CN110677805B - Positioning method and system suitable for underground coal mine - Google Patents
Positioning method and system suitable for underground coal mine Download PDFInfo
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- CN110677805B CN110677805B CN201910908349.8A CN201910908349A CN110677805B CN 110677805 B CN110677805 B CN 110677805B CN 201910908349 A CN201910908349 A CN 201910908349A CN 110677805 B CN110677805 B CN 110677805B
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- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 9
- 238000005259 measurement Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
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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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- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- H—ELECTRICITY
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Abstract
The invention discloses a positioning method suitable for underground coal mine, which comprises the following steps: taking at least two positioning base stations as a group of base station groups, wherein the distance between the positioning base stations of each base station group is smaller than a set distance threshold, and setting the overlapping coverage area of all the positioning base stations of the base station group as the positioning coverage area of the base station group; a plurality of base station groups are distributed along the extending direction of the roadway, and the distance between any two base station groups is smaller than the sum of the radiuses of the positioning coverage areas of the two base station groups; receiving a data message between any one positioning label and at least two positioning base stations of one base station group, analyzing the data message to obtain a distance value between the positioning label and the positioning base stations of the base station group, and obtaining the position coordinate of the positioning label by combining the distance value. The method and the device have stronger adaptability to the underground environment of the coal mine, are convenient for system expansion and background calculation, can reduce the installation number of base stations, share part of cables, and save the cost.
Description
Technical Field
The invention relates to the technical field of underground coal mine positioning, in particular to a positioning method and a positioning system suitable for underground coal mines.
Background
The conventional positioning application scene is mainly a two-dimensional/three-dimensional environment, and the area needing positioning may be a certain area of the ground or several overlapped areas (such as floors) with height difference. In these applications, the base stations are often placed in a certain density, and the located tags move through the area and range with the corresponding base stations. As shown in fig. 1, the position of the tag can be confirmed by obtaining circles (balls) from the distance, calculating intersections of a plurality of circles (balls).
The environment under the coal mine (tunnel) is different from the ground, the terrain is often narrow and narrow, the width is limited, and the ratio of the length to the width is large. As shown in fig. 2, light gray is an actual position and dark gray is a positioning position, and the displacement of the person in a certain position in the width direction does not make much sense. Therefore, two-dimensional positioning used in ground positioning is not adopted, and one-dimensional positioning is adopted instead. According to one-dimensional positioning, the tag can be positioned only by ranging with 2 base stations, and the two-dimensional positioning of a common plane does not need at least 3 distances. This is because the location of the tag is limited to a straight line where 2 base stations are wired. The positioning in the tunnel needs to be realized by ensuring that the tag can perform ranging with 2 base stations at any position, and the one-dimensional positioning principle is as follows:
in a conventional tunnel, one-dimensional positioning is adopted, and a base station is installed as shown in fig. 3. The installation method is easy to understand, one base station is installed at certain intervals, when the tag walks in the base station, 2 closest base stations are selected for ranging, and the background calculates the position of the tag according to the ranging distance and the known positions of the base stations. Assuming that the radio frequency coverage of the base stations is 200 meters or more when the base stations are open and unobstructed, in the installation model of fig. 3, the distance between the base stations may be set to be within 200 meters.
However, the installation model has the following problems in practical use:
first, each located area is limited by 2 base stations with great distance, and the mutual coupling is strong. When the tunnel has the bending, or when having certain sheltering from to this kind of sheltering from can directly lead to the range finding failure when the label is far away from the basic station, and then because unable location of range finding quantity inadequately. Although the problem can be improved by adding base stations, it is difficult to find a good installation position and installation cost increases because the base stations are strongly coupled to 2 areas.
Secondly, the object to be positioned is generally a person, and the wearing position of the object can cause the object to be measured with only one base station without obstruction. For example, when the robot is worn on the chest and walks forwards, the probability of the distance measurement failure becomes higher as the distance from the base station on the back becomes farther. Once the distance measurement fails, only one distance is obtained, and in some cases, a one-dimensional positioning mode and a historical positioning position can be combined to calculate a positioning point. However, if the failure occurs when the tag passes through a certain base station, the ranging distance is changed from 0 to 0, and then the ranging distance is increased, it cannot be estimated that the tag keeps walking in a certain direction all the time or turns around. In addition, the calculation amount required for estimating the positioning point by combining the historical positioning position is large, and the requirement on the capacity of the positioning base station is high.
Disclosure of Invention
The invention aims to provide a positioning method and a positioning system suitable for underground coal mines, wherein at least two positioning base stations with close distances are used as a base station group, and one base station group corresponds to one positioning coverage area; the positioning method and the positioning system have stronger adaptability to the underground environment of the coal mine, are convenient for system expansion and background calculation, can reduce the installation number of base stations, share part of cables, and save the cost.
In order to achieve the above purpose, with reference to fig. 4, the present invention provides a positioning method suitable for an underground coal mine, including:
taking at least two positioning base stations as a group of base station groups, wherein the distance between the positioning base stations of each base station group is smaller than a set distance threshold, and setting the overlapping coverage area of all the positioning base stations of the base station group as the positioning coverage area of the base station group;
a plurality of base station groups are distributed along the extending direction of the roadway, the roadway is a long and narrow space, the width of the roadway is ignored, the roadway is regarded as a one-dimensional space, and the distance between any two base station groups is smaller than the sum of the radiuses of the positioning coverage areas of the two base station groups;
receiving a data message between any one positioning label and at least two positioning base stations of one base station group, analyzing the data message to obtain a distance value between the positioning label and the positioning base stations of the base station group, and obtaining the position coordinate of the positioning label by combining the distance value.
In a further embodiment, the positioning tag and the positioning base station use a TOF ranging mode for ranging.
In a further embodiment, a straight roadway is arranged between the positioning base stations of each base station group.
In a further embodiment, the positioning coverage area of each base station group is a straight roadway.
In a further embodiment, the set distance threshold is 10 meters.
In a further embodiment, the cables of the positioning base stations of each of said base station groups are common.
Based on the positioning method, the invention also provides a positioning system suitable for the underground coal mine, wherein the positioning system comprises a background computer and a plurality of base station groups distributed along the extending direction of the roadway; the roadway is a long and narrow space, and the width of the roadway is ignored and is regarded as a one-dimensional space;
the plurality of base station groups perform data interaction with a background computer through a network;
each base station group comprises at least two positioning base stations, the distance between the positioning base stations of each base station group is smaller than a set distance threshold, the overlapping coverage area of all the positioning base stations of the base station group is set as the positioning coverage area of the base station group, and the distance between any two base station groups is smaller than the sum of the radii of the positioning coverage areas of the two base station groups;
after the positioning base stations of the base station group perform data communication with any positioning label in the positioning coverage area of the base station group, the interactive data message is sent to a background computer, the background computer analyzes the data message to obtain the distance value between the positioning label and at least two positioning base stations of the base station group, and the position coordinate of the positioning label is obtained by combining the obtained distance value.
In a further embodiment, the positioning base station is mounted on a movable base.
In a further embodiment, a fixing unit is arranged on the base, and the base is fixed on the side wall of the roadway or the ground of the roadway through the fixing unit.
The invention provides that at least two positioning base stations with close distance are taken as a base station group, one base station group corresponds to one positioning coverage area, when a label is positioned at one side of the base station group, the shielding is basically consistent, the distance measurement can be simultaneously carried out with two positioning base stations of the base station group to finish the positioning, and when the label is positioned between the two positioning base stations of the base station group, although the phenomenon of back-to-base station exists, the distance measurement can be successfully finished because the label is close to the base stations.
Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:
(1) the mutual coupling becomes low, one base station group corresponds to one positioning coverage area, and the base stations outside the positioning coverage area are not dependent.
(2) In actual projects, positioning at any position cannot be covered due to shielding and curves, positioning coverage can be completed by directly adding base station groups or adjusting the positions of the base station groups, and the positioning device is strong in environmental adaptability and easy to change.
(3) The installation quantity of the base stations can be reduced, and because the distance between the positioning base stations of one base station group is very close, part of cables are shared, and the cost is saved.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic diagram of the two-dimensional/three-dimensional environment localization method of the present invention.
Fig. 2 is a schematic diagram of a coal mine (tunnel) locating environment of the present invention.
Fig. 3 is a schematic diagram of the existing one-dimensional environment positioning method of the present invention.
FIG. 4 is a schematic diagram of the positioning method suitable for coal mine underground.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
With reference to fig. 4, the invention provides a positioning method suitable for an underground coal mine, which comprises the following steps:
s1: at least two positioning base stations are used as a group of base station groups, the distance between the positioning base stations of each base station group is smaller than a set distance threshold, and the overlapping coverage area of all the positioning base stations of the base station group is set as the positioning coverage area of the base station group.
S2: and a plurality of base station groups are distributed along the extending direction of the roadway, the roadway is a long and narrow space, the width of the roadway is ignored, the roadway is regarded as a one-dimensional space, and the distance between any two base station groups is smaller than the sum of the radiuses of the positioning coverage areas of the two base station groups.
S3: receiving a data message between any one positioning label and at least two positioning base stations of one base station group, analyzing the data message to obtain a distance value between the positioning label and the positioning base stations of the base station group, and obtaining the position coordinate of the positioning label by combining the distance value.
Based on the positioning method, the invention also provides a positioning system suitable for the underground coal mine, wherein the positioning system comprises a background computer and a plurality of base station groups distributed along the extending direction of the roadway; the roadway is a long and narrow space, and the width of the roadway is ignored and is regarded as a one-dimensional space.
And the plurality of base station groups perform data interaction with a background computer through a network.
Each base station group comprises at least two positioning base stations, the distance between the positioning base stations of each base station group is smaller than a set distance threshold, the overlapping coverage area of all the positioning base stations of the base station group is set as the positioning coverage area of the base station group, and the distance between any two base station groups is smaller than the sum of the radii of the positioning coverage areas of the two base station groups.
After the positioning base stations of the base station group perform data communication with any positioning label in the positioning coverage area of the base station group, the interactive data message is sent to a background computer, the background computer analyzes the data message to obtain the distance value between the positioning label and at least two positioning base stations of the base station group, and the position coordinate of the positioning label is obtained by combining the obtained distance value.
The invention provides that at least two positioning base stations with close distance are taken as a base station group, one base station group corresponds to one positioning coverage area, when a label is positioned at one side of the base station group, the shielding is basically consistent, the distance measurement can be simultaneously carried out with two positioning base stations of the base station group to finish the positioning, and when the label is positioned between the two positioning base stations of the base station group, although the phenomenon of back-to-base station exists, the distance measurement can be successfully finished because the label is close to the base stations.
In fact, a base station group can complete ranging by including two positioning base stations, and in some cases, in consideration of the working efficiency of the base station group, redundant positioning base stations can be set, and when one of the positioning base stations cannot work, the redundant positioning base station is adopted to provide ranging to complete positioning.
And setting a positioning label and a positioning base station to perform ranging by adopting a TOF ranging mode. As shown in fig. 4, the names of the base stations from left to right are a1, a2, B1 and B2, the distance between a1 and a2 is 10 meters, the distance between B1 and B2 is 10 meters, a1 and a2 are combined into a base station group No. 1, and B1 and B2 are combined into a base station group No. 2. Still, it is assumed that the radio frequency coverage of each positioning base station reaches more than 200 meters when open and unobstructed, the positioning coverage area of the base station group No. 1 is the overlapping coverage area of two positioning base stations a1 and a2, the positioning coverage area of the base station group No. 2 is the overlapping coverage area of two positioning base stations B1 and B2, that is, in a flat and straight roadway with open and unobstructed, the positioning coverage area of the base station group No. 1 at least includes the length of the roadway from 190 meters on the left side of a1 to 190 meters on the right side of a2, and the positioning coverage area of the base station group No. 2 at least includes the length of the roadway from 190 meters on the left side of B1 to 190 meters on the right side of B2, that is, the distance between a2 and B1 can reach more than 380 meters. It should be understood that in practical applications, if conditions allow, a conventional scheme may also be used for positioning the tag, for example, when the a2 and B1 base stations are close and are not shielded, the a2 and B1 base stations may still be used for positioning the tag, and the like.
In some examples, in step S2, the address selection rules of the plurality of base station groups distributed along the extending direction of the roadway are as follows: and the selected installation address enables the positioning coverage area of each base station group to be a straight roadway so as to improve the positioning success rate and the accuracy of the base station group. For example, when a curve occurs, a base station is set with the inflection point of the curve as the edge point of the positioning coverage area of the base station group, and the like.
Because the distance between two positioning base stations in the same base station group is very close (10 meters), a non-shielded straight roadway can be easily ensured between the positioning base stations of the same base station group during site selection, and when the positioning label is positioned between the two positioning base stations of the base station group, the distance between the label and one of the base stations is very close, although the label and one of the base stations have a back-to-back phenomenon, the positioning can still be successfully completed through distance measurement. In addition, because the distance between the positioning base stations of each base station group is very close, cables can be used in a combined mode during engineering construction, and cost is further saved.
The positioning method and the positioning system have low dependence on the environment, and the base station groups have no dependence, and in some examples, the base station groups can be made to be mobile so as to further adapt to the changeable mine tunnel environment. For example, a movable base is arranged, the positioning base station is installed on the base, the position of the positioning base station is adjusted through the movable base to adapt to the changing underground environment of the coal mine caused by continuous excavation, even when an obstacle appears temporarily, the position of the base station group is temporarily finely adjusted according to the position of the obstacle, so that the base station group can bypass the obstacle to continue to perform the positioning function, and the like. Preferably, a fixing unit is arranged on the movable base, and the movable base can be fixed on the side wall of the roadway or the ground of the roadway.
The distance between the positioning base stations of the same base station group is not specifically limited, but an excessively large distance may cause a positioning coverage area of the base station group to become small, and an excessively small distance (e.g., smaller than a ranging accuracy error of the positioning base station) may cause a distance value between the measured positioning tag and the positioning base station to be difficult to use. Therefore, according to actual needs, on the basis of ensuring that distance values between the same positioning tag and two positioning base stations can be clearly distinguished, the distance between the two positioning base stations is reduced as much as possible, on one hand, the positioning coverage area of a base station group is enlarged as much as possible, on the other hand, the close distance of the positioning base stations is beneficial to reducing the layout length of a shared cable, and the cost is saved.
It should be understood that the positioning method and the positioning system mentioned in the present invention are not limited to the underground coal mine, and are applicable to all long and narrow areas which can adopt a one-dimensional positioning method, such as an aboveground urban roadway, a winding road, an underground pipe gallery and the like.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (9)
1. A positioning method suitable for underground coal mine is characterized by comprising the following steps:
taking at least two positioning base stations as a group of base station groups, wherein the distance between the positioning base stations of each base station group is smaller than a set distance threshold, and setting the overlapping coverage area of all the positioning base stations of the base station group as the positioning coverage area of the base station group; the positioning coverage area comprises areas on two sides of the base station group;
a plurality of base station groups are distributed along the extending direction of the roadway, the roadway is a long and narrow space, the width of the roadway is ignored, the roadway is regarded as a one-dimensional space, and the distance between any two base station groups is smaller than the sum of the radiuses of the positioning coverage areas of the two base station groups;
receiving a data message between any one positioning label and at least two positioning base stations of one base station group, analyzing the data message to obtain a distance value between the positioning label and the positioning base stations of the base station group, and obtaining a position coordinate of the positioning label by combining the distance value;
when the label is positioned at one side of one base station group and is positioned in the positioning coverage area range of the base station group, the shielding is consistent, and the label and two positioning base stations of the base station group perform ranging at the same time to finish positioning.
2. The method as claimed in claim 1, wherein the positioning tag and the positioning base station adopt a TOF ranging mode for ranging.
3. The method of claim 1, wherein a straight roadway is between the positioning base stations of each base station group.
4. The method of claim 1, wherein the positioning coverage area of each base station group is a straight roadway.
5. The method of claim 1, wherein the set distance threshold is 10 meters.
6. The method of claim 1, wherein cables of positioning base stations of each base station group are shared.
7. The positioning system suitable for the underground coal mine based on the positioning method of claim 1 is characterized by comprising a background computer and a plurality of base station groups distributed along the extending direction of a roadway; the roadway is a long and narrow space, and the width of the roadway is ignored and is regarded as a one-dimensional space;
the plurality of base station groups perform data interaction with a background computer through a network;
each base station group comprises at least two positioning base stations, the distance between the positioning base stations of each base station group is smaller than a set distance threshold, the overlapping coverage area of all the positioning base stations of the base station group is set as the positioning coverage area of the base station group, and the distance between any two base station groups is smaller than the sum of the radii of the positioning coverage areas of the two base station groups;
after the positioning base stations of the base station group perform data communication with any positioning label in the positioning coverage area of the base station group, the interactive data message is sent to a background computer, the background computer analyzes the data message to obtain the distance value between the positioning label and at least two positioning base stations of the base station group, and the position coordinate of the positioning label is obtained by combining the obtained distance value.
8. The coal mine underground positioning system of claim 7, wherein the positioning base station is mounted on a movable base.
9. The underground coal mine positioning system of claim 8, wherein the base is provided with a fixing unit, and the base is fixed on a side wall of a roadway or the ground of the roadway through the fixing unit.
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| CN112822631A (en) * | 2021-01-20 | 2021-05-18 | 太原理工大学 | Self-energy supply method of mine personnel positioning sensing system |
| CN115038093A (en) * | 2022-05-23 | 2022-09-09 | 中铁十九局集团第六工程有限公司 | Tunnel base station arrangement method, computer device and computer readable storage medium |
| CN115209428B (en) * | 2022-09-16 | 2022-11-22 | 长沙迪迈数码科技股份有限公司 | Underground UWB positioning base station arrangement method, device, equipment and storage medium |
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| CN106997039A (en) * | 2016-01-22 | 2017-08-01 | 中国矿业大学(北京) | The underground coal mine TOA localization methods of the lower reconstruct one-dimensional space of virtual plane constraint |
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| US9715005B2 (en) * | 2013-06-06 | 2017-07-25 | Zih Corp. | Method, apparatus, and computer program product improving real time location systems with multiple location technologies |
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| CN102761964A (en) * | 2012-06-29 | 2012-10-31 | 中南大学 | Underground personnel positioning method based on ZigBee |
| CN106997039A (en) * | 2016-01-22 | 2017-08-01 | 中国矿业大学(北京) | The underground coal mine TOA localization methods of the lower reconstruct one-dimensional space of virtual plane constraint |
| CN108834055A (en) * | 2018-08-16 | 2018-11-16 | 西安科技大学 | Mine Personnel Positioning System and method based on wireless pulses flight time measurement |
| CN109541529A (en) * | 2018-10-23 | 2019-03-29 | 北京凯乐比兴科技有限公司 | A kind of the nonnative personnel's positioning system and method for the IDC computer room based on UWB |
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