CN114485616B - Automatic positioning method and system under mine based on total station - Google Patents
Automatic positioning method and system under mine based on total station Download PDFInfo
- Publication number
- CN114485616B CN114485616B CN202210007114.3A CN202210007114A CN114485616B CN 114485616 B CN114485616 B CN 114485616B CN 202210007114 A CN202210007114 A CN 202210007114A CN 114485616 B CN114485616 B CN 114485616B
- Authority
- CN
- China
- Prior art keywords
- total station
- known control
- target
- controlling
- station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- 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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- 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
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses an automatic positioning method and system under a mine based on a total station, wherein the method comprises the following steps: determining the initial position of the total station by ultra wideband UWB positioning, and determining two known control points nearest to the initial position of the total station; acquiring position information of two known control points, controlling the total station to carry out rear intersection, and calculating reference position information of the total station according to measurement data acquired by the total station for carrying out rear intersection so as to realize automatic station setting of the total station; the total station is controlled to search the target to be positioned, track the target to be positioned in real time and measure the positioning information of the target to be positioned; transmitting positioning information to the target to be positioned through a preset first communication mode. According to the method, the total station is used for automatic station setting, automatic measurement and automatic output of measurement information, so that automatic positioning of a mine is realized, and the accuracy of the output positioning information is improved.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to an underground automatic positioning method and system based on a total station.
Background
Along with improvement of intelligent construction requirements of people on mines, accurate positioning of personnel and equipment is a basis of a current coal mine operation mode, for example, automatic cutting of mining equipment, automatic anchoring work of equipment such as an anchor digger and an anchor conveyor, automatic path planning of transport vehicles such as a shuttle car, unmanned driving of trackless rubber-tyred vehicles, real-time positioning in the process of personnel operation and the like are realized, and the premise is that an accurate mine positioning system is constructed.
In the related art, when a UWB wireless induction system is generally used to realize a downhole positioning function, that is, a plurality of induction base stations are arranged in a specific space by adopting a distributed method, and corresponding induction modules (tag modes) are configured on personnel and vehicles, so as to determine the running position points of the vehicles and the personnel. In the method, if the base stations are densely distributed, uninterrupted sensing of signals can be realized, and continuous positioning information can be output in real time
However, in practical application, the measurement error of the positioning mode is larger, although the theoretical error of the wireless induction system of the UWB can be controlled to be about 30cm, the measurement error is enlarged and the maximum error is in meter level due to the influence of factors such as external environment interference, vehicle running speed change, obstacle shielding and the like. Therefore, the positioning measurement method in the related art cannot meet the application requirements of intelligent development of the mine.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the above-mentioned technical problems.
To this end, a first object of the present application is to propose an automatic positioning method under a mine based on total stations. According to the method, the total station is used for automatic station setting, automatic measurement and automatic output of measurement information, intelligent and automatic control of the total station is completed, automatic positioning of a mine is realized, and accuracy of the output positioning information is improved.
A second object of the present application is to propose an automatic positioning system under a mine based on total station.
A third object of the present application is to propose a non-transitory computer readable storage medium.
To achieve the above object, an embodiment of a first aspect of the present application provides an automatic positioning method under a mine based on a total station, the method including:
determining initial position information of a total station by ultra wideband UWB positioning, and determining two known control points nearest to the initial position of the total station;
acquiring the position information of the two known control points, controlling the total station to carry out rear intersection based on the position information of the two known control points, and calculating the reference position information of the total station according to the measurement data acquired by the total station for the rear intersection so as to realize automatic station setting of the total station;
Controlling the total station to search for a target to be positioned, controlling the total station to track the target to be positioned in real time, and measuring positioning information of the target to be positioned;
transmitting the positioning information to the target to be positioned through a preset first communication mode.
In addition, the automatic positioning method under the mine based on the total station provided by the embodiment of the application has the following additional technical characteristics:
optionally, in some embodiments, the known control points include a prism disposed on a rotating base, and the controlling the total station to make a rear intersection based on the position information of the two known control points includes: determining a target measurement base point of the total station through computer vision, and adjusting the position of the total station to the target measurement base point; controlling an leveling base of the total station, and adjusting the total station to be in a horizontal leveling state; judging the direction of the known control point through computer vision, determining the direction to be detected, and controlling the laser transmitting end of the total station to point to the direction to be detected; sending an adjustment instruction to each known control point through a preset second communication mode, and controlling the corresponding rotating base to rotate according to the adjustment instruction so as to adjust the azimuth angle of each known control point; controlling the total station to start an automatic target recognition ATR mode or a super search mode to measure the two known control points.
Optionally, in some embodiments, each of the known control points includes a bluetooth communication module, and the sending, by a preset second communication manner, an adjustment instruction to each of the known control points includes: controlling the Bluetooth communication mode of each known control point to be in a passive searching state; searching a Bluetooth communication module to be matched, establishing a communication channel with each known control point, and sending an adjustment instruction to the corresponding known control point through the communication channel; the transmitting the positioning information to the target to be positioned through a preset first communication mode includes: and the positioning information is wirelessly transmitted to the target to be positioned through a radio station.
Optionally, in some embodiments, the method further comprises: supplying power to the rotating base of the known control point by an external power source; supplying power to the data transmission module of the target to be positioned through a battery or an external power supply; and determining a mode for supplying power to the total station and the leveling base according to the moving frequency of the total station.
Optionally, in some embodiments, determining a manner of powering the total station and the leveling base according to a frequency of movement of the total station includes: judging whether the moving frequency of the total station is larger than a preset frequency threshold value or not; under the condition that the moving frequency is smaller than or equal to the frequency threshold value, the total station and the leveling base are powered by an external power supply; and under the condition that the moving frequency is larger than the frequency threshold value, the total station and the leveling base are powered by an external battery.
Optionally, in some embodiments, the positioning information includes: and the horizontal distance, the inclined distance and the azimuth angle of the target to be positioned relative to the total station, and the east coordinate, the north coordinate and the sky coordinate of the target to be positioned under a geodetic coordinate system.
To achieve the above object, a second aspect of the present invention provides an automatic positioning system under a mine based on a total station, including:
the determining module is used for determining the preliminary position information of the total station through ultra wideband UWB positioning and determining two known control points nearest to the preliminary position of the total station;
the first measuring module is used for acquiring the position information of the two known control points, controlling the total station to carry out rear intersection based on the position information of the two known control points, and calculating the reference position information of the total station according to the measurement data acquired by the total station for carrying out the rear intersection so as to realize automatic station setting of the total station;
the second measuring module is used for controlling the total station to search for a target to be positioned, controlling the total station to track the target to be positioned in real time and measuring positioning information of the target to be positioned;
And the transmission module is used for transmitting the positioning information to the target to be positioned through a preset first communication mode.
Optionally, in some embodiments, the first measurement module is specifically configured to: determining a target measurement base point of the total station through computer vision, and adjusting the position of the total station to the target measurement base point; controlling an leveling base of the total station, and adjusting the total station to be in a horizontal leveling state; judging the direction of the known control point through computer vision, determining the direction to be detected, and controlling the laser transmitting end of the total station to point to the direction to be detected; sending an adjustment instruction to each known control point through a preset second communication mode, and controlling the corresponding rotating base to rotate according to the adjustment instruction so as to adjust the azimuth angle of each known control point; controlling the total station to start an automatic target recognition ATR mode or a super search mode to measure the two known control points.
Optionally, in some embodiments, the first measurement module is further configured to: controlling the Bluetooth communication mode of each known control point to be in a passive searching state; searching a Bluetooth communication module to be matched, establishing a communication channel with each known control point, and sending an adjustment instruction to the corresponding known control point through the communication channel; the transmission module is specifically configured to: and the positioning information is wirelessly transmitted to the target to be positioned through a radio station.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects: according to the application, the total station is used for carrying out automatic station setting, automatic measurement and automatic output of measurement information, so that the intelligent and automatic control of the total station is completed, the total station can output accurate positioning information in real time, the automatic positioning of a mine is realized, and the accuracy of the output positioning information is improved. In addition, because the accurate and intelligent positioning technology under the mine is the basis for realizing the construction of the intelligent and unmanned mine, the accurate geographic position information determined by the automatic positioning method based on the total station is convenient for underground mining and design planning of the mine, the mining rate of the mine is effectively improved, the automatic layout level of the mine is improved, the labor cost of the mine can be reduced, the working efficiency can be improved, the accident occurrence of a plurality of dangerous industrial types is avoided, and the safety of personnel is ensured.
An embodiment of a third aspect of the present application provides a non-transitory computer readable storage medium storing computer instructions, where the computer instructions are configured to cause the computer to execute the method for automatic positioning under a mine based on a total station disclosed in the embodiment of the present application.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic flow chart of an automatic positioning method under a mine based on a total station according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for automatically setting up a total station according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a specific method for transmitting data under a mine based on a total station according to an embodiment of the present application;
fig. 4 is a flow chart of another specific method for transmitting data under a mine based on a total station according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an automatic positioning system under a mine based on a total station according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The total station, namely the total station type electronic distance meter (Electronic Total Station), is mapping equipment capable of measuring various angles, distances, height differences and other information, comprises a gyro type and a non-gyro type, is used as a measuring device for long-term application of a coal mine, and is an effective measuring way under the underground GPS-free mode. However, at present, the total station is mainly manually operated, the output of measurement information is completed in a manual or semi-automatic mode, the automation and the intelligent degree are low, and the accurate positioning information cannot be output in real time.
Therefore, the application provides the underground automatic positioning method and system based on the total station, which realize automatic station setting, automatic measurement and automatic measurement information output of the total station, and based on the automatic station setting, the accurate automatic positioning under the mine is realized, the underground mining and design planning of the coal mine are convenient, and the mining rate of the coal mine is effectively improved.
The following describes an automatic positioning method and system under a mine based on total stations according to an embodiment of the present application with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of an automatic positioning method under a mine based on a total station according to an embodiment of the present application, as shown in fig. 1, the system includes the following steps:
Step S101, determining preliminary position information of the total station through ultra wideband UWB positioning, and determining two known control points nearest to the preliminary position of the total station.
The Ultra Wideband (UWB) is a wireless carrier communication technology, and the positioning can be performed through UWB ranging, and the preliminary position information of the total station is the position information of the total station obtained when the total station is preliminarily positioned through UWB positioning technology.
The underground positioning function based on the total station needs to acquire accurate coordinate position information of the total station through known control points, and then positions the target to be positioned according to the coordinate position information of the total station and the acquired data when the target to be positioned is measured. The known control point is a preset reference point for determining accurate coordinate position information of the control point, and according to the position information of the known control point as a reference, the accurate coordinate position information of the total station can be calculated through measurement.
It should be further noted that, in one embodiment of the present application, the acquisition of the coordinate position information of the total station may be accomplished by the following three modes. As a first example, information of two or more control points is known, and the total station calculates total station position information by measuring the known control point information by a rearview prism method, respectively. As a first example, two known control point information is acquired, the total station is fixed to one of the control points, and geographical position information of the total station is acquired by means of a rearview prism. As a third example, information of one control point and information of an angle of the total station with the control point are known, thereby solving position information of the total station. However, since the position of the total station may be in an untimely moving state when the total station is fully automatically set in actual operation, it cannot be ensured that the total station is fixed at a known control point therein, and thus, the total station is automatically set by the above-described first example.
In specific implementation, after the position information of the total station is preliminarily determined by the UWB positioning method, two known control points closest to the preliminarily determined total station can be determined by different methods, wherein the two closest known control points are two known control points located at the first position and the second position after the distances between all the known control points and the total station are sequenced from small to large, namely the two known control points closest to the total station and the second known control points.
As a possible implementation manner, the position information of all known control points pre-stored in the database can be read, and the information of two known control points closest to the total station can be retrieved by combining the preliminary position information of the total station. As another possible implementation manner, since the control point information corresponds to the UWB base stations one by one, the base station closest to the preliminary location information of the total station may be determined by the UWB positioning manner, so as to determine the control point information closest to the total station.
Therefore, the nearest known control point is determined through a rough search mode, and the reference is convenient for the subsequent back intersection.
Step S102, position information of two known control points is acquired, the total station is controlled to carry out rear intersection based on the position information of the two known control points, and the reference position information of the total station is calculated according to measurement data acquired by the total station carrying out rear intersection, so that automatic station setting of the total station is realized.
The rear intersection means that a station is arranged on the to-be-fixed point only, a horizontal included angle is observed for two known control points, and therefore the coordinate of the to-be-fixed point is calculated according to the horizontal included angle and the coordinate information of the two known control points. Measurement data acquired by the back intersection comprises information which can locate the measurement mechanism, such as the distance between the total station and a known control point, the angle information between the total station and the known control point and the like.
The reference position information of the total station, namely the current accurate position information of the total station, comprises an eastern coordinate, a northbound coordinate and an astronomical coordinate of the total station under a geodetic coordinate system. The east coordinate E corresponds to the y-axis coordinate in the three-dimensional rectangular coordinate, the north coordinate corresponds to the x-axis coordinate in the three-dimensional rectangular coordinate, and the zenith coordinate is the zenith coordinate, namely the elevation data of the total station. This information pertains to absolute position information relative to the geodetic coordinate system.
In the implementation, firstly, the position information of the two determined known control points is acquired, as a possible implementation manner, the information of all the control points to be tested of the whole underground roadway is stored in a database in advance, when the corresponding control point information needs to be called, the related information of the two known control points can be searched in the database through the corresponding identifiers of the two known control points, and the position information in the related information is called.
Further, the back intersection is performed according to position information such as coordinates of two known control points. In order to more clearly illustrate the application, the rear intersection is performed, the reference position information of the total station is calculated, the specific implementation process of automatic station setting of the total station is realized, and the embodiment of the method for automatically setting the total station of the specific total station provided by the application is used for detailed description.
FIG. 2 is a flow chart of a method for automatically setting up a total station according to an embodiment of the present application, as shown in FIG. 2, the method includes the following steps
Step S201, determining a target measurement base point of the total station through computer vision, and adjusting the position of the total station to the target measurement base point.
Specifically, in this embodiment, video information or image information of the total station and the known control points may be collected by a preset camera, and the known control points are identified and calculated by computer vision according to the collected information, so as to determine an optimal measurement base point, that is, a target measurement base point, where the measurement base point may be a base point that is more convenient to measure, such as a wider measurement range, a closer measurement distance, and the like. And then, the position of the total station is moved to a target measurement base point, so that the total station can more accurately finish rear intersection.
And step S202, controlling an leveling base of the total station, and adjusting the total station to be in a horizontal leveling state.
Specifically, in the process of the total station performing the rear intersection, in order to ensure the accuracy of the measurement data, the total station should be in a horizontal leveling state. In the step, the horizontal state of the total station can be adjusted by controlling the lifting of the leveling base, so that the adjustment of the horizontal state position of the total station under the condition of automatic unmanned intervention is realized.
As one implementation, the automatic leveling base is used for leveling horizontal bubbles of the total station in real time, the automatic leveling base of the total station can be controlled, and the horizontal bubbles of the total station are adjusted to be in the opening range of the compensator.
Step S203, the direction in which the known control point is located is judged through computer vision, the direction to be measured is determined, and the laser emitting end of the total station is controlled to point to the direction to be measured.
Specifically, according to the information of the known control point collected by the camera, the direction of the known control point is judged through computer vision, and then the direction of the known control point relative to the total station is calculated by combining the direction of the total station, and the relative direction is taken as the direction to be measured. Then, the laser emission end of the total station is directed to the direction to be measured by controlling the total station to rotate by a corresponding angle.
Step S204, sending an adjustment command to each known control point through a preset second communication mode, and controlling the corresponding rotating base to rotate according to the adjustment command so as to adjust the azimuth angle of each known control point.
In this embodiment, the known control points may be prisms disposed on a rotating base, through which the laser light emitted from the total station may be reflected for measurement, and the rotating base may be used to adjust the angle at which the prisms face, i.e., an indexing mechanism is disposed for each known control point, and the angle of the indexing mechanism is rotatable. The second communication mode can be Bluetooth communication, a Bluetooth communication module is arranged on the known control point in advance, and data interaction with the known control point is completed through the Bluetooth communication mode.
In specific implementation, as a possible implementation manner, the bluetooth communication mode of each known control point may be controlled to be in a passive searching state, then a bluetooth communication module to be matched is searched, a communication channel with each known control point is established, and an adjustment instruction is sent to the corresponding known control point through the communication channel. In this example, according to the angle at which two known control points are located, a corresponding instruction is sent to each known control point, then the known control point changes the rotation angle of the indexing mechanism according to the received corresponding PWM pulse signal, and by sequentially adjusting the position state of the rotating base, the azimuth angle of each known control point, that is, the angle of the known control point relative to the total station is changed.
In step S205, the total station is controlled to start an automatic target recognition ATR mode or super search mode to measure two known control points.
The automatic target recognition (Automatic Target Recognition, abbreviated as ATR) mode is an automatic search mode under a planned path or a mode for searching a specific path by setting horizontal and vertical angles of points in advance through a program.
In this step, the total station is controlled to search and measure two known control points in the ATR mode or super search mode, and the rear intersection is performed, and by adjusting the measurement position, the leveling state and the laser port pointing direction of the total station and adjusting the prism angle in the above steps, the accuracy and the success rate of the rear intersection can be improved.
And S206, calculating the current reference position information of the total station through a preset algorithm.
Specifically, according to measurement data fed back by the total station and acquired by rear intersection, resolving and analyzing are performed through a corresponding algorithm, so that the current position reference of the total station is calculated.
The reference position information, that is, absolute position information of the total station relative to the geodetic coordinate system, includes an eastern coordinate, a north coordinate and an heaven coordinate in the geodetic coordinate system.
Therefore, the application controls the total station to carry out rear intersection according to the position information of the two known control points, obtains more accurate measurement data through the adjustment operation of the total station and the reference prism, further calculates the reference position information of the total station, realizes automatic station setting of the total station according to the position reference, and is convenient for subsequent positioning of a target object.
Step S103, controlling the total station to search for the target to be positioned, controlling the total station to track the target to be positioned in real time, and measuring positioning information of the target to be positioned.
The target to be positioned may be a downhole working device such as a prism, a mining device, etc., or may be various target objects to be positioned such as a worker, etc., which is not limited herein.
Specifically, after determining a target to be positioned according to actual positioning requirements, controlling the total station to search the target to be positioned, performing target locking and tracking after searching is successful, starting a data measurement mode, measuring related information of the target to be positioned in a laser measurement mode, namely measuring position information of the target to be positioned equivalent to the total station, and further calculating by combining the relative position information and reference position information of the total station, or directly acquiring measurement results and other modes to determine the positioning information of the target to be positioned.
In one embodiment of the present application, the positioning information of the target to be positioned includes: and the horizontal distance, the inclined distance and the azimuth angle of the target to be positioned relative to the total station are information such as the east coordinate, the north coordinate, the sky coordinate and the like of the target to be positioned under the geodetic coordinate system. For example, the information such as the flat distance and the inclined distance of the target to be positioned relative to the total station can be directly measured, and the coordinate information of the target to be positioned under the geodetic coordinate system can be calculated by combining the measurement result and the reference position information of the total station.
It should be noted that, in some embodiments, in order to ensure accuracy of measurement positioning information, a target to be positioned may be searched visually, and an azimuth angle of the total station, that is, an angle of the total station relative to the target to be positioned may be adjusted, and a specific implementation manner may refer to an adjustment method in the foregoing embodiments when automatic station setting is performed, so that an implementation principle is similar and will not be repeated herein.
Step S104, transmitting the positioning information to the target to be positioned through a preset first communication mode.
The first communication method may be various wireless communication methods with fast transmission speed and Long transmission distance, for example, long Range Radio (Long Range Radio) communication methods in the low power wide area network LPWAN, and for example, a method of performing wireless communication through a Radio station.
In the embodiment of the present application, the positioning information acquired in step S103 may be wirelessly transmitted to the target to be positioned by the radio station. Specifically, data transmission with the target to be positioned can be completed in a radio station mode, and positioning information is transmitted to a data transmission module on the target to be positioned through the radio station, so that the target to be positioned can acquire own position information in real time. The transmission mode can improve the response speed of data transmission, is favorable for enlarging the transmission distance, has stronger anti-interference capability, can reduce the influence of factors such as obstacles in practical application, and improves the data transmission efficiency.
It will be appreciated that in practical applications, when the automatic positioning of the mine is achieved by each measuring device, power needs to be supplied to each measuring device to achieve the above functions. In one embodiment of the application, the power supply can be performed on each device in the whole measurement system through different power supply modes according to the specific situation of each device.
As a possible implementation, the rotating base of the known control point may be powered by an external power source, and the data transmission module of the object to be positioned may be powered by a battery or an external power source. The method for supplying power to the total station and the leveling base can be further determined according to the moving frequency of the total station, and when the method is implemented, whether the moving frequency of the total station is larger than a preset frequency threshold value or not can be judged.
Specifically, the driving module of the known control point adopts an external power supply to complete power supply, the power supply of the data transmission module of the target to be positioned is completed through a battery or an external power supply, the measuring device of the positioning system can comprise the total station, the leveling device, a camera and other equipment, and can be completed through the battery or the external power supply, when the moving frequency of the core module in the underground positioning system based on the total station is not high, the external power supply is adopted to supply power, so that the positioning cost is reduced, and when the core module in the underground positioning system based on the total station frequently moves and the system is required to output positioning information in real time, the external battery is required to be configured to complete work, and the wireless charging device is configured in a specific area, so that the long-voyage operation of the positioning system is realized.
Therefore, the method can guide the construction of the mine positioning system with precision, provides a reliable basis for realizing intelligent and unmanned mine construction, and meets the common application requirements of the current mine.
In summary, according to the automatic positioning method under the mine based on the total station, the total station is controlled to automatically set up, automatically measure and automatically output measurement information, intelligent and automatic control of the total station is completed, the total station can output accurate positioning information in real time, automatic positioning of the mine is achieved, and accuracy of the output positioning information is improved. In addition, because the accurate and intelligent positioning technology under the mine is the basis for realizing the construction of the intelligent and unmanned mine, the accurate geographic position information determined by the automatic positioning method based on the total station is convenient for underground mining and design planning of the mine, the mining rate of the mine is effectively improved, the automatic layout level of the mine is improved, the labor cost of the mine can be reduced, the working efficiency can be improved, the accident occurrence of a plurality of dangerous industrial types is avoided, and the safety of personnel is ensured.
In order to more clearly describe the specific implementation process of the automatic positioning method under the mine based on the total station, a specific embodiment is described in detail below.
In this embodiment, each device in the mine positioning system is preset, including a total station, a prism, a camera, an automatic leveling base, a controller, a rotating base, a wireless communication module, a track and an external battery.
The total station is used for measuring data and outputting real-time positioning information.
The prism is used for the measured target of the control reference and the positioning information output of the total station.
The camera is used for collecting state information of the target datum point.
The automatic leveling base is used for leveling horizontal bubbles of the total station in real time.
The controller is used for resolving and analyzing data in real time and transmitting control instructions to each device. In this embodiment, the controller may be provided on the total station.
The rotating base is used for controlling the angle of the reference prism.
The wireless communication module is used for real-time transmission of data.
The track is used for the running track route of the total station.
The external battery is used for increasing the working time of the total station.
When the automatic station setting device specifically operates, automatic station setting of the total station is finished first. Firstly, judging the current position state of the total station, and searching the nearest known control point information in the database, including the number of the known control point and the corresponding position information. And then the main controller controls the retrieved rotating base with the known control point, and the position state of the rotating base is sequentially adjusted by a command sending mode. And then the main controller controls the total station to automatically level the base, and the horizontal bubble of the total station is adjusted to be in the opening range of the compensator. And then the master controller controls the total station to start an ATR mode or a super search mode. And recording data acquired by the known control point information measured by the total station by the master controller, wherein the data comprise east, north and sky information based on a geodetic coordinate system. And then the main controller is used for calculating the measurement result data of the total station and outputting the absolute position information of the total station relative to the geodetic coordinate system. And then the master controller controls the total station to search the measured target, and after the searching is successful, the target locking and tracking are carried out, the data measurement mode is started, and the measured data information is fed back to the measured target in time. The measurement data information includes: straight distance, inclined distance, angle, coordinate information, etc.
In this embodiment, the communication mode of the downhole positioning system based on the total station may include multiple modes, such as wired and wireless, that is, data transmission may be implemented through bluetooth, serial port, optical fiber, radio station, WLAN, etc., and specifically may be configured according to practical application requirements.
As a first example, the main controller may complete data interaction with the known control point through bluetooth communication according to the method shown in fig. 3. The method comprises the following steps:
in step S301, the main controller retrieves known control point information.
In this step, the controller searches the database for information of the current known control point, including information such as identification of the bluetooth module of the known control point.
Step S302, binding the address of the bluetooth module of the first known control point and initiating the first connection request, and binding the address of the bluetooth module of the second known control point and initiating the second connection request.
In this step, the bluetooth modules of the two nearest known control points determined in the above embodiments are respectively bound by a bluetooth connection program, and a connection request is sent to the corresponding bluetooth modules to establish a connection. Specifically, the bluetooth module N-A of the first known control point is bound, and A first connection request for establishing A connection is sent to the N-A, and the bluetooth module N-B of the second known control point is bound, and A second connection request for establishing A connection is sent to the N-B.
It should be noted that the sequence of binding the addresses of the bluetooth modules of two known control points and initiating the connection request may be performed simultaneously.
Step S303, issuing a control instruction to the corresponding indexing mechanism.
In this step, the master controller determines the angle adjustment ranges of the two known control points according to the current angles of the two known control points, so as to generate corresponding adjustment instructions, and then sends the corresponding instructions to each known control point through the established bluetooth connection. The indexing mechanisms of the two known control points rotate by corresponding angles according to the received corresponding control instructions so as to change the rotation angles of the indexing mechanisms and facilitate the subsequent data acquisition.
As a second example, the data interaction with the target to be located by the host controller through the station communication manner may be implemented according to the method shown in fig. 4. The method comprises the following steps:
in step S401, information of the target to be located is monitored.
Step S402, performing identification interaction with the target to be positioned, and locking the target to be positioned.
Step S403, the information of the target to be positioned is collected and transmitted back to the rear main controller.
Step S404, transmitting the positioning information to the target to be positioned through the radio station.
In this example, various types of wireless units configured in the positioning system can monitor the information of the current measured object through transmission information, after the controller completes the identification interaction and performs locking, measurement and positioning are performed by the method in the above embodiment, and the controller transmits the generated positioning information to the current measured object through a radio station. The implementation manner of powering each device may refer to the related description in the foregoing embodiments, which is not repeated herein.
Thus, in the present embodiment, wireless data transmission in the mine positioning system can be achieved through the above two examples.
In order to realize the embodiment, the application further provides an automatic positioning system under the mine based on the total station. Fig. 5 is a schematic structural diagram of an automatic positioning system under a mine based on a total station according to an embodiment of the present application. As shown in fig. 5, the system includes: the system comprises a determining module 100, a first measuring module 200, a second measuring module 300 and a transmitting module 400.
The determining module 100 is configured to determine preliminary location information of the total station through ultra wideband UWB positioning, and determine two known control points nearest to the preliminary location of the total station.
The first measurement module 200 is configured to obtain position information of two known control points, control the total station to perform a rear intersection based on the position information of the two known control points, and calculate reference position information of the total station according to measurement data obtained by the total station performing the rear intersection, so as to realize automatic station setting of the total station.
The second measurement module 300 is configured to control the total station to search for the target to be positioned, control the total station to track the target to be positioned in real time, and measure positioning information of the target to be positioned.
The transmission module 400 is configured to transmit positioning information to a target to be positioned through a preset first communication mode.
Optionally, in some embodiments, the first measurement module 200 is specifically configured to: determining a target measurement base point of the total station by computer vision, and adjusting the position of the total station to the target measurement base point; controlling an leveling base of the total station, and adjusting the total station to be in a horizontal leveling state; judging the direction of the known control point through computer vision, determining the direction to be measured, and controlling the laser transmitting end of the total station to point to the direction to be measured; sending an adjustment instruction to each known control point through a preset second communication mode, and controlling the corresponding rotating base to rotate according to the adjustment instruction so as to adjust the azimuth angle of each known control point; the total station is controlled to initiate an automatic target recognition ATR mode or a super search mode to measure two known control points.
Optionally, in some embodiments, the first measurement module 200 is further configured to: controlling the Bluetooth communication mode of each known control point to be in a passive searching state; searching a Bluetooth communication module to be matched, establishing a communication channel with each known control point, and sending an adjustment instruction to the corresponding known control point through the communication channel; the transmission module 400 is specifically configured to wirelessly transmit the positioning information to the target to be positioned through the radio station.
Optionally, in some embodiments, the system further comprises a power module 500 for powering the rotating base of the known control point by an external power source; supplying power to a data transmission module of a target to be positioned through a battery or an external power supply; and determining a mode for supplying power to the total station and the leveling base according to the moving frequency of the total station.
Optionally, in some embodiments, the power supply module 500 is specifically configured to determine whether the movement frequency of the total station is greater than a preset frequency threshold; under the condition that the moving frequency is smaller than or equal to a frequency threshold value, the total station and the leveling base are powered by an external power supply; and under the condition that the moving frequency is larger than the frequency threshold value, the total station and the leveling base are powered by the external battery.
Optionally, in some embodiments, the positioning information includes: the horizontal distance, the inclined distance and the azimuth angle of the target to be positioned relative to the total station, and the east coordinate, the north coordinate and the sky coordinate of the target to be positioned under the geodetic coordinate system.
In summary, the automatic positioning system under the mine based on the total station controls the total station to automatically set up, automatically measure and automatically output measurement information, so that the intelligent and automatic control of the total station is completed, the total station can output accurate positioning information in real time, the automatic positioning of the mine is realized, and the accuracy of the output positioning information is improved.
To achieve the above embodiments, the present application also proposes a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the total station-based method for automatic positioning under a mine of any one of the above embodiments.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (8)
1. An automatic positioning method under a mine based on a total station is characterized by comprising the following steps:
determining initial position information of a total station by ultra wideband UWB positioning, and determining two known control points nearest to the initial position of the total station, wherein the known control points are prisms arranged on a rotating base;
acquiring the position information of the two known control points, controlling the total station to perform rear intersection based on the position information of the two known control points, and calculating the reference position information of the total station according to the measurement data acquired by the total station in the rear intersection so as to realize automatic station setting of the total station, wherein the controlling the total station to perform rear intersection based on the position information of the two known control points comprises the following steps: determining a target measurement base point of the total station through computer vision, and adjusting the position of the total station to the target measurement base point; controlling an leveling base of the total station, and adjusting the total station to be in a horizontal leveling state; judging the direction of the known control point through computer vision, determining the direction to be detected, and controlling the laser transmitting end of the total station to point to the direction to be detected; sending an adjustment instruction to each known control point through a preset second communication mode, and controlling the corresponding rotating base to rotate according to the adjustment instruction so as to adjust the azimuth angle of each known control point; controlling the total station to start an Automatic Target Recognition (ATR) mode or a super search mode to measure the two known control points;
Controlling the total station to search for a target to be positioned, controlling the total station to track the target to be positioned in real time, and measuring positioning information of the target to be positioned;
transmitting the positioning information to the target to be positioned through a preset first communication mode.
2. The method of claim 1, wherein each of the known control points includes a bluetooth communication module, and wherein the sending the adjustment command to each of the known control points through the preset second communication manner includes:
controlling the Bluetooth communication mode of each known control point to be in a passive searching state;
searching a Bluetooth communication module to be matched, establishing a communication channel with each known control point, and sending an adjustment instruction to the corresponding known control point through the communication channel;
the transmitting the positioning information to the target to be positioned through a preset first communication mode includes:
and the positioning information is wirelessly transmitted to the target to be positioned through a radio station.
3. The method as recited in claim 1, further comprising:
supplying power to the rotating base of the known control point by an external power source;
supplying power to the data transmission module of the target to be positioned through a battery or an external power supply;
And determining a mode for supplying power to the total station and the leveling base according to the moving frequency of the total station.
4. A method according to claim 3, wherein said determining the manner in which power is supplied to the total station and the leveling base in accordance with the frequency of movement of the total station comprises:
judging whether the moving frequency of the total station is larger than a preset frequency threshold value or not;
under the condition that the moving frequency is smaller than or equal to the frequency threshold value, the total station and the leveling base are powered by an external power supply;
and under the condition that the moving frequency is larger than the frequency threshold value, the total station and the leveling base are powered by an external battery.
5. The method of claim 1, wherein the positioning information comprises: and the horizontal distance, the inclined distance and the azimuth angle of the target to be positioned relative to the total station, and the east coordinate, the north coordinate and the sky coordinate of the target to be positioned under a geodetic coordinate system.
6. An automatic positioning system under mine based on total powerstation, characterized by comprising:
the determining module is used for determining the preliminary position information of the total station through ultra wideband UWB positioning and determining two known control points closest to the preliminary position of the total station, wherein the known control points are prisms arranged on the rotating base;
The first measurement module is configured to obtain position information of the two known control points, control the total station to perform a rear intersection based on the position information of the two known control points, and calculate reference position information of the total station according to measurement data obtained by the total station in the rear intersection, so as to realize automatic station setting of the total station, where the controlling the total station to perform the rear intersection based on the position information of the two known control points includes: determining a target measurement base point of the total station through computer vision, and adjusting the position of the total station to the target measurement base point; controlling an leveling base of the total station, and adjusting the total station to be in a horizontal leveling state; judging the direction of the known control point through computer vision, determining the direction to be detected, and controlling the laser transmitting end of the total station to point to the direction to be detected; sending an adjustment instruction to each known control point through a preset second communication mode, and controlling the corresponding rotating base to rotate according to the adjustment instruction so as to adjust the azimuth angle of each known control point; controlling the total station to start an Automatic Target Recognition (ATR) mode or a super search mode to measure the two known control points;
The second measuring module is used for controlling the total station to search for a target to be positioned, controlling the total station to track the target to be positioned in real time and measuring positioning information of the target to be positioned;
and the transmission module is used for transmitting the positioning information to the target to be positioned through a preset first communication mode.
7. The system of claim 6, wherein the first measurement module is further configured to:
controlling the Bluetooth communication mode of each known control point to be in a passive searching state;
searching a Bluetooth communication module to be matched, establishing a communication channel with each known control point, and sending an adjustment instruction to the corresponding known control point through the communication channel;
the transmission module is specifically configured to:
and the positioning information is wirelessly transmitted to the target to be positioned through a radio station.
8. A non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the total station-based method of downhole automatic positioning according to any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210007114.3A CN114485616B (en) | 2022-01-05 | 2022-01-05 | Automatic positioning method and system under mine based on total station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210007114.3A CN114485616B (en) | 2022-01-05 | 2022-01-05 | Automatic positioning method and system under mine based on total station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114485616A CN114485616A (en) | 2022-05-13 |
| CN114485616B true CN114485616B (en) | 2023-10-17 |
Family
ID=81509238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210007114.3A Active CN114485616B (en) | 2022-01-05 | 2022-01-05 | Automatic positioning method and system under mine based on total station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114485616B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107101578A (en) * | 2017-04-26 | 2017-08-29 | 长沙迪迈数码科技股份有限公司 | A kind of underground measuring point coordinate measuring method |
| WO2018219062A1 (en) * | 2017-05-31 | 2018-12-06 | 中国矿业大学 | Method for detecting absolute pose of mining machine |
| CN109163714A (en) * | 2018-09-28 | 2019-01-08 | 宁波广天建通工程管理有限公司 | Measurement and positioning coordinate transformation device and its construction method under MODEL OVER COMPLEX TOPOGRAPHY |
| CN110847905A (en) * | 2019-12-10 | 2020-02-28 | 中国矿业大学(北京) | Autonomous navigation system and method for coal mining machine |
| CN111044042A (en) * | 2020-01-03 | 2020-04-21 | 中国船舶重工集团公司第七0七研究所 | Heading machine positioning navigation system and method based on gyroscopic total station and inertial navigation equipment |
| EP3708952A1 (en) * | 2019-03-14 | 2020-09-16 | Leica Geosystems AG | System used for improving automatic control of machine operations of construction site machinery |
| CN111854712A (en) * | 2020-07-29 | 2020-10-30 | 北京龙软科技股份有限公司 | Method for automatically measuring coordinates of target point of fully mechanized coal mining face and measuring robot system |
| CN113219505A (en) * | 2021-04-30 | 2021-08-06 | 阿波罗智联(北京)科技有限公司 | Method, device and equipment for acquiring GPS coordinates for vehicle-road cooperative tunnel scene |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017012010A1 (en) * | 2017-12-22 | 2019-06-27 | Wirtgen Gmbh | Self-propelled construction machine and method for controlling a self-propelled construction machine |
-
2022
- 2022-01-05 CN CN202210007114.3A patent/CN114485616B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107101578A (en) * | 2017-04-26 | 2017-08-29 | 长沙迪迈数码科技股份有限公司 | A kind of underground measuring point coordinate measuring method |
| WO2018219062A1 (en) * | 2017-05-31 | 2018-12-06 | 中国矿业大学 | Method for detecting absolute pose of mining machine |
| CN109163714A (en) * | 2018-09-28 | 2019-01-08 | 宁波广天建通工程管理有限公司 | Measurement and positioning coordinate transformation device and its construction method under MODEL OVER COMPLEX TOPOGRAPHY |
| EP3708952A1 (en) * | 2019-03-14 | 2020-09-16 | Leica Geosystems AG | System used for improving automatic control of machine operations of construction site machinery |
| CN110847905A (en) * | 2019-12-10 | 2020-02-28 | 中国矿业大学(北京) | Autonomous navigation system and method for coal mining machine |
| CN111044042A (en) * | 2020-01-03 | 2020-04-21 | 中国船舶重工集团公司第七0七研究所 | Heading machine positioning navigation system and method based on gyroscopic total station and inertial navigation equipment |
| CN111854712A (en) * | 2020-07-29 | 2020-10-30 | 北京龙软科技股份有限公司 | Method for automatically measuring coordinates of target point of fully mechanized coal mining face and measuring robot system |
| CN113219505A (en) * | 2021-04-30 | 2021-08-06 | 阿波罗智联(北京)科技有限公司 | Method, device and equipment for acquiring GPS coordinates for vehicle-road cooperative tunnel scene |
Non-Patent Citations (2)
| Title |
|---|
| 冉辉 ; .全站仪后方交会测量法在复杂开采条件下的应用.采矿技术.2015,(第03期),全文. * |
| 马源 ; 符世琛 ; 张子悦 ; 王东杰 ; .悬臂式掘进机位姿检测方法研究现状.工矿自动化.2020,(第08期),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114485616A (en) | 2022-05-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110009761B (en) | Automatic routing inspection path planning method and system for intelligent equipment | |
| US10509412B2 (en) | Movable body control system | |
| WO2020187134A1 (en) | Method and device for enabling mobile robot to return for charging, mobile robot, system and storage medium | |
| CN101133216A (en) | Method and apparatus for machine element control | |
| CN107631718B (en) | TM 30-based intelligent robot monitoring system and method | |
| CN111854712B (en) | Method for automatically measuring coordinates of target point of fully mechanized coal mining face and measuring robot system | |
| CN112378390A (en) | Fully-mechanized coal mining face measuring robot device and automatic measuring system | |
| CN107765683A (en) | Instant navigation method of mobile robot | |
| CN111090284B (en) | Method for returning self-walking equipment to base station and self-walking equipment | |
| CN111121735A (en) | Tunnel, subway and mine excavation tunneling autonomous positioning and orienting system and method | |
| CN108646750B (en) | Portable factory AGV following method based on UWB non-base station | |
| CN113758482B (en) | Vehicle navigation positioning method, device, base station, system and readable storage medium | |
| CN204883363U (en) | AGV transport robot navigation system that laser guidance map found | |
| CN114485616B (en) | Automatic positioning method and system under mine based on total station | |
| JP2021085770A (en) | Method, system and computer program for acquiring position information of mobile body | |
| CN112731934A (en) | Method for intelligent mower to quickly return to charging station based on region segmentation | |
| CN114485614B (en) | Navigation positioning system and method of mining equipment based on double total stations | |
| US20230324925A1 (en) | Underground worksite vehicle positioning control | |
| CN113848895A (en) | Long-distance safe moving and efficient detection method and device for fire surface patrol device | |
| CN114577207A (en) | Tunneling self-moving tail positioning navigation system and operation method | |
| JP2996521B2 (en) | Shield surveying method | |
| JPH0628030A (en) | Method for detecting position of mobile body | |
| CN116576831B (en) | Geological cataloging device and geological cataloging method for fully mechanized coal mining face | |
| KR102700943B1 (en) | Method of charging by providing guidance related to destination information to autonomous vehicle, and computing device using the same | |
| CN116945208B (en) | Robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |