;
the recording unit, this recording unit can be used for generating the attendance record of the personnel of wearing of every intelligent security cap in the intelligent security cap set, and the attendance record can include at least that attendance recognition device discerns the electronic tags's of the intelligent security cap that corresponding personnel of wearing worn constantly.
Furthermore, the acquisition unit can be further used for acquiring the geographical position change condition of the target intelligent safety helmet within a time period of preset time after the early warning unit sends the over-region early warning instruction to the target intelligent safety helmet to trigger the target intelligent safety helmet to output the over-region early warning prompt;
the judging unit can be further used for determining a moving parameter of the target intelligent safety helmet in a time period according to the change condition of the geographic position, and the moving parameter at least can comprise the moving direction of the target intelligent safety helmet; and the intelligent safety helmet can be used for judging whether the wearing personnel of the target intelligent safety helmet move towards the preset construction area according to the moving parameters of the target intelligent safety helmet.
Still further, the above-mentioned smart helmet may comprise: the system comprises a main control module, an information acquisition module, a transmission module, an image processing module, an analysis module, a comparison module and an alarm module, wherein the main control module is electrically connected with the information acquisition module in a bidirectional way;
wherein, every image that gets into the building site personnel can be used for gathering from the surveillance video to the image acquisition module, and image processing module can be used for drawing the image of gathering, and 3D image template can be used for taking notes the kind colour of intelligent safety cap, and the contrast module can be used for comparing the image after drawing with various safety caps, and alarm module can be used for warning the control personnel after the contrast failure.
In practical applications, the electronic fence platform system may include: the camera shooting monitoring equipment is connected with an alarm and is arranged in a region to be monitored and a monitoring range covering the monitoring region; the camera monitoring equipment is also connected with a monitoring server, and the monitoring server is arranged in a monitoring room;
the monitoring server can be used for comparing the video image with a preset background picture to calculate a difference area, and the preset background picture is a periodically acquired background picture;
specifically, when the difference area is larger than a preset threshold value and the displacement track of the pixel point in the difference area is crossed with the safety electronic fence area, judging that someone illegally crosses the electronic fence; and when the situation that a person crosses the electronic fence in a violation manner is judged, the monitoring server sends alarm information to the alarm and records the current image.
In practical applications, the field workpiece positioning platform system may include: the BIM unit can establish a three-dimensional BIM model of the building according to the construction drawing, and the three-dimensional BIM model comprises geometric attribute information and non-geometric attribute information;
the GPS unit can be used for positioning the field workpiece through a GPS positioner;
and the BIM-GPS unit is used for reflecting the distance position relation between the building and the on-site workpiece by fusing the positions of the three-dimensional BIM model and the GPS positioner.
All field workpieces are respectively provided with RFID chips, the RFID chips can be used for sending radio frequency signals to an RFID positioning base station and reporting corresponding position information of the RFID positioning base station, and the RFID positioning base station sends the position information to a BIM-GPS unit;
specifically, the BIM-GPS unit automatically identifies and matches the RFID positioning data and the RFID chip information, and displays the position information of all the field workpieces and the relation among all the field workpieces through a display; when the position of the on-site workpiece moves, the BIM-GPS unit automatically switches corresponding areas and realizes linkage, and meanwhile, the position moving track can be stored.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.