CN117826072B - Underground positioning system and underground positioning method - Google Patents
Underground positioning system and underground positioning method Download PDFInfo
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Abstract
The invention belongs to the technical field of underground roadway engineering, and particularly relates to an underground positioning system and an underground positioning method. The system is safer, no additional power supply is needed, meanwhile, the residence area can be marked when the underground target resides, an accurate search and rescue area is provided for search and rescue personnel, the underground target is guaranteed to be timely rescued, and the phenomenon that the rescue fails or is untimely due to overlong residence time of the underground target in a roadway is avoided.
Description
Technical Field
The invention belongs to the technical field of roadway engineering, and particularly relates to an underground positioning system and an underground positioning method.
Background
Along with the continuous development of mineral resources such as metal, coal and the like, the scale and technical requirements of roadway engineering are higher and higher, in order to ensure the safety, high efficiency and economy of underground operation, the positioning and tracking of underground equipment and personnel become one of key technologies, the traditional underground positioning method mainly depends on ground base station signals, but due to the fact that underground environment is complex, signal propagation is greatly influenced, positioning accuracy is lower, the requirements of modern underground inspection operation cannot be met, in recent years, the development of underground wireless communication technology provides new possibility for underground positioning, and real-time monitoring and positioning of underground personnel inspection in a roadway can be realized by deploying a wireless sensor network underground.
In the prior art, although wireless interaction can be realized by an underground positioning system, when the phenomenon of power failure or network failure occurs underground, the position information of underground inspection personnel cannot be displayed, meanwhile, when underground personnel reside at the same position for a long time, the situation is quite likely to happen underground, the existing positioning mode does not play a role in active alarming, so that the underground personnel cannot be timely rescued, in addition, when an underground accident occurs, the underground personnel need to infer the position of the underground target according to the signal vanishing node of the underground target, the follow-up rescue process can be undoubtedly dragged, and based on the situation, the positioning method capable of displaying the underground target position in real time and calibrating the residence area when the underground target resides is provided.
Disclosure of Invention
The invention aims to provide an underground positioning system and an underground positioning method, which can display the underground target position in real time, calibrate the stay area when the underground target stays, provide an accurate search and rescue area for search and rescue personnel and ensure that the underground target can be timely rescued.
The technical scheme adopted by the invention is as follows:
A downhole positioning method, comprising:
Acquiring position information of an underground target, wherein the position information is sent out after interaction of a passive sensor and a signal transceiver;
Constructing a monitoring period, setting a plurality of monitoring nodes in the monitoring period, calibrating position information under each monitoring node as parameters to be evaluated, and summarizing the parameters to be evaluated into a data set to be evaluated;
Inputting the parameters to be evaluated into an evaluation model to obtain a moving track of the underground target;
obtaining the distance between adjacent parameters to be evaluated, and calibrating the distance as the parameters to be checked;
acquiring a verification threshold value and comparing the verification threshold value with a parameter to be verified;
If the parameter to be verified is larger than the verification threshold, the underground target is indicated to normally travel in the roadway;
If the parameter to be checked is smaller than or equal to a check threshold, constructing an evaluation period by taking a monitoring node corresponding to the parameter to be checked as an evaluation starting point;
Acquiring parameters to be evaluated in the evaluation period, inputting the parameters to be evaluated into a verification model, and judging whether the underground target resides in a roadway or not;
If yes, synchronously sending out an alarm signal, counting the passive sensor coordinates responding under the end node of the evaluation period, and calibrating the passive sensor coordinates as coordinates to be evaluated;
if not, indicating that the underground target normally moves in the roadway;
And inputting the coordinates to be evaluated into an evaluation model to obtain the residence area of the underground target.
In a preferred scheme, a plurality of passive sensors are arranged, the passive sensors are distributed on two sides of the underground roadway wall in parallel and equidistantly, and each passive sensor corresponds to a unique identifier;
wherein the distribution distance between adjacent passive sensors is 3-6 m.
In a preferred embodiment, the step of interacting with the signal transceiver by the passive sensor comprises:
Acquiring a scanning area of the underground target, wherein a passive sensor in the scanning area sends out a response instruction, and the response instruction is a passive sensor identifier;
acquiring a position mapping table of the underground target, wherein the position mapping table comprises passive sensor identifications and position information of the underground target, which are in one-to-one correspondence;
And traversing the table according to the passive sensor identification to obtain the position information of the underground target.
In a preferred embodiment, the step of inputting the parameter to be evaluated into an evaluation model to obtain a movement track of the downhole target includes:
Acquiring parameters to be evaluated, and a passive sensor corresponding to the parameters to be evaluated, and calibrating the coordinates of the passive sensor as coordinates to be evaluated;
Invoking an evaluation function from the evaluation model;
inputting all the coordinates to be evaluated into an evaluation function, and calibrating the output result as real-time coordinates of the underground target;
and sequentially connecting the real-time coordinates of adjacent secondary output underground targets, and outputting the coordinates as a moving track of the underground targets.
In a preferred embodiment, the step of constructing an evaluation period with the monitoring node corresponding to the parameter to be checked as an evaluation starting point includes:
Acquiring parameters to be evaluated corresponding to the parameters to be checked, and calibrating monitoring nodes corresponding to the parameters to be evaluated into front monitoring nodes and rear monitoring nodes;
Acquiring real-time coordinates of an underground target before the rear monitoring node, and inputting the real-time coordinates into a prediction model to obtain a predicted travelling speed of the underground target;
And acquiring a rated distance, inputting the rated distance and the predicted travelling speed into a standard function, and calibrating an output result thereof as an evaluation period.
In a preferred embodiment, the step of obtaining real-time coordinates of the downhole target before the post-monitoring node and inputting the real-time coordinates into a prediction model to obtain a predicted travelling speed of the downhole target includes:
Acquiring the advancing time length and real-time coordinates of a downhole target before the rear monitoring node;
invoking a prediction function from the prediction model;
and inputting the travel time length and the real-time coordinates of the underground target before the rear monitoring node into a prediction function, and calibrating the output result as a predicted travel speed.
In a preferred embodiment, the step of obtaining the parameter to be evaluated in the evaluation period, inputting the parameter to be evaluated into a verification model, and determining whether the underground target resides in a roadway includes:
Acquiring parameters to be evaluated under a starting node in the evaluation period, calibrating the parameters to be evaluated as reference parameters, and calibrating other parameters to be evaluated in the evaluation period as parameters to be compared;
Arranging the parameters to be compared according to the sequence of the acquisition time, and performing difference processing with the reference parameters one by one to obtain a plurality of travelling distances to be checked;
Invoking a verification threshold value from the verification model, and comparing the verification threshold value with the travel distance to be verified;
if the execution of the evaluation period is finished and the travel distance to be checked is smaller than a check threshold, indicating that the underground target resides in the roadway, and calibrating the duration corresponding to the evaluation period as the residence duration;
and if the travel distance to be verified is greater than or equal to a verification threshold value in the evaluation period, indicating that the underground target does not reside in the roadway.
In a preferred embodiment, the step of inputting the coordinates to be evaluated into an evaluation model to obtain the residence area of the downhole target includes:
Acquiring response time length of the passive sensor under each coordinate to be evaluated, and calibrating the response time length as time length to be evaluated;
Invoking an evaluation threshold value from the evaluation model, and comparing the evaluation threshold value with the duration to be evaluated;
if the time length to be evaluated is greater than the evaluation threshold, calibrating the corresponding passive sensor coordinate as an edge coordinate;
If the duration to be evaluated is smaller than or equal to the evaluation threshold value, screening the corresponding passive sensor coordinates;
and sequentially connecting all the edge coordinates, and calibrating a closed area formed by the edge coordinates as a resident area.
The invention also provides an underground positioning system, which uses the underground positioning method, and comprises the following steps:
The system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the position information of an underground target, and the position information is sent out after interaction between a passive sensor and a signal transceiver;
the monitoring module is used for constructing a monitoring period, setting a plurality of monitoring nodes in the monitoring period, calibrating the position information under each monitoring node as a parameter to be evaluated, and summarizing the parameter to be evaluated into a data set to be evaluated;
The evaluation module is used for inputting the parameter to be evaluated into an evaluation model to obtain the moving track of the underground target;
The second acquisition module is used for acquiring the distance between adjacent parameters to be evaluated and calibrating the distance to be verified as the parameters to be verified;
the primary verification module is used for acquiring a verification threshold value and comparing the verification threshold value with parameters to be verified;
If the parameter to be verified is larger than the verification threshold, the underground target is indicated to normally travel in the roadway;
If the parameter to be checked is smaller than or equal to a check threshold, constructing an evaluation period by taking a monitoring node corresponding to the parameter to be checked as an evaluation starting point;
The secondary verification module is used for acquiring parameters to be evaluated in the evaluation period, inputting the parameters to be evaluated into a verification model and judging whether the underground target resides in a roadway or not;
If yes, synchronously sending out an alarm signal, counting the passive sensor coordinates responding under the end node of the evaluation period, and calibrating the passive sensor coordinates as coordinates to be evaluated;
if not, indicating that the underground target normally moves in the roadway;
And the evaluation module is used for inputting the coordinates to be evaluated into an evaluation model to obtain the residence area of the underground target.
And, a downhole positioning terminal comprising:
At least one processor;
and a memory communicatively coupled to the at least one processor;
Wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the downhole positioning method described above.
The invention has the technical effects that:
According to the invention, the underground target position can be displayed in real time through interaction of the passive sensor and the signal transceiver, and after the underground target stays for a long time, an alarm signal is synchronously sent out, so that the loss of underground personnel is avoided, meanwhile, the stay area can be defined when the underground target stays, an accurate search and rescue area is provided for search and rescue personnel, the underground target can be timely rescued, and the phenomenon that rescue failure or untimely rescue occurs due to overlong stay time of the underground target in a roadway is avoided.
Drawings
FIG. 1 is a flow chart of a method provided by the present invention;
FIG. 2 is a downhole target location map provided by the present invention;
Fig. 3 is a block diagram of a system provided by the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one preferred embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
Referring to fig. 1, a first embodiment of the present invention provides a downhole positioning method, which includes:
s1, acquiring position information of an underground target, wherein the position information is sent out after interaction between a passive sensor and a signal transceiver;
S2, constructing a monitoring period, setting a plurality of monitoring nodes in the monitoring period, calibrating position information under each monitoring node as parameters to be evaluated, and summarizing the parameters to be evaluated into a data set to be evaluated;
s3, inputting parameters to be evaluated into an evaluation model to obtain a moving track of the underground target;
s4, acquiring the distance between adjacent parameters to be evaluated, and calibrating the distance as the parameters to be checked;
S5, acquiring a verification threshold value, and comparing the verification threshold value with parameters to be verified;
if the parameter to be checked is larger than the check threshold, the underground target is indicated to normally travel in the roadway;
If the parameter to be checked is smaller than or equal to the check threshold, constructing an evaluation period by taking a monitoring node corresponding to the parameter to be checked as an evaluation starting point;
S6, acquiring parameters to be evaluated in an evaluation period, inputting the parameters to be evaluated into a verification model, and judging whether a downhole target resides in a roadway or not;
if yes, synchronously sending out an alarm signal, counting the coordinates of the passive sensor responding under the end node of the evaluation period, and calibrating the coordinates as coordinates to be evaluated;
if not, indicating that the underground target normally moves in the roadway;
S7, inputting the coordinates to be evaluated into an evaluation model to obtain the residence area of the underground target.
As described in the above steps S1-S7, with the continuous development of mineral resources such as metal, coal, etc., the scale and technical requirements of the roadway engineering are higher and higher, in order to ensure the safety, efficiency and economy of the underground operation, the positioning and tracking of underground equipment and personnel become one of the key technologies, the conventional underground positioning method mainly depends on the ground base station signal, but due to the complex underground environment, the signal propagation is greatly affected, so that the positioning precision is lower, and the requirement of the modern underground operation cannot be met, in recent years, the development of the underground wireless communication technology provides new possibility for the underground positioning, in this embodiment, firstly, the position information of the underground target needs to be clarified, wherein the position information is sent after the passive sensor interacts with the signal transceiver, and the signal transceiver is carried by the underground target, after the underground target enters the roadway, the method comprises the steps of taking the underground target as an initial node to construct a monitoring period, setting the length of the monitoring period according to historical inspection operation experience, setting a plurality of monitoring nodes in the monitoring period, collecting position information of each monitoring node in real time, calibrating the monitoring nodes into parameters to be evaluated, inputting the parameters to be evaluated into an evaluation model, outputting a moving track of the underground target, measuring and calculating the distance between adjacent parameters to be evaluated, calibrating the parameters to be checked into the parameters to be checked, comparing the parameters to be checked with a check threshold, and indicating that the underground target normally travels when the parameters to be checked exceed the check threshold, otherwise, considering that accidents are likely to happen after the underground target stays at the same position for a long time, and when the parameters to be checked are smaller than or equal to the check threshold, the method comprises the steps that a monitoring node corresponding to a parameter to be checked is used as an evaluation starting point to construct an evaluation period, the parameter to be evaluated in the evaluation period is input into a check model, so that whether a downhole target resides in a roadway or not is judged, and an alarm signal is sent out synchronously when the parameter to be evaluated resides in the roadway.
In a preferred embodiment, a plurality of passive sensors are arranged, the passive sensors are distributed on two sides of the underground roadway wall in parallel and equidistantly, and each passive sensor corresponds to a unique identifier;
wherein, the distribution distance between adjacent passive sensors is 3-6 m.
In this embodiment, the passive sensors may still be located in the case of a down-hole outage, especially in the event of a mine disaster, and are safer than other down-hole devices, and the purpose of adding the identifier to each passive sensor is to assist in locating the coordinates of the down-hole target, so that in the case of a down-hole outage, the passive sensors may still be capable of interacting with the signal transceiver carried by the down-hole target, and assist the search and rescue personnel in locating the position of the down-hole target.
In a preferred embodiment, the steps when the passive sensor interacts with the signal transceiver include:
s101, acquiring a scanning area of an underground target, and sending a response instruction by a passive sensor in the scanning area, wherein the response instruction is a passive sensor identifier;
S102, acquiring a position mapping table of an underground target, wherein the position mapping table comprises passive sensor identifications and position information of the underground target, which are in one-to-one correspondence;
s103, performing traversal table lookup according to the passive sensor identification to obtain the position information of the underground target.
As described in the above steps S101-S103, when the passive sensor interacts with the signal transceiver, the signal transceiver carried by the underground target will send an interaction instruction to the passive sensor according to the scanning area thereof, after the passive sensor receives the interaction instruction, the passive sensor will send a response instruction to the signal transceiver, so as to complete one interaction, and then based on a preset position mapping table, the underground target position information can be output by performing a lookup table according to the no-original sensor identifier, so that the underground personnel can monitor the real-time position of the underground target in real time.
In a preferred embodiment, the step of inputting the parameter to be evaluated into the evaluation model to obtain the movement track of the downhole target includes:
s301, acquiring parameters to be evaluated, and corresponding passive sensors under the parameters to be evaluated, and calibrating coordinates of the passive sensors to be the coordinates to be evaluated;
s302, calling an evaluation function from the evaluation model;
S303, inputting all coordinates to be evaluated into an evaluation function, and calibrating an output result of the coordinates to be evaluated into real-time coordinates of a downhole target;
S304, sequentially connecting real-time coordinates of adjacent secondary output underground targets, and outputting the coordinates as a moving track of the underground targets.
As described in the above steps S301 to S304, after the parameters to be evaluated are determined, the corresponding passive sensor coordinates are collected, and the present embodiment calibrates the passive sensor coordinates to the coordinates to be evaluated, and then inputs the coordinates to be evaluated into an evaluation function, where the expression of the evaluation function is: In the above, the ratio of/> Representing real-time coordinates of a downhole target,/>Represents the area of a closed area formed by sequentially connecting coordinates to be evaluated, and can be measured and calculated according to shoelace theorem,/>Representing passive sensor abscissa,/>Representing the ordinate of the passive sensor,/>The number of the passive sensors representing the response is represented, and the real-time coordinates of the underground target are connected one by one according to the output bit number, so that the moving track of the underground target can be output.
In a preferred embodiment, the step of constructing an evaluation period with the monitoring node corresponding to the parameter to be checked as an evaluation starting point includes:
S501, acquiring parameters to be evaluated corresponding to the parameters to be checked, and calibrating monitoring nodes corresponding to the parameters to be evaluated as front monitoring nodes and rear monitoring nodes;
S502, acquiring real-time coordinates of the underground target before the monitoring node and inputting the real-time coordinates into a prediction model to obtain a predicted travelling speed of the underground target;
s504, acquiring a rated distance, inputting the rated distance and the predicted travelling speed into a standard function, and calibrating an output result as an evaluation period.
As described in the above steps S501-S503, when the parameter to be verified is less than or equal to the verification threshold, calibrating the parameter to be evaluated corresponding to the parameter collection node to be evaluated to be a front monitoring node and a rear monitoring node, inputting the real-time coordinates of the underground target before the front monitoring node into the prediction model, outputting the predicted travelling speed of the underground target, calibrating the real-time coordinates of the underground target after the rear monitoring node to be the reference coordinates, and performing measurement and calculation of the evaluation period by executing the standard function, wherein the expression of the standard function is: In the above, the ratio of/> Represents an evaluation period,/>Representing the nominal distance, i.e. the shortest travel distance of the downhole target within the evaluation period,/>, ofThe prediction travelling speed is represented, based on the prediction travelling speed, an evaluation period can be directly determined, then a plurality of sampling nodes are arranged in the evaluation period (the arrangement interval of the sampling nodes is smaller than the arrangement interval of the monitoring nodes, and the actual demand is specifically set), and parameters to be evaluated under each sampling node are acquired in real time and are input into a verification model.
In a preferred embodiment, the step of obtaining real-time coordinates of the downhole target before the post-monitoring node and inputting the real-time coordinates into the prediction model to obtain a predicted traveling speed of the downhole target includes:
stp1, acquiring the advancing time length and real-time coordinates of a downhole target before a rear monitoring node;
stp2, calling a prediction function from the prediction model;
Stp3, the travel time length of the underground target before the rear monitoring node and the real-time coordinates are input into a prediction function, and the output result is calibrated to be the predicted travel speed.
As described in the above steps Stp1-Stp3, when the prediction model is executed, firstly, the travel time length and the real-time coordinates of the underground target before the rear monitoring node are acquired, and then the travel time length and the real-time coordinates are input into the prediction function, so that the predicted travel speed of the underground target can be calculated, wherein the expression of the prediction function is: In the above, the ratio of/> Representing the travel duration of a downhole target,/>Representing the number of real-time coordinates,/>And/>Representing adjacent real-time coordinates, based on which the predicted travelling speed of the underground target can be directly output, and corresponding data support is provided for the subsequent construction evaluation period;
When a residence trend of an underground target occurs in a roadway, the traveling speed of the underground target may be reduced, the predicted traveling speed calculated through a prediction function is larger than the actual traveling speed, and an evaluation period is constructed by using the actual traveling speed, so that the evaluation period is too long, the timeliness of execution of a follow-up verification model and an evaluation model is affected, and whether the underground target resides in the roadway or not cannot be rapidly judged.
In a preferred embodiment, the step of acquiring the parameter to be evaluated in the evaluation period, inputting the parameter to be evaluated into the verification model, and judging whether the underground target resides in the roadway or not includes:
s601, acquiring parameters to be evaluated under a starting node in an evaluation period, calibrating the parameters to be evaluated as reference parameters, and calibrating other parameters to be evaluated in the evaluation period as parameters to be compared;
S602, arranging parameters to be compared according to the sequence of the acquisition time, and performing difference processing with the reference parameters one by one to obtain a plurality of travel distances to be checked;
s603, calling a verification threshold value from the verification model, and comparing the verification threshold value with the travel distance to be verified;
If the execution of the evaluation period is finished and the travel distance to be checked is smaller than the check threshold, indicating that the underground target resides in the roadway, and calibrating the duration corresponding to the evaluation period as the residence duration;
And if the travel distance to be checked is greater than or equal to the check threshold value in the evaluation period, indicating that the underground target does not reside in the roadway.
As described in the above steps S601-S603, when determining whether the underground object resides in the roadway, taking the passive sensor coordinates corresponding to the parameters to be evaluated as the reference parameters, taking the other passive sensor coordinates as the parameters to be compared, arranging the parameters to be compared according to the sequence of occurrence time, and then performing a difference processing on the reference parameters and the parameters to be compared according to the sorting result, in this embodiment, calibrating the difference result as a travel distance to be checked, then calling a check threshold value from the check model, and performing a real-time comparison with the travel distance to be checked, and when the travel distance to be checked is still smaller than the check threshold value, indicating that the underground object resides in the roadway, and synchronously sending an alarm signal, and then counting the passive sensor coordinates responding under the end node of the evaluation period, calibrating them as the coordinates to be evaluated, and providing corresponding data support for the execution of the subsequent evaluation model, otherwise, when the travel distance to be checked is greater than or equal to the check threshold value in the evaluation period or at the end of the evaluation period, indicating that the underground object does not reside in the roadway.
In a preferred embodiment, the step of inputting the coordinates to be evaluated into the evaluation model to obtain the residence area of the downhole target includes:
s701, acquiring response time of the passive sensor under each coordinate to be evaluated, and calibrating the response time as the time to be evaluated;
S702, calling an evaluation threshold value from an evaluation model, and comparing the evaluation threshold value with the duration to be evaluated;
if the time length to be evaluated is greater than the evaluation threshold, calibrating the corresponding passive sensor coordinate as an edge coordinate;
if the time length to be evaluated is less than or equal to the evaluation threshold value, screening the corresponding passive sensor coordinates;
S703, all edge coordinates are connected in sequence, and a closed area formed by the edge coordinates is marked as a resident area.
As described in the above steps S701-S703, after the coordinates to be evaluated are output, the response time of the passive sensor under each coordinate to be evaluated is collected, and in this embodiment, the response time of the passive sensor is calibrated to be the time to be evaluated, the longer the response time of the passive sensor is, the more distant the underground target is from the passive sensor, after the time to be evaluated is determined, the evaluation threshold is called from the evaluation model, and compared with the time to be evaluated, and only the evaluation time greater than the evaluation threshold is retained, then the coordinates of the passive sensor corresponding to the evaluation time are determined to be edge coordinates, and any edge coordinate is used as a starting point, and the other edge coordinates are sequentially connected, and the closed area formed by the coordinates is calibrated to be the residence area of the underground target, so that the underground personnel can be accurately positioned to the residence area of the underground personnel, and then if the need to execute the search and rescue operation, the underground personnel can be quickly implemented.
Example 2
As shown in fig. 2, a second embodiment of the present invention is shown, and this implementation is based on the previous embodiment.
The passive sensor is set as a low-power-consumption passive sensor C, and the signal transceiver comprises a signal receiving device A and a signal transmitting device B, has a wifi networking function and is carried by an underground target.
The low-power passive sensor C is arranged on two sides of the inner wall of a roadway, corresponding electronic tag numbers (such as 1-18 and A1-A18 in FIG. 2) are added, the electronic tag numbers can be in various modes, even if a plurality of electronic tag numbers are damaged, the positioning purpose can be achieved through a data network formed by other number codes, the electronic tag numbers are attached to the inner wall of the roadway of a mine, the accuracy (millimeter level) of the starting point is guaranteed, the accuracy requirement of the number in the middle is not high, the basic positioning purpose is achieved, the positioning purpose can be achieved, the positioning cost can be effectively reduced, and the low-power passive sensor C is arranged at fixed intervals such as 4 meters.
Further, when the underground personnel carry the signal receiving device A to work in the roadway, the signal receiving device A activates the low-power-consumption passive sensor C nearby the signal receiving device A and receives the number information sent by the low-power-consumption passive sensor C, the mapping relation between the resume number and the position is obtained through the number information sent by the low-power-consumption passive sensor C, the coordinates of the low-power-consumption passive sensor C are obtained through looking up the table according to the mapping relation, and then the approximate position of the signal receiving device A is obtained.
Example 3
As shown in fig. 3, in the first two embodiments of the present invention, a downhole positioning system is provided, and the downhole positioning method according to the first embodiment includes:
The system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the position information of an underground target, and the position information is sent out after interaction between a passive sensor and a signal transceiver;
The monitoring module is used for constructing a monitoring period, setting a plurality of monitoring nodes in the monitoring period, calibrating the position information under each monitoring node as a parameter to be evaluated, and summarizing the parameter to be evaluated into a data set to be evaluated;
The evaluation module is used for inputting parameters to be evaluated into the evaluation model to obtain a moving track of the underground target;
the second acquisition module is used for acquiring the distance between adjacent parameters to be evaluated and calibrating the distance to be the parameters to be checked;
the first-level verification module is used for acquiring a verification threshold value and comparing the verification threshold value with parameters to be verified;
if the parameter to be checked is larger than the check threshold, the underground target is indicated to normally travel in the roadway;
If the parameter to be checked is smaller than or equal to the check threshold, constructing an evaluation period by taking a monitoring node corresponding to the parameter to be checked as an evaluation starting point;
the secondary verification module is used for acquiring parameters to be evaluated in an evaluation period, inputting the parameters to be evaluated into the verification model and judging whether a downhole target resides in a roadway or not;
if yes, synchronously sending out an alarm signal, counting the coordinates of the passive sensor responding under the end node of the evaluation period, and calibrating the coordinates as coordinates to be evaluated;
if not, indicating that the underground target normally moves in the roadway;
the evaluation module is used for inputting the coordinates to be evaluated into the evaluation model to obtain the residence area of the underground target.
As described above, when the positioning system is executed, the first acquiring module acquires the position information of the underground target, the monitoring module is used to construct a monitoring period, so as to acquire the position information of the underground target, the embodiment calibrates the underground target as a parameter to be evaluated, the evaluation module is used to process the parameter to be evaluated, a moving track of the underground target can be generated, the second acquiring module is used to acquire the distance between adjacent parameters to be evaluated, the embodiment calibrates the distance as a parameter to be checked, the first-stage checking module is used to compare the parameter to be checked with a checking threshold, and when the parameter to be checked is smaller than or equal to the checking threshold, an evaluation period is constructed, the second-stage checking module is then executed based on the parameter to be evaluated in the evaluation period, so as to judge whether the underground target resides in a roadway, when the underground target is judged to reside, alarm signals are synchronously sent out, passive sensor coordinates responding under the end node of the evaluation period are calibrated as coordinates to be evaluated, finally, the evaluation module is executed, and the underground target to be evaluated is defined as a resident area to be rescued, and if the underground target can reside in the underground mine or the underground rescue area in time.
Example 4
This embodiment provides, based on the first three embodiments, a downhole positioning terminal comprising:
At least one processor;
And a memory communicatively coupled to the at least one processor;
Wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the downhole positioning method described above.
The positioning terminal is configured as a wearable device, and the wearable device includes, but is not limited to, wrist-wearing type wearable devices and portable devices in other wearing modes of arm-wearing type wearable devices.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that comprises the element.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (10)
1. A downhole positioning method, characterized by: comprising the following steps:
Acquiring position information of an underground target, wherein the position information is sent out after interaction of a passive sensor and a signal transceiver;
Constructing a monitoring period, setting a plurality of monitoring nodes in the monitoring period, calibrating position information under each monitoring node as parameters to be evaluated, and summarizing the parameters to be evaluated into a data set to be evaluated;
Inputting the parameters to be evaluated into an evaluation model to obtain a moving track of the underground target;
obtaining the distance between adjacent parameters to be evaluated, and calibrating the distance as the parameters to be checked;
acquiring a verification threshold value and comparing the verification threshold value with a parameter to be verified;
If the parameter to be verified is larger than the verification threshold, the underground target is indicated to normally travel in the roadway;
If the parameter to be checked is smaller than or equal to a check threshold, constructing an evaluation period by taking a monitoring node corresponding to the parameter to be checked as an evaluation starting point;
Acquiring parameters to be evaluated in the evaluation period, inputting the parameters to be evaluated into a verification model, and judging whether the underground target resides in a roadway or not;
If yes, synchronously sending out an alarm signal, counting the passive sensor coordinates responding under the end node of the evaluation period, and calibrating the passive sensor coordinates as coordinates to be evaluated;
if not, indicating that the underground target normally moves in the roadway;
And inputting the coordinates to be evaluated into an evaluation model to obtain the residence area of the underground target.
2. A downhole positioning method according to claim 1, wherein: the passive sensors are arranged in a plurality, are distributed on two sides of the underground roadway wall in parallel and equidistantly, and each passive sensor corresponds to a unique identifier;
wherein the distribution distance between adjacent passive sensors is 3-6 m.
3. A downhole positioning method according to claim 2, wherein: the steps when the passive sensor interacts with the signal transceiver include:
Acquiring a scanning area of the underground target, wherein a passive sensor in the scanning area sends out a response instruction, and the response instruction is a passive sensor identifier;
acquiring a position mapping table of the underground target, wherein the position mapping table comprises passive sensor identifications and position information of the underground target, which are in one-to-one correspondence;
And traversing the table according to the passive sensor identification to obtain the position information of the underground target.
4. A downhole positioning method according to claim 1, wherein: the step of inputting the parameter to be evaluated into an evaluation model to obtain the movement track of the underground target comprises the following steps:
Acquiring parameters to be evaluated, and a passive sensor corresponding to the parameters to be evaluated, and calibrating the coordinates of the passive sensor as coordinates to be evaluated;
Invoking an evaluation function from the evaluation model;
inputting all the coordinates to be evaluated into an evaluation function, and calibrating the output result as real-time coordinates of the underground target;
and sequentially connecting the real-time coordinates of adjacent secondary output underground targets, and outputting the coordinates as a moving track of the underground targets.
5. A method of downhole positioning according to claim 4, wherein: the step of constructing an evaluation period by taking the monitoring node corresponding to the parameter to be checked as an evaluation starting point comprises the following steps:
Acquiring parameters to be evaluated corresponding to the parameters to be checked, and calibrating monitoring nodes corresponding to the parameters to be evaluated into front monitoring nodes and rear monitoring nodes;
Acquiring real-time coordinates of an underground target before the rear monitoring node, and inputting the real-time coordinates into a prediction model to obtain a predicted travelling speed of the underground target;
And acquiring a rated distance, inputting the rated distance and the predicted travelling speed into a standard function, and calibrating an output result thereof as an evaluation period.
6. A method of downhole positioning according to claim 5, wherein: the step of obtaining the real-time coordinates of the underground target before the rear monitoring node and inputting the real-time coordinates into a prediction model to obtain the predicted travelling speed of the underground target comprises the following steps:
Acquiring the advancing time length and real-time coordinates of a downhole target before the rear monitoring node;
invoking a prediction function from the prediction model;
and inputting the travel time length and the real-time coordinates of the underground target before the rear monitoring node into a prediction function, and calibrating the output result as a predicted travel speed.
7. A downhole positioning method according to claim 1, wherein: the step of acquiring the parameter to be evaluated in the evaluation period, inputting the parameter to be evaluated into a verification model, and judging whether the underground target resides in a roadway or not comprises the following steps:
Acquiring parameters to be evaluated under a starting node in the evaluation period, calibrating the parameters to be evaluated as reference parameters, and calibrating other parameters to be evaluated in the evaluation period as parameters to be compared;
Arranging the parameters to be compared according to the sequence of the acquisition time, and performing difference processing with the reference parameters one by one to obtain a plurality of travelling distances to be checked;
Invoking a verification threshold value from the verification model, and comparing the verification threshold value with the travel distance to be verified;
if the execution of the evaluation period is finished and the travel distance to be checked is smaller than a check threshold, indicating that the underground target resides in the roadway, and calibrating the duration corresponding to the evaluation period as the residence duration;
and if the travel distance to be verified is greater than or equal to a verification threshold value in the evaluation period, indicating that the underground target does not reside in the roadway.
8. A downhole positioning method according to claim 1, wherein: the step of inputting the coordinates to be evaluated into an evaluation model to obtain the residence area of the underground target comprises the following steps:
Acquiring response time length of the passive sensor under each coordinate to be evaluated, and calibrating the response time length as time length to be evaluated;
Invoking an evaluation threshold value from the evaluation model, and comparing the evaluation threshold value with the duration to be evaluated;
if the time length to be evaluated is greater than the evaluation threshold, calibrating the corresponding passive sensor coordinate as an edge coordinate;
If the duration to be evaluated is smaller than or equal to the evaluation threshold value, screening the corresponding passive sensor coordinates;
and sequentially connecting all the edge coordinates, and calibrating a closed area formed by the edge coordinates as a resident area.
9. A downhole positioning system using the downhole positioning method according to any of claims 1-8, characterized in that: comprising the following steps:
The system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the position information of an underground target, and the position information is sent out after interaction between a passive sensor and a signal transceiver;
the monitoring module is used for constructing a monitoring period, setting a plurality of monitoring nodes in the monitoring period, calibrating the position information under each monitoring node as a parameter to be evaluated, and summarizing the parameter to be evaluated into a data set to be evaluated;
The evaluation module is used for inputting the parameter to be evaluated into an evaluation model to obtain the moving track of the underground target;
The second acquisition module is used for acquiring the distance between adjacent parameters to be evaluated and calibrating the distance to be verified as the parameters to be verified;
the primary verification module is used for acquiring a verification threshold value and comparing the verification threshold value with parameters to be verified;
If the parameter to be verified is larger than the verification threshold, the underground target is indicated to normally travel in the roadway;
If the parameter to be checked is smaller than or equal to a check threshold, constructing an evaluation period by taking a monitoring node corresponding to the parameter to be checked as an evaluation starting point;
The secondary verification module is used for acquiring parameters to be evaluated in the evaluation period, inputting the parameters to be evaluated into a verification model and judging whether the underground target resides in a roadway or not;
If yes, synchronously sending out an alarm signal, counting the passive sensor coordinates responding under the end node of the evaluation period, and calibrating the passive sensor coordinates as coordinates to be evaluated;
if not, indicating that the underground target normally moves in the roadway;
And the evaluation module is used for inputting the coordinates to be evaluated into an evaluation model to obtain the residence area of the underground target.
10. An underground positioning terminal, which is characterized in that: comprising the following steps:
At least one processor;
and a memory communicatively coupled to the at least one processor;
Wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the downhole positioning method of any of claims 1-8.
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