CN117793892A - Underground engineering object positioning method and device based on position determination model - Google Patents

Underground engineering object positioning method and device based on position determination model Download PDF

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Publication number
CN117793892A
CN117793892A CN202410219686.7A CN202410219686A CN117793892A CN 117793892 A CN117793892 A CN 117793892A CN 202410219686 A CN202410219686 A CN 202410219686A CN 117793892 A CN117793892 A CN 117793892A
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China
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target
beacon
bluetooth
signal
heartbeat period
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Inventor
韩吉双
曹锋
刘学山
刘涛
潘定才
葛友铖
曾广勇
李硕
施凯健
钟建栩
连智杰
陈泓宇
张岩
张元进
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Peak and Frequency Regulation Power Generation Co of China Southern Power Grid Co Ltd
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Peak and Frequency Regulation Power Generation Co of China Southern Power Grid Co Ltd
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Priority to CN202410219686.7A priority Critical patent/CN117793892A/en
Publication of CN117793892A publication Critical patent/CN117793892A/en
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The application relates to a method, a device, a base station, a system, a computer readable storage medium and a computer program product for positioning an underground engineering object based on a position determination model. The method comprises the following steps: acquiring target beacon information corresponding to target Bluetooth beacons carried by underground engineering objects at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity; determining the position change condition of a target Bluetooth beacon in a target heartbeat period according to the Bluetooth signal strength at different signal transmission moments; determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon; and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength based on a pre-trained beacon position determining model. The method can improve the positioning accuracy in the underground engineering construction process.

Description

Underground engineering object positioning method and device based on position determination model
Technical Field
The present application relates to the field of spatial positioning technology, and in particular, to a method, an apparatus, a base station, a system, a computer readable storage medium and a computer program product for positioning an underground engineering object based on a position determination model.
Background
In the underground engineering construction process, in order to ensure the construction safety and improve the construction efficiency, a positioning technology is generally introduced to position obstacles and access personnel in a region to be constructed. The usual positioning methods include the following: underground radar, GPS (Global Positioning System ) positioning, underground patrol instrument, ground penetrating thunder and the like.
However, in the specific positioning process, the positioning method can be interfered by some factors in the underground engineering, for example, the wall of the tunnel can block or reflect the positioning signal, and the like, so that the problem of inaccurate positioning exists in the underground engineering construction process.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, apparatus, base station, system, computer-readable storage medium, and computer program product for locating an underground engineering object based on a position determination model that can improve the accuracy of the locating result.
In a first aspect, the present application provides a method for positioning an underground engineering object based on a location determination model, including:
acquiring target beacon information corresponding to target Bluetooth beacons carried by underground engineering objects at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity;
determining the position change condition of a target Bluetooth beacon in a target heartbeat period according to the Bluetooth signal strength at different signal transmission moments;
determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon;
and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength based on a pre-trained beacon position determining model.
In some embodiments, determining the position change condition of the target bluetooth beacon in the target heartbeat period according to the bluetooth signal strength at different signal transmission moments includes: determining the relative space distance between the target Bluetooth beacon and the positioning base station according to the Bluetooth signal strength at different signal transmission moments; and determining the position change condition of the target Bluetooth beacon in the target heartbeat period according to the relative spatial distances corresponding to different signal transmission moments.
In some embodiments, determining the position change condition of the target bluetooth beacon in the target heartbeat period according to the relative spatial distances corresponding to different signal sending moments includes: and integrating the relative spatial distances corresponding to different signal sending moments in the target heartbeat period according to time to obtain the position change condition of the target Bluetooth beacon in the target heartbeat period.
In some embodiments, obtaining target beacon information corresponding to a target bluetooth beacon carried by an underground engineering object at different times in a target heartbeat cycle includes: acquiring a current beacon signal sent by a target Bluetooth beacon carried by an underground engineering object; judging whether the current beacon signal is a first login signal according to the login and registration condition of the target Bluetooth beacon; if the current beacon signal is a non-first login signal, continuously acquiring the target beacon signal of different signal transmission moments in the target heartbeat period transmitted after the signal transmission moment corresponding to the current beacon signal.
In some embodiments, if the current beacon signal is a first login signal, the target bluetooth beacon is logged in; and re-acquiring the beacon signal sent by the target Bluetooth beacon as a new current beacon signal, and continuing to execute the judgment operation of the first login signal.
In some embodiments, the beacon position determination model is trained in the following manner: acquiring sample beacon information transmitted by a reference Bluetooth beacon carried by an underground engineering object at different moments in a reference heartbeat period, and positioning tags of the reference Bluetooth beacon in the reference heartbeat period; the sample beacon information comprises sample signal sending time of the Bluetooth signal and corresponding sample Bluetooth signal intensity; determining the position change condition of a reference Bluetooth beacon in a reference heartbeat period according to the Bluetooth signal strength at different sample signal transmission moments; and performing model training on a pre-constructed beacon position determination model according to the position change condition of the reference Bluetooth beacon, the sample Bluetooth signal strength and the positioning label.
In some embodiments, model training a pre-constructed beacon position determination model according to the position change condition of a reference bluetooth beacon, sample bluetooth signal strength and a positioning tag comprises: the position change condition of the reference Bluetooth beacon and the sample Bluetooth signal intensity are input into a beacon position determination model to be trained, so that position prediction data are obtained; and adjusting network parameters of the beacon position determination model to be trained according to the difference condition between the position prediction data and the positioning label.
In a second aspect, the present application further provides an underground engineering object positioning device based on a location determination model, including:
the information acquisition module is used for acquiring target beacon information corresponding to target Bluetooth beacons carried by the underground engineering object at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity;
the position change determining module is used for determining the position change condition of the target Bluetooth beacon in the target heartbeat period according to the Bluetooth signal strength at different signal transmission moments;
the direction determining module is used for determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon;
and the positioning module is used for determining a model based on the pre-trained beacon position and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength.
In a third aspect, the present application further provides a subsurface engineering object positioning base station based on the position determination model. The underground engineering object positioning base station based on the position determination model comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the following steps when executing the computer program:
Acquiring target beacon information corresponding to target Bluetooth beacons carried by underground engineering objects at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity; determining the position change condition of a target Bluetooth beacon in a target heartbeat period according to the Bluetooth signal strength at different signal transmission moments; determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon; and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength based on a pre-trained beacon position determining model.
In a fourth aspect, the present application further provides a position determination model-based underground engineering object positioning system, where at least two underground engineering object positioning base stations based on the position determination model according to the third aspect are disposed in the position determination model-based underground engineering object positioning system; the positioning areas corresponding to the adjacent positioning base stations are partially overlapped.
In a fifth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
Acquiring target beacon information corresponding to target Bluetooth beacons carried by underground engineering objects at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity; determining the position change condition of a target Bluetooth beacon in a target heartbeat period according to the Bluetooth signal strength at different signal transmission moments; determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon; and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength based on a pre-trained beacon position determining model.
In a sixth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
acquiring target beacon information corresponding to target Bluetooth beacons carried by underground engineering objects at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity; determining the position change condition of a target Bluetooth beacon in a target heartbeat period according to the Bluetooth signal strength at different signal transmission moments; determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon; and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength based on a pre-trained beacon position determining model.
According to the underground engineering object positioning method, the device, the base station, the system, the computer readable storage medium and the computer program product based on the position determination model, through acquiring the target beacon information corresponding to the target Bluetooth beacons carried by the underground engineering object at different moments in the target heartbeat period, the position change condition of the target Bluetooth beacons in the target heartbeat period is determined according to the Bluetooth signal intensity at different signal transmission moments, so that the moving direction of the underground engineering object in the target heartbeat period is determined according to the position change condition of the target Bluetooth beacons, and the underground engineering object can be positioned according to the position change condition of the target Bluetooth beacons in the target heartbeat period and the Bluetooth signal intensity based on the pre-trained beacon position determination model. According to the technical scheme, the Bluetooth signal intensities at different signal transmission moments in the same target heartbeat period are introduced to determine the position change condition, so that the position change condition can accurately reflect the position changes of the target Bluetooth beacons carried by the underground engineering objects at different moments in the limited time of the target heartbeat period, and the accuracy of the position change condition determination result is ensured. Correspondingly, the moving direction of the underground engineering object in the target heartbeat period is determined based on the position change condition of the target Bluetooth beacon carried by the underground engineering object, so that the accuracy of the moving direction determining result of the underground engineering object is improved. And the positioning of the underground engineering object is predicted through the beacon position determining model, model training aiming at different positioning base stations is not needed, and the universality of the positioning of the underground engineering object is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person having ordinary skill in the art.
FIG. 1 is a diagram of an application environment for a method of locating an underground engineered object based on a position determination model in one embodiment;
FIG. 2 is a flow diagram of a method of locating an underground engineered object based on a position determination model in one embodiment;
FIG. 3 is a flow chart of determining a change in position in one embodiment;
FIG. 4 is a flowchart illustrating steps for acquiring target beacon information in one embodiment;
FIG. 5 is a flowchart of steps for training a beacon position determination model in one embodiment;
FIG. 6 is a block diagram of an underground engineered object locating device based on a position determination model in one embodiment;
FIG. 7 is an internal block diagram of a subsurface engineering object locating base station based on a position determination model in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The underground engineering object positioning method based on the position determination model provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the target bluetooth beacon 102 is communicatively coupled to each of the set of positioning base stations 104. Wherein the target bluetooth beacon 102 is a target bluetooth beacon carried by an underground engineering object, and the positioning base station group 104 includes at least one positioning base station.
Specifically, taking any positioning base station in the positioning base station group 104 as an example, the positioning base station acquires target beacon information sent by the target bluetooth beacon 102 carried by the underground engineering object at different moments in the target heartbeat period. And the positioning base station determines the position change condition of the target Bluetooth beacon 102 in the target heartbeat period according to the Bluetooth signal strength at different signal transmission moments. The positioning base station determines the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon 102.
In an exemplary embodiment, as shown in fig. 2, there is provided a method for locating an underground engineering object based on a location determination model, which is described by taking as an example that the method is applied to any one of the locating base stations in the locating base station group 104 in fig. 1, and includes:
s202, acquiring target beacon information corresponding to target Bluetooth beacons carried by underground engineering objects at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal strength.
The underground engineering object refers to a person or equipment working in the underground engineering. A positioning base station is a device for bluetooth communication that can be used to manage and control bluetooth devices connected to the positioning base station. Bluetooth beacons are devices that can actively transmit their own bluetooth information. The target bluetooth beacon is a bluetooth beacon to be located.
The heartbeat signal refers to a Bluetooth signal sent by a target Bluetooth beacon at fixed time intervals in the running process. The heartbeat period refers to a fixed time interval existing in the period when the target bluetooth beacon transmits different heartbeat signals, and the different heartbeat signals can be heartbeat signals respectively transmitted at two adjacent moments or heartbeat signals respectively transmitted at two non-adjacent moments. The target heartbeat period is a fixed time interval in which the target bluetooth beacon transmits a heartbeat signal. The beacon information is information corresponding to the bluetooth beacon, and can be obtained by analyzing the bluetooth signal. For example, the beacon information may include, but is not limited to, a signaling time of the bluetooth signal and a corresponding bluetooth signal strength. The signal transmission time refers to the time when the target bluetooth beacon transmits a bluetooth signal. The bluetooth signal strength refers to the strength of the bluetooth signal transmitted by the target bluetooth beacon. Accordingly, the target beacon information can be understood as beacon information corresponding to the target bluetooth beacon, where the target beacon information includes signal transmission time when the target bluetooth beacon transmits a bluetooth signal and bluetooth signal intensities respectively corresponding to the target bluetooth beacon at different transmission times.
Specifically, the target bluetooth beacon carried by the underground engineering object continuously transmits the beacon information corresponding to the target bluetooth beacon, and the positioning base station continuously judges whether the target beacon information transmitted by the target bluetooth beacon is received or not. Under the condition that the positioning base station judges that the target beacon information sent by the target Bluetooth beacon is received, the positioning base station acquires the target beacon information sent by the target Bluetooth beacon at different moments in a target heartbeat period. For example, when the target bluetooth beacon transmits bluetooth signals at different signal transmission moments in a target heartbeat period, the positioning base station acquires the bluetooth signals in the target heartbeat period, and generates target beacon information including the signal transmission moments and corresponding bluetooth signal intensities at corresponding moments according to the acquired bluetooth signals.
S204, according to the Bluetooth signal strength at different signal transmission moments, determining the position change condition of the target Bluetooth beacon in the target heartbeat period.
The location change condition refers to a condition that the location of the target bluetooth beacon relative to the positioning base station changes in space.
Specifically, the positioning base station respectively determines the Bluetooth signal strength at each signal transmission time according to different signal transmission times in a target heartbeat period; and determining the position change condition of the target Bluetooth beacon in the target heartbeat period based on the Bluetooth signal intensities transmitted by the target Bluetooth beacon at different signal transmission moments in the target heartbeat period.
S206, determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon.
The moving direction refers to a direction in which the underground engineering object moves spatially relative to the positioning base station.
Specifically, the positioning base station acquires the moment when a target Bluetooth beacon is detected for the first time in a target heartbeat period; after a complete target heartbeat period is finished, the positioning base station acquires the moment when the target Bluetooth beacon is detected for the last time in the target heartbeat period; according to the two moments in the acquired target heartbeat period and the position change condition of the target Bluetooth beacon in the target heartbeat period, which is determined by the data between the two moments, the moving direction of the target Bluetooth beacon in the target heartbeat period is judged, so that the moving direction of the underground engineering object of the carrier of the target Bluetooth beacon in the target heartbeat period can be judged.
S208, positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and Bluetooth signal strength based on the pre-trained beacon position determination model.
Wherein the beacon location determination model is a neural network model for determining the location of the target bluetooth beacon. Can be obtained by combining at least one neural network model in the conventional technology, and the specific network structure of the model is not limited in the application.
Specifically, the positioning base station pre-trains a beacon position determining model, then inputs the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength into the pre-trained beacon position determining model, and the beacon position determining model can predict the positioning of the target Bluetooth beacon, so that the positioning of the underground engineering object is realized.
According to the underground engineering object positioning method based on the position determination model, the position change condition of the target Bluetooth beacon in the target heartbeat period is determined according to the Bluetooth signal intensity of the target Bluetooth beacon carried by the underground engineering object at different moments in the target heartbeat period by acquiring the target beacon information corresponding to the target Bluetooth beacon in the target heartbeat period, so that the moving direction of the underground engineering object in the target heartbeat period is determined according to the position change condition of the target Bluetooth beacon, and the underground engineering object can be positioned according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal intensity by further determining the model based on the pre-trained beacon position. According to the underground engineering object positioning method based on the position determination model, bluetooth signal intensities at different signal transmission moments in the same target heartbeat period are introduced, and the position change condition is determined, so that the position change condition can accurately reflect the position change of the target Bluetooth beacon carried by the underground engineering object at different moments in the limited period of the target heartbeat period, and the accuracy of the position change condition determination result is ensured. Correspondingly, the moving direction of the underground engineering object in the target heartbeat period is determined based on the position change condition of the target Bluetooth beacon carried by the underground engineering object, so that the accuracy of the moving direction determining result of the underground engineering object is improved. And the positioning of the underground engineering object is predicted through the beacon position determining model, model training aiming at different positioning base stations is not needed, and the universality of the positioning of the underground engineering object is improved.
On the basis of the technical solutions of the above embodiments, the present application further provides an alternative embodiment. In this alternative embodiment, the position change condition determining step corresponding to S204 is optimized and improved to provide accuracy of the position change condition determining result and convenience of the determining process.
Referring to fig. 3, the position change condition determining step includes:
s302, determining the relative space distance between the target Bluetooth beacon and the positioning base station according to the Bluetooth signal strength at different signal transmission moments.
The relative spatial distance refers to a distance between the target bluetooth beacon and the positioning base station in space.
Specifically, the positioning base station obtains the Bluetooth signal intensities at different signal transmission moments in the target heartbeat period, and determines the relative spatial distance between the target Bluetooth beacon and the positioning base station based on the Bluetooth signal intensities at the signal transmission moments for each signal transmission moment in the target heartbeat period, so as to finally obtain the relative spatial distance between the target Bluetooth beacon and the positioning base station at different signal transmission moments in the target heartbeat period.
In some embodiments, the relative spatial distance between the target bluetooth beacon and the positioning base station may be estimated using an approximation formula: relative spatial distance (meter) =signal transmission time (seconds) ×signal transmission speed (meter/second). Since the transmission speed of bluetooth signals is generally fixed, about 1Mbps (megabits per second), the relative spatial distance between the target bluetooth beacon and the positioning base station can be estimated approximately using the above-described approximation formula under ideal circumstances. However, when the method is actually applied to underground engineering, the transmission process of the Bluetooth signals is easily interfered by some factors in the engineering, such as reinforcing steel bars or cement, so that the Bluetooth signals sent by the target Bluetooth beacons are attenuated, and errors exist in the transmission time, thereby increasing the errors of the relative spatial distance between the target Bluetooth beacons and the positioning base station. In view of this, the present application proposes to calculate the relative spatial distance between the target bluetooth beacon and the positioning base station according to the bluetooth signal strength (RSSI, received Signal Strength Indication, received signal strength indication), the calculation formula is as follows:
；
Wherein L (t) represents a relative spatial distance between a target bluetooth beacon corresponding to a t signal transmission time and a positioning base station, MP refers to an RSSI value measured at a specific distance, typically, an RSSI value measured at 1 meter is adopted, and n is a path loss index, which can be set by a technician according to needs or experience, or determined through a large number of experiments. For example, n may be any number from 2 to 4.
In some embodiments, the path loss index n may be obtained by calculating using the above formula based on the known relative spatial distance between the target bluetooth beacon and the positioning base station, the RSSI value, and the MP value over the historical heartbeat period.
S304, determining the position change condition of the target Bluetooth beacon in the target heartbeat period according to the relative spatial distances corresponding to different signal transmission moments.
Specifically, the positioning base station calculates the relative spatial distance between the target bluetooth beacon and the positioning base station at each signal transmission time according to different signal transmission times in the target heartbeat period, so that the position change condition of the target bluetooth beacon in the target heartbeat period can be determined based on the relative spatial distances between the target bluetooth beacon and the positioning base station at different signal transmission times.
In this embodiment, by using the bluetooth signal intensities at different signal transmission moments, the relative spatial distance between the target bluetooth beacon and the positioning base station at each signal transmission moment can be obtained, and the position change condition of the target bluetooth beacon is determined by means of the relative spatial distance, so that the accuracy and convenience for determining the position change condition of the target bluetooth beacon are improved.
In some embodiments, determining the position change condition of the target bluetooth beacon in the target heartbeat period according to the relative spatial distances corresponding to different signal sending moments includes: and integrating the relative spatial distances corresponding to different signal sending moments in the target heartbeat period according to time to obtain the position change condition of the target Bluetooth beacon in the target heartbeat period.
Specifically, the positioning base station integrates the relative spatial distances between the target Bluetooth beacon and the positioning base station according to time aiming at the relative spatial distances respectively corresponding to different signal sending moments in the target heartbeat period, so that the position change condition of the target Bluetooth beacon in the target heartbeat period is obtained.
In some embodiments, the formula for integrating the relative spatial distance between the target bluetooth beacon and the positioning base station corresponding to different moments in the target heartbeat period according to time is as follows:
；
Wherein x (t) represents the position change condition of the target Bluetooth beacon in the target heartbeat period, t1 is the time when the positioning base station detects the target Bluetooth beacon for the first time in the target heartbeat period, t2 is the time when the positioning base station detects the target Bluetooth beacon for the last time in the target heartbeat period, and L (t) represents the relative space distance corresponding to the t signal transmission time.
In this embodiment, by performing integral operation on the relative spatial distance between the target bluetooth beacon and the positioning base station, the position change condition of the target bluetooth beacon in the target heartbeat period can be obtained, and the accuracy and convenience for judging the position change condition of the target bluetooth beacon are improved.
On the basis of the technical solutions of the above embodiments, the present application further provides an alternative embodiment. In this alternative embodiment, the acquisition operation of the target beacon signal corresponding to S202 is optimized and improved to improve the validity of the target beacon signal.
Referring to fig. 4, the target beacon information acquisition step includes:
s402, acquiring current beacon information sent by a target Bluetooth signal carried by an underground engineering object;
s404, judging whether the current beacon signal is a first login signal according to the login and registration condition of the target Bluetooth beacon;
S406, if the current beacon signal is not the first login signal, continuing to acquire the target beacon signal of the target heartbeat period transmitted after the signal transmission time corresponding to the current beacon signal.
The login and registration condition characterizes whether the target Bluetooth beacon is registered in the positioning base station. The first sign-on signal characterizes that the target bluetooth beacon has no history sign-on registration record in the positioning base station. The target beacon signal is a beacon signal transmitted at other transmission time points after the signal transmission time point corresponding to the current beacon signal in the target heartbeat period.
Specifically, under the condition that the target bluetooth beacon is detected, the positioning base station acquires a current beacon signal sent by the target bluetooth beacon at the current moment, and judges whether the current beacon signal is a first login signal of the target bluetooth beacon for the positioning base station according to the login registration condition of the target bluetooth beacon at the positioning base station.
In some embodiments, in the case that the current beacon signal is not the first login signal, it is indicated that the target bluetooth beacon already has a history login registration record in the positioning base station, so the positioning base station may continue to acquire the target beacon signal at a different signal transmission time in the target heartbeat period transmitted after the signal transmission time corresponding to the current beacon signal. In this embodiment, by determining the login and registration condition of the target bluetooth beacon, the target beacon signal sent at other moments in the target heartbeat period can be clarified, and the efficiency of obtaining the target beacon signal is improved.
In some embodiments, if the current beacon signal is a first login signal, the target bluetooth beacon is logged in; and re-acquiring the beacon signal sent by the Bluetooth signal as a new current beacon signal, and continuously executing the judgment operation of the first login signal.
Specifically, when the current beacon signal is the first login signal, it is indicated that the target bluetooth beacon does not have a history login registration record in the positioning base station, so that the positioning base station performs login registration for the target bluetooth beacon according to the current beacon signal sent by the target bluetooth beacon, and uploads the login registration operation to the cloud end for judging the first login signal of the next target bluetooth beacon. And then, the positioning base station re-acquires the beacon signals transmitted by the target Bluetooth beacon at other times after the signal transmission time corresponding to the current beacon signal in the target heartbeat period, judges whether the re-acquired beacon signals are first login signals or not, and obtains the judgment result of non-first login signals, so that the corresponding operation is continuously executed under the condition that the beacon signals are non-first login signals.
In this embodiment, by determining the login and registration condition of the target bluetooth beacon, login and registration can be performed on the target bluetooth beacon to save the login and registration record of the target bluetooth beacon, and a complete heartbeat cycle is performed only when the target bluetooth beacon is not logged in for the first time, that is, the target beacon signal under the target heartbeat cycle is acquired, so that the cycle consistency of the acquired target beacon signal is ensured, the effectiveness of the acquired target beacon signal is ensured, and further, the accuracy of the determination result of the moving direction is improved.
On the basis of the technical solutions of the above embodiments, the present application further provides an alternative embodiment. In this alternative embodiment, the training process of the beacon position determination model is described in detail on the basis of the step of determining the detailed position of the underground construction object corresponding to S208. Notably, the computing device performing the beacon location determination model training, and the computing device using the beacon location determination model for locating, may be the same or different, and are not limited in this regard.
Referring to the beacon position determination model training step shown in fig. 5, it includes:
s502, sample beacon information sent by a reference Bluetooth beacon carried by an underground engineering object at different moments in a reference heartbeat period and a positioning label of the reference Bluetooth beacon in the reference heartbeat period are obtained; the sample beacon information comprises sample signal sending time of the Bluetooth signal and corresponding sample Bluetooth signal strength.
S504, according to the Bluetooth signal strength at different sample signal transmission moments, determining the position change condition of the reference Bluetooth beacon in the reference heartbeat period.
S506, performing model training on a pre-constructed beacon position determination model according to the position change condition of the reference Bluetooth beacon, the sample Bluetooth signal strength and the positioning label.
The reference bluetooth beacon may be a bluetooth beacon detected by the positioning base station during a history of time. The reference heartbeat period is a heartbeat period corresponding to the reference bluetooth beacon. The sample beacon information may be beacon information transmitted by the reference bluetooth beacon to the positioning base station in the reference heartbeat period, and may include, for example, a sample signal transmission time of the reference bluetooth signal and a corresponding sample bluetooth signal strength. The sample signal transmission time may be a time when the sample bluetooth signal is transmitted with reference to the bluetooth beacon. The sample bluetooth signal strength refers to the strength of the sample bluetooth signal transmitted by the reference bluetooth beacon. The positioning tag refers to the actual space position of the Bluetooth beacon in the real scene, and can be realized by adopting at least one conventional labeling mode, such as a manual labeling mode.
Specifically, the positioning base station acquires sample beacon information sent by the reference Bluetooth beacon at different moments in the reference heartbeat period and positioning labels of the reference Bluetooth beacon at the reference heartbeat period, and calculates the position change condition of the reference Bluetooth beacon in the reference heartbeat period according to the Bluetooth signal intensities of the reference Bluetooth beacon at the different sample signal sending moments, so that the positioning base station respectively inputs the acquired position change condition of the reference Bluetooth beacon, the sample Bluetooth signal intensity and the positioning labels into a pre-constructed beacon position determination model to complete training of the pre-constructed beacon position determination model.
In this embodiment, the accuracy of model training can be improved by training the pre-constructed beacon position determination model by referring to the relevant data of the bluetooth beacon.
In some embodiments, model training a pre-constructed beacon position determination model according to the position change condition of a reference bluetooth beacon, sample bluetooth signal strength and a positioning tag comprises: the position change condition of the reference Bluetooth beacon and the sample Bluetooth signal intensity are input into a beacon position determination model to be trained, so that position prediction data are obtained; and adjusting network parameters of the beacon position determination model to be trained according to the difference condition between the position prediction data and the positioning label.
The position prediction data are position data of a reference Bluetooth beacon, which is predicted by a beacon position determination model to be trained for the reference Bluetooth beacon.
Specifically, the positioning base station inputs the position change condition of the reference Bluetooth beacon and the sample Bluetooth signal strength into a beacon position determination model to be trained, and outputs a model output result as position prediction data; based on a preset loss function, carrying out numerical quantization on the difference condition between the position prediction data and the positioning label to obtain target loss; based on the target loss, the network parameters of the beacon position determining model to be trained are adjusted until the training cut-off condition is met, so that the beacon position determining model gradually has the space position positioning capability. The training cutoff condition may include that the number of input samples is greater than a preset number threshold, the number of training times reaches a preset number threshold, or the target loss tends to converge, etc.
In this embodiment, by performing parameter adjustment on the beacon position determination model to be trained, accuracy of the position predicted by the beacon position determination model can be improved.
In some embodiments, different positioning base stations may be manually set as the primary base station or the auxiliary base station according to the spatial positions of different positioning base stations in the positioning base station group in the actual application scenario. The positioning base station serving as the main base station not only can receive the Bluetooth signal sent by the target Bluetooth beacon, but also can acquire the Bluetooth signal transmitted by the auxiliary base station.
In some embodiments, the distance between the target bluetooth beacon and the two positioning base stations is different during movement, as the primary base station and the secondary base station are in different spatial locations. The main base station and the auxiliary base station can respectively determine the moving directions of the target Bluetooth beacons in the target heartbeat period, so that the moving directions of the target Bluetooth beacons respectively determined by the main base station and the auxiliary base station can be combined to form a more complete moving direction of the target Bluetooth beacons, and the more complete moving direction of the underground engineering object is obtained.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a position determination model-based underground engineering object positioning device for realizing the position determination model-based underground engineering object positioning method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the positioning device or devices provided below may be referred to the limitation of the positioning method of the underground engineering object based on the position determination model hereinabove, and will not be described herein.
In one exemplary embodiment, as shown in fig. 6, there is provided a subsurface engineering object positioning device based on a position determination model, comprising: an information acquisition module 602, a location change determination module 604, a direction determination module 606, and a positioning module 608, wherein:
the information acquisition module 602 is configured to acquire target beacon information corresponding to target bluetooth beacons carried by an underground engineering object at different times in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal strength.
The location change determining module 604 is configured to determine a location change condition of the target bluetooth beacon in the target heartbeat period according to bluetooth signal strengths at different signal sending moments.
The direction determining module 606 is configured to determine a moving direction of the underground engineering object in the target heartbeat cycle according to a position change condition of the target bluetooth beacon.
And the positioning module 608 is used for determining a model based on the pre-trained beacon position, and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength.
In some embodiments, the position change determination module 604 of the subsurface engineering object positioning device based on the position determination model comprises: a distance determination unit and a position change determination unit, wherein:
and the distance determining unit is used for determining the relative spatial distance between the target Bluetooth beacon and the positioning base station according to the Bluetooth signal strength at different signal transmission moments.
And the position change determining unit is used for determining the position change condition of the target Bluetooth beacon in the target heartbeat period according to the relative spatial distances corresponding to different signal transmission moments.
In some embodiments, the position change determining unit of the underground engineering object positioning device based on the position determination model includes: a position change determination subunit, wherein:
and the position change determining subunit is used for integrating the relative spatial distances corresponding to different signal sending moments in the target heartbeat period according to time to obtain the position change condition of the target Bluetooth beacon in the target heartbeat period.
In some embodiments, the information acquisition module 602 in the subsurface engineering object positioning device based on the location determination model includes: a first acquisition unit, a signal judgment unit, and a second acquisition unit, wherein:
the first acquisition unit is used for acquiring a current beacon signal sent by a target Bluetooth beacon carried by the underground engineering object.
And the signal judging unit is used for judging whether the current beacon signal is the first login signal according to the login and registration condition of the target Bluetooth beacon.
And the second acquisition unit is used for continuously acquiring the target beacon signals at different signal transmission moments in the target heartbeat period transmitted after the signal transmission moment corresponding to the current beacon signal if the current beacon signal is a non-first login signal.
In some embodiments, the information acquisition module 602 in the subsurface engineering object positioning device based on the position determination model further comprises: a login and registration unit and a signal acquisition and judgment unit, wherein:
and the login and registration unit is used for registering the target Bluetooth beacon if the current beacon signal is the first login signal.
And the signal acquisition judging unit is used for re-acquiring the beacon signal sent by the target Bluetooth beacon as a new current beacon signal and continuously executing the judging operation of the first login signal.
In some embodiments, the positioning module 608 in the subsurface engineering object positioning device based on the position determination model comprises: the system comprises a sample information acquisition unit, a sample position change determination unit and a model training unit, wherein:
the system comprises a sample information acquisition unit, a reference Bluetooth beacon detection unit and a reference Bluetooth beacon detection unit, wherein the sample information acquisition unit is used for acquiring sample beacon information transmitted by the reference Bluetooth beacon carried by an underground engineering object at different moments in a reference heartbeat period and positioning tags of the reference Bluetooth beacon in the reference heartbeat period; the sample beacon information comprises sample signal sending time of the Bluetooth signal and corresponding sample Bluetooth signal strength.
And the sample position change determining unit is used for determining the position change condition of the reference Bluetooth beacon in the reference heartbeat period according to the Bluetooth signal strength at different sample signal transmission moments.
The model training unit is used for carrying out model training on a pre-constructed beacon position determination model according to the position change condition of the reference Bluetooth beacon, the sample Bluetooth signal strength and the positioning label.
In some embodiments, the model training unit further comprises a position prediction subunit and a parameter adjustment subunit, wherein:
And the position prediction subunit is used for inputting the position change condition of the reference Bluetooth beacon and the sample Bluetooth signal strength into a beacon position determination model to be trained to obtain position prediction data.
And the parameter adjustment subunit is used for adjusting the network parameters of the beacon position determination model to be trained according to the difference condition between the position prediction data and the positioning label.
The above-described modules in the position determination model-based subsurface engineering object positioning device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules can be embedded in hardware or independent from a processor in the underground engineering object positioning base station based on the position determination model, or can be stored in a memory in the underground engineering object positioning base station based on the position determination model in a software mode, so that the processor can call and execute the operations corresponding to the above modules.
In one exemplary embodiment, a location determination model-based subsurface engineering object locating base station is provided, the internal structure of which may be as shown in fig. 7. The underground engineering object positioning base station based on the position determination model comprises a processor, a memory, an input/output interface, a communication interface, a display unit and an input device. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the subsurface engineering object positioning base station based on the position determination model is used for providing computing and control capabilities. The memory of the underground engineering object positioning base station based on the position determination model comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the underground engineering object positioning base station based on the position determination model is used for exchanging information between the processor and the external equipment. The communication interface of the underground engineering object positioning base station based on the position determination model is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of locating an underground engineered object based on a position determination model. The display unit of the underground engineering object positioning base station based on the position determination model is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, the input device of the underground engineering object positioning base station based on the position determination model can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the underground engineering object positioning base station based on the position determination model, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 7 is merely a block diagram of a portion of the structure associated with the present application and does not constitute a limitation of the location determination model-based underground engineering object positioning base station to which the present application is applied, and that a particular location determination model-based underground engineering object positioning base station may include more or less components than those shown in the drawings, or may combine certain components, or have a different arrangement of components.
In one exemplary embodiment, there is provided a subsurface engineering object positioning base station based on a position determination model, comprising a memory and a processor, the memory having stored therein a computer program which when executed by the processor performs the steps of:
acquiring target beacon information corresponding to target Bluetooth beacons carried by underground engineering objects at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity; determining the position change condition of a target Bluetooth beacon in a target heartbeat period according to the Bluetooth signal strength at different signal transmission moments; determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon; and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength based on a pre-trained beacon position determining model.
In one exemplary embodiment, a computer readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring target beacon information corresponding to target Bluetooth beacons carried by underground engineering objects at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity; determining the position change condition of a target Bluetooth beacon in a target heartbeat period according to the Bluetooth signal strength at different signal transmission moments; determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon; and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength based on a pre-trained beacon position determining model.
In one exemplary embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:
acquiring target beacon information corresponding to target Bluetooth beacons carried by underground engineering objects at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity; determining the position change condition of a target Bluetooth beacon in a target heartbeat period according to the Bluetooth signal strength at different signal transmission moments; determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon; and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength based on a pre-trained beacon position determining model.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims (12)

1. A method for locating an underground engineering object based on a position determination model, the method comprising:
acquiring target beacon information corresponding to target Bluetooth beacons carried by underground engineering objects at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity;
determining the position change condition of the target Bluetooth beacon in the target heartbeat period according to the Bluetooth signal strength at different signal transmission moments;
Determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon;
and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and Bluetooth signal strength based on a pre-trained beacon position determining model.
2. The method according to claim 1, wherein determining the location change of the target bluetooth beacon in the target heartbeat period according to bluetooth signal strengths at different signal transmission moments comprises:
determining the relative space distance between the target Bluetooth beacon and the positioning base station according to the Bluetooth signal strength at different signal transmission moments;
and determining the position change condition of the target Bluetooth beacon in the target heartbeat period according to the relative spatial distances corresponding to different signal transmission moments.
3. The method according to claim 2, wherein the determining the position change condition of the target bluetooth beacon in the target heartbeat period according to the relative spatial distances corresponding to different signal transmission moments includes:
And integrating the relative spatial distances corresponding to different signal sending moments in the target heartbeat period according to time to obtain the position change condition of the target Bluetooth beacon in the target heartbeat period.
4. A method according to any one of claims 1 to 3, wherein the obtaining target beacon information corresponding to target bluetooth beacons carried by the underground engineering object at different times in a target heartbeat cycle includes:
acquiring a current beacon signal sent by a target Bluetooth beacon carried by the underground engineering object;
judging whether the current beacon signal is a first login signal or not according to the login and registration condition of the target Bluetooth beacon;
and if the current beacon signal is a non-first login signal, continuously acquiring the target beacon signal of different signal transmission moments in a target heartbeat period transmitted after the signal transmission moment corresponding to the current beacon signal.
5. The method according to claim 4, wherein the method further comprises:
if the current beacon signal is the first login signal, the target Bluetooth beacon is logged in and registered;
and re-acquiring the beacon signal sent by the target Bluetooth beacon as a new current beacon signal, and continuing to execute the judgment operation of the first login signal.
6. The method of claim 1, wherein the beacon position determination model is trained by:
acquiring sample beacon information transmitted by a reference Bluetooth beacon carried by an underground engineering object at different moments in a reference heartbeat period, and positioning tags of the reference Bluetooth beacon in the reference heartbeat period; the sample beacon information comprises sample signal sending time of a Bluetooth signal and corresponding sample Bluetooth signal intensity;
determining the position change condition of the reference Bluetooth beacon in a reference heartbeat period according to the Bluetooth signal strength at different sample signal transmission moments;
and performing model training on a pre-constructed beacon position determination model according to the position change condition of the reference Bluetooth beacon, the sample Bluetooth signal strength and the positioning tag.
7. The method of claim 6, wherein said model training a pre-constructed beacon position determination model based on the location change of the reference bluetooth beacon, the sample bluetooth signal strength, and the location tag comprises:
the position change condition of the reference Bluetooth beacon and the sample Bluetooth signal intensity are input into a beacon position determination model to be trained, so that position prediction data are obtained;
And adjusting network parameters of the beacon position determination model to be trained according to the difference condition between the position prediction data and the positioning label.
8. A subsurface engineering object positioning device based on a position determination model, said device comprising:
the information acquisition module is used for acquiring target beacon information corresponding to target Bluetooth beacons carried by the underground engineering object at different moments in a target heartbeat period; the target beacon information comprises the signal sending time of the Bluetooth signal and the corresponding Bluetooth signal intensity;
the position change determining module is used for determining the position change condition of the target Bluetooth beacon in the target heartbeat period according to the Bluetooth signal strength at different signal transmission moments;
the direction determining module is used for determining the moving direction of the underground engineering object in the target heartbeat period according to the position change condition of the target Bluetooth beacon;
and the positioning module is used for determining a model based on the pre-trained beacon position and positioning the underground engineering object according to the position change condition of the target Bluetooth beacon in the target heartbeat period and the Bluetooth signal strength.
9. Underground engineering object positioning base station based on a position determination model, comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A position determination model-based underground engineering object positioning system, wherein at least two position determination model-based underground engineering object positioning base stations as set forth in claim 9 are arranged in the position determination model-based underground engineering object positioning system; the positioning areas corresponding to the adjacent positioning base stations are partially overlapped.
11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
12. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
CN202410219686.7A 2024-02-28 2024-02-28 Underground engineering object positioning method and device based on position determination model Pending CN117793892A (en)

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