CN110307844A - A kind of factory personnel Position Fixing Navigation System and method based on 3 d modeling system - Google Patents
A kind of factory personnel Position Fixing Navigation System and method based on 3 d modeling system Download PDFInfo
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- CN110307844A CN110307844A CN201910681131.3A CN201910681131A CN110307844A CN 110307844 A CN110307844 A CN 110307844A CN 201910681131 A CN201910681131 A CN 201910681131A CN 110307844 A CN110307844 A CN 110307844A
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The invention discloses a kind of factory personnel Position Fixing Navigation System and its method based on 3 d modeling system, in conjunction with RFID technique and INS technology, realize the precise positioning to personnel in factory, three-dimensional visualization map is formed using dimensional Modeling Technology, and accurately show real time position and planning conduct of the personnel in three-dimensional visualization map, it can complete path navigation of the personnel in factory area, the ways of presentation of three-dimensional visualization is provided for traditional personnel location information, the location information of personnel is showed in three-dimensional map, observer is set more intuitively to carry out effective monitoring and behavioural analysis to the real time position of staff and working condition, it is more acurrate compared to traditional indoor positioning navigation system, it is more intuitive.
Description
Technical field
The present invention relates to safety management technology fields, and in particular to a kind of factory personnel positioning based on 3 d modeling system
Navigation system and method.
Background technique
Outdoor positioning generally takes GPS (Global Positioning System, global satellite positioning) technology,
And adaptable indoor positioning technologies are mainly by following several at present:
Currently, existing indoor and outdoor navigator fix technology is broadly divided into according to the difference of its location mechanism: fixed based on the whole world
The location technology of position system, the location technology based on RF tag, is based on Wireless LAN at the location technology based on ZigBee
Location technology, the location technology based on inertial navigation system etc..
Location technology based on global positioning system: in terms of large scale positioning, Global Navigation Satellite System (Global
Navigation Satellite System, GNSS) this field is covered including the whole world, region and enhancing
All satellite navigation systems, as the U.S. global positioning system (GPS), Russia GLONASS satellite system (Glonass),
The Galileo (Galileo) in Europe, the Beidou satellite navigation system (Compass) of China and relevant enhancing system.Its
In, GPS system is especially widely used, and the functions such as navigation, positioning, time service may be implemented.But since building interior connects
It can not receive GPS system signal, solve the problems, such as to build interior personnel positioning so GPS system cannot be directlyed adopt.
Location technology based on ZigBee: ZigBee is the radio network technique of the emerging short distance of one kind, low cost,
Advantage is reduction of the complexity, power consumption and data rate of system, is mainly used for short-distance wireless connection.This method it is main
The disadvantage is that positioning accuracy it is poor, dependent on the quantity and position for laying positioning node, but set up that difficult point is more, and transmission range is closer etc. asks
Topic, therefore this system practical application is less.
Location technology based on WiFi: the cardinal principle of WiFi positioning is, by with detecting the neighbouring MAC of all AP around
Location is sent on relevant position server, and server calculates location by the coordinate of MAC Address.What client listened to
AP signal is more, and positioning will be more accurate.But any wide-area deployment AP higher cost, and need active client device, maintenance workers
Work amount is big.It can reach 10m in setting accuracy room, and our ideal situations slightly have deviation.
Radio frequency identification (Radio Frequency Identification, RFID) technology, also known as radio frequency identification, can
Specific objective is identified by radio signals and reads and writes related data, it is mechanical without being established between identifying system and special identification target
Or optical contact, 1-3 meters of setting accuracy can be reached indoors.With the development of the social economy, RFID technique is extensive
Applied to the fields such as automatic charging and the manufacturing, logistics, access control system, taking care of books, supply chain, animal and vehicle identification.
Therefore generally there is the RFID device laid in advance in densely populated various large-scale places, can directly apply, be not necessarily to it
His extraneous expense.
Inertial navigation system (Inertial Navigation System, INS) is also referred to as inertial reference system, is a kind of
Independent of external information, also not to the autonomic navigation system of external radiation energy.The basic functional principle of inertial navigation is
Based on Newton mechanics law, by measurement carrier in the acceleration of inertial reference system, it integrates the time, and handle
It is transformed in navigational coordinate system, it will be able to obtain the information such as speed, yaw angle and the position in navigational coordinate system.
Recently as the appearance of wisdom chemical plant concept, a large amount of factories propose increasingly higher demands to intelligence.
With the extensive use of three-dimensional map in recent years in national economy life, for building interior three-dimensional visualization process increasingly
Accelerate.Based on this, the present invention establishes three-dimensional map using 3 d modeling system, realizes in three-dimensional visualization map in factory
The real time monitoring of portion personnel.
Summary of the invention
It is an object of that present invention to provide a kind of factory personnel Position Fixing Navigation System and method based on 3 d modeling system, is adopted
With three-dimensional visualization mode reach can more intuitively observer real time position and conduct track.
In order to achieve the goal above, the technical solution adopted by the present invention are as follows:
A kind of factory personnel Position Fixing Navigation System based on 3 d modeling system, including positioning system, 3 d modeling system
And central processing system；
The positioning system includes positioning terminal, RFID locating module, INS locating module；It is positioned by RFID described in this
The real-time positioning of module and INS locating module for realizing positioning terminal personnel to be positioned, and the real time position letter that will acquire
Breath is sent to the 3 d modeling system by the central processing system；
The 3 d modeling system includes factory modeling module, data processing module and output module, and the factory builds
Mould module carries out three-dimensional modeling for the building structure to factory, device distribution scene, and with generating corresponding three-dimensional visualization
Figure；Data processing module personnel's real-time position information for receiving input, and the real-time position information of personnel is converted
For the location information in three-dimensional visualization map；Shown output module is used to connect the processing knot of the data processing module output
Fruit exports to central processing system；
The central processing system includes being located at the indoor director server of master control and display screen, and the director server is used for
The personnel's real-time position information exported in the positioning system is received, and the real-time position information of personnel is sent to the three-dimensional
The mode of the three-dimensional visualization map of location information cooperation factory is shown the display screen in master control room later by modeling
On.
Further, the RFID locating module includes several RFID readers that positioning on-site is arranged in, one
A little key places or mark position emphasis arrange that the corresponding RFID reader, the RFID reader are described fixed for capturing
The label information of position terminal, the RFID reader and the director server communicate to connect.
Further, the INS locating module includes electronic compass, gyroscope, accelerometer and barometer.
A kind of factory personnel positioning navigation method based on 3 d modeling system, specific steps packet are additionally provided in the present invention
It includes:
S1, the distribution scene information for obtaining plant area's map, architecture structure drawing and each equipment of on-site, marker, according to
The above-mentioned plant area's information obtained is imported into the 3 d modeling system, establishes corresponding three-dimensional visualization map, and be shown in
On the display screen of the central processing system；
S2, the RFID tag information that the positioning terminal to be positioned is captured by the RFID reader, and will
The label information of acquisition is transmitted to the director server, is handled using TDOA location algorithm label information, is calibrated, and obtains
The real-time position information of the positioning terminal；
S3, by the INS locating module obtain positioning terminal location information, the location information include acceleration,
Then longitude, latitude, height and angle information use pedestrian's reckoning algorithm, realize step by analysis acceleration signal
Frequency detection and step-size estimation are realized the estimation to course by analytic angle component orientation information, and are calculated using Kalman filtering
Method merges each inertial data to obtain the real-time position information of accurate positioning terminal；
S4, according to the corresponding relationship of the positioning-system coordinate system and 3 d modeling system coordinate system, be by the positioning
The real-time position information of the positioning terminal obtained in system is converted into the location information in three-dimensional visualization map, and in the display
The location information of the positioning terminal is shown on screen；
S5, information is estimated according to the course of the positioning terminal of INS locating module acquisition, in conjunction with presently described fixed
The location information of position terminal, carries out planning navigation to the conduct route of the positioning terminal, and show on the display screen；
S6, according to the real-time position information obtained in factory by the positioning system and in the three-dimensional visualization
Location information in figure is corresponded to, and is carried out in position and planning path in three-dimensional visualization map to the positioning terminal
Correction confirmation is realized and is monitored to the three-dimensional visualization of personnel's real time position and working condition.
Compared with prior art, the invention has the following advantages that
RFID technique and INS technology are combined in the present invention, are realized to the precise positioning of personnel in factory, are used three-dimensional modeling
Technology forms three-dimensional visualization map, and accurately shows real time position and planning row of the personnel in three-dimensional visualization map
Diameter, can complete path navigation of the personnel in factory area, provide the exhibition of three-dimensional visualization for traditional personnel location information
Existing mode, the location information of personnel is showed in three-dimensional map, allows observer more intuitively to the reality of staff
When position and working condition carry out effective monitoring and behavioural analysis, it is more acurrate compared to traditional indoor positioning navigation system, more straight
It sees.
Specific embodiment
Detailed description of the preferred embodiments below.It should be understood that described herein specific
Embodiment is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Embodiment 1
A kind of factory personnel Position Fixing Navigation System based on 3 d modeling system, including positioning system, 3 d modeling system
And central processing system；
The positioning system includes positioning terminal, RFID locating module, INS locating module；It is positioned by RFID described in this
The real-time positioning of module and INS locating module for realizing positioning terminal personnel to be positioned, and the real time position letter that will acquire
Breath is sent to the 3 d modeling system by the central processing system；
The 3 d modeling system includes factory modeling module, data processing module and output module, and the factory builds
Mould module carries out three-dimensional modeling for the building structure to factory, device distribution scene, and with generating corresponding three-dimensional visualization
Figure；Data processing module personnel's real-time position information for receiving input, and the real-time position information of personnel is converted
For the location information in three-dimensional visualization map；Shown output module is used to connect the processing knot of the data processing module output
Fruit exports to central processing system；
The central processing system includes being located at the indoor director server of master control and display screen, and the director server is used for
The personnel's real-time position information exported in the positioning system is received, and the real-time position information of personnel is sent to the three-dimensional
The mode of the three-dimensional visualization map of location information cooperation factory is shown the display screen in master control room later by modeling
On.
Further, the RFID locating module includes several RFID readers that positioning on-site is arranged in, one
A little key places or mark position emphasis arrange that the corresponding RFID reader, the RFID reader are described fixed for capturing
The label information of position terminal, the RFID reader and the director server communicate to connect.
Further, the INS locating module includes electronic compass, gyroscope, accelerometer and barometer.
Embodiment 2
A kind of factory personnel positioning navigation method based on 3 d modeling system, specific steps include:
S1, the distribution scene information for obtaining plant area's map, architecture structure drawing and each equipment of on-site, marker, according to
The above-mentioned plant area's information obtained is imported into the 3 d modeling system, establishes corresponding three-dimensional visualization map, and be shown in
On the display screen of the central processing system；
S2, the RFID tag information that the positioning terminal to be positioned is captured by the RFID reader, and will
The label information of acquisition is transmitted to the director server, is handled using TDOA location algorithm label information, is calibrated, and obtains
The real-time position information of the positioning terminal；
S3, by the INS locating module obtain positioning terminal location information, the location information include acceleration,
Then longitude, latitude, height and angle information use pedestrian's reckoning algorithm, realize step by analysis acceleration signal
Frequency detection and step-size estimation are realized the estimation to course by analytic angle component orientation information, and are calculated using Kalman filtering
Method merges each inertial data to obtain the real-time position information of accurate positioning terminal；
S4, according to the corresponding relationship of the positioning-system coordinate system and 3 d modeling system coordinate system, be by the positioning
The real-time position information of the positioning terminal obtained in system is converted into the location information in three-dimensional visualization map, and in the display
The location information of the positioning terminal is shown on screen；
S5, information is estimated according to the course of the positioning terminal of INS locating module acquisition, in conjunction with presently described fixed
The location information of position terminal, carries out planning navigation to the conduct route of the positioning terminal, and show on the display screen；
S6, according to the real-time position information obtained in factory by the positioning system and in the three-dimensional visualization
Location information in figure is corresponded to, and is carried out in position and planning path in three-dimensional visualization map to the positioning terminal
Correction confirmation is realized and is monitored to the three-dimensional visualization of personnel's real time position and working condition.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variation and
Improvement is both fallen in the range of claimed invention.The present invention claims protection scope by appended claims and its
Equivalent defines.
Claims (4)
1. a kind of factory personnel Position Fixing Navigation System based on 3 d modeling system, which is characterized in that including positioning system, three-dimensional
Modeling and central processing system；
The positioning system includes positioning terminal, RFID locating module, INS locating module；Pass through RFID locating module described in this
With INS locating module for realizing the real-time positioning of positioning terminal personnel to be positioned, and the real-time position information that will acquire is logical
It crosses the central processing system and is sent to the 3 d modeling system；
The 3 d modeling system includes factory modeling module, data processing module and output module, the factory modeling mould
Block carries out three-dimensional modeling, and generates corresponding three-dimensional visualization map for the building structure to factory, device distribution scene；Institute
Data processing module personnel's real-time position information for receiving input is stated, and converts three-dimensional for the real-time position information of personnel
Location information in visualized map；Shown output module is used to connect the processing result output of the data processing module output
To central processing system；
The central processing system includes being located at the indoor director server of master control and display screen, and the director server is for receiving
The personnel's real-time position information exported in the positioning system, and the real-time position information of personnel is sent to the three-dimensional modeling
System later shows the mode of the three-dimensional visualization map of location information cooperation factory on the display screen of master control room.
2. a kind of factory personnel Position Fixing Navigation System based on 3 d modeling system according to claim 1, feature exist
In the RFID locating module includes several RFID readers that positioning on-site is arranged in, in some crucial places or mark
Will position emphasis arranges that the corresponding RFID reader, the RFID reader are used to capture the label letter of the positioning terminal
Breath, the RFID reader and the director server communicate to connect.
3. a kind of factory personnel Position Fixing Navigation System based on 3 d modeling system according to claim 1, feature exist
In the INS locating module includes electronic compass, gyroscope, accelerometer and barometer.
4. a kind of factory personnel positioning navigation method based on 3 d modeling system, which is characterized in that specific steps include:
S1, the distribution scene information for obtaining plant area's map, architecture structure drawing and each equipment of on-site, marker, according to acquisition
Above-mentioned plant area's information imported into the 3 d modeling system, establish corresponding three-dimensional visualization map, and be shown in described
On the display screen of central processing system；
S2, the RFID tag information that the positioning terminal to be positioned is captured by the RFID reader, and will acquire
Label information be transmitted to the director server, label information is handled using TDOA location algorithm, is calibrated, described in acquisition
The real-time position information of positioning terminal；
S3, by the INS locating module obtain positioning terminal location information, the location information include acceleration, longitude,
Then latitude, height and angle information use pedestrian's reckoning algorithm, realize cadence detection by analysis acceleration signal
And step-size estimation, the estimation to course is realized by analytic angle component orientation information, and merge using Kalman filtering algorithm
Each inertial data is to obtain the real-time position information of accurate positioning terminal；
S4, according to the corresponding relationship of the positioning-system coordinate system and 3 d modeling system coordinate system, will be in the positioning system
The real-time position information of the positioning terminal of acquisition is converted into the location information in three-dimensional visualization map, and in the display screen
On show the location information of the positioning terminal；
S5, information is estimated according to the course of the positioning terminal of INS locating module acquisition, eventually in conjunction with presently described positioning
The location information at end carries out planning navigation to the conduct route of the positioning terminal, and shows on the display screen；
S6, according to the real-time position information that is obtained in factory by the positioning system and in the three-dimensional visualization map
Location information corresponded to, the positioning terminal is corrected in position and planning path in three-dimensional visualization map
Confirmation is realized and is monitored to the three-dimensional visualization of personnel's real time position and working condition.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111811516A (en) * | 2020-07-06 | 2020-10-23 | 南京和光智能制造研究院有限公司 | Factory personnel positioning and safety early warning system |
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