CN114155695A - Motion detection method for UWB (ultra wide band) safety positioning based on time domain wavelet transform - Google Patents
Motion detection method for UWB (ultra wide band) safety positioning based on time domain wavelet transform Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
- G08B21/0272—System arrangements wherein the object is to detect exact location of child or item using triangulation other than GPS
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0407—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Abstract
The invention discloses a motion detection method for UWB safety positioning based on time domain wavelet transform. The existing motion detection method wastes a large amount of operation resources, and the working efficiency of automatic safety monitoring is low. The invention collects one-dimensional time signal, two-dimensional and three-dimensional space signal and space signal through UWB radar device and imaging device, and converts them into original multi-dimensional wavelet transform signal through multi-dimensional wavelet transform, and converts them into processed multi-dimensional wavelet transform signal through difference conversion together with virtual wavelet transform signal obtained by UWB label positioning device, and finally converts them into abnormal position and motion state information of human body and object through recognizing abnormity and inverse transformation. In the positioning method, each unit occupies lower computing resources, and accurately identifies the human body and the object with abnormal motion state.
Description
Technical Field
The invention belongs to the technical field of a safety positioning method for construction and operation areas integrating monitoring and identification, and particularly relates to a motion detection method for UWB safety positioning based on time domain wavelet transform.
Background
At present, the motion detection method based on wavelet transform only carries out wavelet transform on the space, and the method can quickly identify the human body, the object and the positions of the human body and the object in the original three-dimensional space or two-dimensional plane; and then, by comparing a plurality of frame signals, the human body and the object with changed positions are found out to realize motion detection. When the method is applied to a large area, the number of human bodies and objects is usually very large. More critically, the vast majority of targets are generally objects that remain motionless throughout the year. Thus, in real-time monitoring, the computer in the system wastes a great deal of effort handling these objects that never calculate a safety hazard. Therefore, a large amount of operation resources are inevitably wasted, and the working efficiency of automatic safety monitoring is influenced.
The wireless positioning technology of the project area at the present stage comprises the following steps: Wi-Fi, Bluetooth, infrared, RFID, ultrasonic, and UWB. Wi-Fi positioning enables positioning, monitoring, and tracking tasks in complex environments over a Wireless Local Area Network (WLAN) consisting of wireless access points (including wireless routers). Bluetooth positioning is mainly applied to small-range positioning. The infrared technology indoor positioning is to receive the infrared rays emitted and modulated by each mobile device (infrared IR identification) through an optical sensor installed indoors for positioning, and has relatively high indoor positioning precision. The RFID positioning technology utilizes a radio frequency mode to perform non-contact bidirectional communication to exchange data, and achieves the purposes of mobile equipment identification and positioning. The method can obtain centimeter-level positioning accuracy information within a few milliseconds, and has the advantages of large transmission range and low cost. The Z ultrasonic positioning mainly adopts reflection type distance measurement, and determines the position of an object through algorithms such as triangulation and the like. The traditional positioning method for UWB positioning has great difference, does not need to use carrier waves in the traditional communication system, transmits data by sending and receiving extremely narrow pulses with nanosecond or nanosecond level or below, and can be used for indoor precise positioning. Compared with the traditional narrow-band system, the ultra-wide-band system has the advantages of strong penetrating power, low power consumption, good multipath resistance effect, high safety, low system complexity, capability of improving the precision of positioning and the like, and is generally used for positioning tracking or navigation of indoor moving objects.
However, Wi-Fi positioning is easily interfered by other signals, so that the accuracy of the positioning is affected, and the energy consumption of the positioner is high. The bluetooth positioning is mainly applied to small-range positioning, and for a complex space environment, the stability of a bluetooth positioning system is slightly poor and is greatly interfered by noise signals. In the infrared positioning, because light rays cannot penetrate through the barrier, infrared rays can only be transmitted at a sight distance and are easily interfered by other light, and the transmission distance of the infrared rays is short, so that the indoor positioning effect is poor. RFID has several problems: RFID is not conveniently integrated into mobile devices; the action distance is short; there is a lack of extensive standardization. The ultrasonic positioning is easily influenced by multipath effect and non-line-of-sight propagation, and the positioning precision is reduced; meanwhile, it also requires a large investment in underlying hardware facilities, and the overall cost is high. Even if the UWB positioning technology is adopted, the UWB tag is still needed, and only the UWB tag can be actually positioned, so that the emergency in the engineering area can not be effectively identified and positioned, and an alarm can not be sent out in time.
Disclosure of Invention
In order to make up the defects of the prior art, the invention provides a motion detection method for UWB safety positioning based on time domain wavelet transform.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a motion detection method for UWB safety positioning based on time domain wavelet transform comprises the following steps:
the method comprises the following steps: the UWB radar device and the UWB imaging device collect one-dimensional time signals, two-dimensional space signals and three-dimensional space signals in a multi-frame fusion mode;
step two: converting the one-dimensional time signal, the two-dimensional space signal and the three-dimensional space signal into an original multi-dimensional wavelet transform signal through multi-dimensional wavelet transform in the step one;
step three: the UWB tag positioning device obtains a virtual wavelet transform signal in a virtual simulation mode;
step four: the original multi-dimensional wavelet transform signals and the virtual wavelet transform signals are subjected to difference conversion to be converted into processed multi-dimensional wavelet transform signals;
step five: and step four, converting the processed multidimensional wavelet transform signals into abnormal position and motion state information of human bodies and objects by identifying abnormality and inverse transformation.
Specifically, the UWB radar device, the UWB imaging device, and the UWB tag positioning device share a UWB base station.
Specifically, in the fifth step, the human body and the object with the motion speed of 0.3-30m/s relative to the reference system selected and in the static state of the detection system are directly identified, and the human body and the object with the motion speed of 0.3-30m/s relative to the reference system selected and in the static state of the detection system are directly ignored.
The invention has the beneficial effects that:
1) the UWB tag positioning device is based on the principle that a plurality of positioning base stations with known coordinates are arranged indoors, a person needing to be positioned carries a positioning tag, the tag emits pulses according to a certain frequency, the distance measurement is continuously carried out with the base stations, and the position of the tag is determined through a certain accurate algorithm. The operation resources occupied by each unit in the positioning method are the lowest;
2) for human bodies and objects marked by UWB tags, the system directly judges whether the human bodies and the objects are abnormal or not according to the positions and the motion states. For human bodies and objects which are not marked by UWB labels, the system can still identify the human bodies and the objects with abnormal motion states according to the method of the invention.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific embodiments.
The UWB (Ultra Wide Band-Ultra Wide Band) technology is a wireless carrier communication technology, which does not adopt sinusoidal carrier, but utilizes nanosecond-level non-sinusoidal wave narrow pulse to transmit data, so that the occupied frequency spectrum range is Wide.
The safe positioning refers to a positioning method which can position people and objects in a project area in real time and can identify areas where people or objects are unsafe or should not appear. Once the positioning system identifies that the existing personnel or objects are in unsafe areas or areas which should not appear based on the method, the system can send out alarm signals to prompt related personnel to rapidly eliminate dangers, and the safety of equipment construction and operation of the personnel in the engineering area is ensured.
As shown in fig. 1, the general flow chart of the present invention includes the following steps:
the method comprises the following steps: the UWB radar device and the UWB imaging device collect one-dimensional time signals, two-dimensional space signals and three-dimensional space signals in a multi-frame fusion mode;
the one-dimensional time signal, the two-dimensional space signal and the three-dimensional space signal are space human body and object information obtained by a UWB radar device or a UWB imaging device, and the information is combined into a function F (t, x, y, z) or F (t, x, y) with time as one of independent variables and space coordinates as the rest of independent variables through multi-frame fusion operation.
The UWB radar apparatus is a pulse radar using electromagnetic wave pulses of 3.1 to 10.6GHz as a radar signal carrier. The transmitter of the UWB radar device emits electromagnetic wave energy to a certain direction in space through an antenna, and an object in the direction reflects the contacted electromagnetic wave; the radar antenna receives the reflected wave and sends it to a receiving device for processing and extracting certain information about the object, such as the distance from the target object to the radar, the rate of change of range or radial velocity, azimuth, altitude, etc. In the present invention, a UWB base station common to UWB tag positioning devices is used as a transmitter of a UWB radar device. The UWB radar device does not directly extract the human body and the object which reflect the electromagnetic wave, but directly processes the signals into three-dimensional space signals containing the information of the human body and the object;
the UWB imaging device uses 3.1-10.6GHz electromagnetic waves, the lens of the UWB imaging device is equivalent to a convex lens, the electromagnetic waves emitted by the UWB base station irradiate a human body and an object, and the reflected light is converged on the UWB detection array after passing through the lens of the UWB imaging device to form an inverted and reduced real image. The UWB detection array, as a carrier for recording information, records this real image as a two-dimensional spatial signal.
Step two: converting the one-dimensional time signal, the two-dimensional space signal and the three-dimensional space signal into an original multi-dimensional wavelet transform signal through multi-dimensional wavelet transform in the step one; the transformation formula is as follows:
or
Wherein, WTFAs a function after wavelet transform;
f is a function before wavelet transformation;
Ψ is a transform basis wavelet of the wavelet transform;
a is the time dimension window width;
b is the width of the space dimension window;
t is the time independent variable of the function before wavelet transformation;
x, y and z are space independent variables of the function before wavelet transformation;
tau is the time independent variable of the function after wavelet transform;
χ, ψ, ω are spatial independent variables of the function after the wavelet transform.
Step three: the UWB tag positioning device obtains a virtual wavelet transform signal in a virtual simulation mode;
UWB tag location is a real-time location of the elements of the logged system. The principle of the UWB tag positioning device is that a plurality of positioning base stations with known coordinates are arranged indoors, a person needing to be positioned carries a positioning tag, the tag emits pulses according to a certain frequency, the distance measurement is continuously carried out with the base stations, and the position of the tag is determined through a certain accurate algorithm. In the positioning method, the calculation resources occupied by each unit are also the lowest, and each person is ensured to carry the UWB tag by combining a construction and operation management system; simultaneously, after all detected equipment is provided with UWB (ultra wide band) tags, the system can completely master the dynamic state of the whole park under normal conditions. According to the set safety limit rule, the danger can be timely alarmed.
Step four: the original multi-dimensional wavelet transform signals and the virtual wavelet transform signals are subjected to difference conversion to be converted into processed multi-dimensional wavelet transform signals;
step five: the processed multidimensional wavelet transform signals in the step four are converted into abnormal position and motion state information of human bodies and objects through identification of abnormality and inverse transformation; directly identifying the human body and the object with the movement speed of 0.3-30m/s relative to the reference frame selected with the detection system in a static state, and directly neglecting the human body and the object with the movement speed of 0.3-30m/s relative to the reference frame selected with the detection system in a static state.
The virtual wavelet transform signal is the wavelet transform signal of human body and object marked by the UWB label, which is obtained by analog calculation after the computer reads their operation state.
Or
In the invention, different types of human bodies and objects recorded in a system corresponding to the UWB tag can obtain different virtual wavelet transform signals, and meanwhile, the calculated virtual wavelet transform signals can be changed due to different motion states of the human bodies and the objects.
The processed multi-dimensional wavelet transform signal is the result of the difference between the original multi-dimensional wavelet transform signal and the virtual wavelet transform signal and is the signal to be analyzed by the method of the invention finally.
Or
The invention is not limited to the examples, and any equivalent changes to the technical solution of the invention by a person skilled in the art after reading the description of the invention are covered by the claims of the invention.
Claims (3)
1. A motion detection method for UWB safety positioning based on time domain wavelet transform is characterized in that: the method comprises the following steps:
the method comprises the following steps: the UWB radar device and the UWB imaging device collect one-dimensional time signals, two-dimensional space signals and three-dimensional space signals in a multi-frame fusion mode;
step two: converting the one-dimensional time signal, the two-dimensional space signal and the three-dimensional space signal into an original multi-dimensional wavelet transform signal through multi-dimensional wavelet transform in the step one;
step three: the UWB tag positioning device obtains a virtual wavelet transform signal in a virtual simulation mode;
step four: the original multi-dimensional wavelet transform signals and the virtual wavelet transform signals are subjected to difference conversion to be converted into processed multi-dimensional wavelet transform signals;
step five: and step four, converting the processed multidimensional wavelet transform signals into abnormal position and motion state information of human bodies and objects by identifying abnormality and inverse transformation.
2. The motion detection method for UWB safe positioning based on time domain wavelet transform of claim 1, wherein: the UWB radar device, the UWB imaging device and the UWB tag positioning device share a UWB base station.
3. The motion detection method for UWB safe positioning based on time domain wavelet transform of claim 2, wherein: and in the fifth step, the human body and the object with the movement speed of 0.3-30m/s relative to the reference system in the static state of the detection system are directly identified, and the human body and the object with the movement speed of 0.3-30m/s relative to the reference system in the static state of the detection system are directly ignored.
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