WO2015161391A1 - Système de localisation en temps réel d'objets mobiles à l'intérieur de tunnels - Google Patents

Système de localisation en temps réel d'objets mobiles à l'intérieur de tunnels Download PDF

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Publication number
WO2015161391A1
WO2015161391A1 PCT/CL2014/000021 CL2014000021W WO2015161391A1 WO 2015161391 A1 WO2015161391 A1 WO 2015161391A1 CL 2014000021 W CL2014000021 W CL 2014000021W WO 2015161391 A1 WO2015161391 A1 WO 2015161391A1
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WO
WIPO (PCT)
Prior art keywords
location
rtls
devices
mobile
interface
Prior art date
Application number
PCT/CL2014/000021
Other languages
English (en)
Spanish (es)
Inventor
Alberto Antonio SEPULVEDA MUÑOZ
Original Assignee
CHESTA INGENIERĺA S.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CHESTA INGENIERĺA S.A. filed Critical CHESTA INGENIERĺA S.A.
Priority to PCT/CL2014/000021 priority Critical patent/WO2015161391A1/fr
Publication of WO2015161391A1 publication Critical patent/WO2015161391A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • the invention relates to a real-time location or tracking system for mobile objects and people inside tunnels, such as mining, which integrates one of the many radiofrequency technologies to estimate distance, technology that has been developed To be part of the RTLS (Real Time Location System) genre, although there are multiple real-time location estimation techniques using electromagnetic signals, the relevance of this invention is that, regardless of the type of technology used, an adaptation, design and development of electronic media and software to be able to use them in the geography and environment of tunnels, whether they are mining, transportation or whatever the interior scenario of the excavation type inside some soil.
  • RTLS Real Time Location System
  • a "Positioning" system is based on standardized spatial references to global scenarios, for example absolute coordinates in latitude and longitude, instead a “Location” system is oriented to use relative references according to the scenario in which it is used , can be metric distances, counting points, movement times, etc.
  • a location or positioning system aims to obtain a spatial position result in one, two, or three dimensions using different geometric techniques based on estimation of length or angles with respect to known references (latency, angulation or stage mapping), these Geometric techniques are based on the estimation of times and / or angles; of arrival or emission of a signal, in our case of an electromagnetic signal.
  • the base architecture to perform location is based on fixed devices (installed in a known position) and a mobile device (unknown location), from which the latter emits or responds to a signal which allows estimating arrival or time positions for one or several reference devices, finally, knowing the speed of the signal in the traveling medium or arrival lags, lengths and / or angles are estimated to subsequently estimate spatial position.
  • the invention solves this problem of the technique by means of a "Location System with geometric estimation by time parameters and / or angles of electromagnetic signal, transmitted between fixed and mobile devices, with location x, y, z of the last along one or several interconnected tunnels, differentiating 0n which of them is found and delivering relative position information according to the infrastructure of the circuit of the same to later be integrated into some visual monitoring interface ".
  • EP2003028 refers to a redundant device for location, tracking and recovery of vehicles, based on the VLU5 technology known for the recovery of stolen, missing, crashed or similar vehicles constituted by a device called DLU that is the result of joining GSM technology to Radio in a single set of hardware by integrating the two technologies as redundant systems, providing new functionalities through the use of the network tools available in mobile phone technology.
  • Another patent for localization is the invention patent ES 2418030, which refers to a method and system for locating and tracking a mobile device in a wireless node network.
  • the method comprises:
  • the system is adapted to implement the method of the invention.
  • ES 2387815 refers to a system for locating a user of a mobile device within a predetermined area, when said user makes a telephone call within a zone
  • said mobile equipment (20) includes:
  • the system comprises:
  • Figure 1 shows a view of a pipeline diagram, location distribution of RTLS boards, in a tunnel circuit.
  • Figure 2 shows a view of a diagram or functional architecture of the WILOS-RTLS location system.
  • Figure 3 shows a view of the general implementation of the WILOS-RTLS communication system, for the monitoring, location and visualization of mobile media.
  • Figure 4 shows a view of a tunnel circuit with the installation and distribution of the system, for real-time monitoring, location or tracking of mobile objects.
  • the real-time location or tracking system of people and moving objects inside tunnels the application focuses on the use inside a tunnel within a Loop carrying mineral, as shown in figure 1, where there are routes shares that must be monitored by the operator, who supervises the road signs in the circuit, assisted by an automatic traffic light system.
  • the trucks take the different routes and directions, and must be coordinated through a traffic light control (manual or automatic), and through communication with a dispatcher, who visualizes the continuous location of the vehicle tracking.
  • the system supports location from open scenarios to complex tunnel circuits with bifurcations and different levels, being able to locate in three spatial dimensions (X, XY, XYZ).
  • the real-time location system (WILOS-RTLS) is made up of four essential means for localization, a fiber optic ethernet switch / UP (1), WILOS-RTLS fixed devices (2), a mobile TAG device arranged in machinery and personnel (5) and a Location Calculation Software (6).
  • WI LOS-RTLS devices (2) receive a corresponding RF interface wireless signal (4) from the TAG mobile device (5) of unknown position, which emits its RF signal intermittently in the order of the msec.
  • WILOS-RTLS fixed devices (2) receive from the wireless RF interface signal (4) from the mobile device (mobile tag in machinery or person) (5), they estimate the differential arrival time of the transmission of RF interface (4) (TDoA), to then send the estimated information, through the wired network infrastructure via an Ethernet fiber optic / UP switch (1) or wireless via (RF interface between fixed devices) (3), to a location calculation software (6).
  • the information received from at least two WILOS-RTLS devices (2) (one dimension), or three (two dimensions) or four (three dimensions), is processed in the software (6), to apply mathematical latency techniques supported by the TDoA information.
  • this information is available to be used in any application that graphs and adapts to an interface according to the location scenario.
  • the location infrastructure is based on TCP / IP (UTP, F.O, or Wireless)
  • the WILOS system can be combined, through sub networks, for different forms that take whatever the geometry of the workspace.
  • the complete implementation of the WILOS system for location and position visualization ( Figure N ° 3), is constituted from a visualization computer (9), HMI industrial interface server, OPC, SC5ADA (8), server with WILOS RTLS calculation software (8), connected in TCP / IP Ethernet or Fiber Optic network through (1), or Wireless extended through (10), to finally reach the fixed location devices (2) who receive an RF signal from TAGs for people (4) or mobile (6a) being the mobile objectives (6a) of unknown position to be located.
  • any variant of distribution of the RTLS fixed devices (2) is supported to adapt to any location geometry.
  • RTLS Fixed Devices for receiving RF location signal, and retransmission of information via Ethernet TCP / I P.
  • RF emitting TAG devices (4) transportable by vehicles or any mobile machine.
  • HMI Human Machine Interface
  • SCADA SCADA
  • Wireless Router ton WDS capability Wireless Distribution System
  • Figure N ° 4 shows the strategy used by assigning devices to two different networks, where, (1) corresponds to the devices of network N ° 1, and (2) to those belonging to network N ° 2, the lines that bind each other to devices, shows the coverage that they cover and approximate in the different zones and forms of the circuit.
  • a complete functional system of location in tunnels is made up of different parts from the hardware and communications to the processing software and visual interface.
  • the following scheme shows the different levels that combined result in a location system adapted to tunnels and integrated into an industrial communications platform and visual interface.
  • the architecture shown shows the stages that involve an RTLS system that, combined with engineering and software, is able to adapt the location platform to a tunnel infrastructure and OPC communications platform (OLE for Process Control) and industrial-type visual interface HMI (Human Machine Interface).
  • OPC OPC communications platform
  • HMI Human Machine Interface
  • the final functionality of the system aims to obtain the position of a mobile object at least through the extension (one dimension) of a tunnel and these can be found and move between any of them, in turn must support multiple mobiles at once in any of the detection zones having a resolution in meters defined by the application requirement, starting from one meter as the minimum location accuracy.
  • the post system will process the information and restructure it by converting location x, y, z from RTLS to an x position, and, relative z, which is adapted by using extra parameters to the position coordinate information depending on the tunnel where the mobile is located, this by means of software algorithms that transform the generic position information into relative information and adapted to the tunnel circuit.
  • this information is packaged in a protocol for its retransmission, to finally integrate it into OPC communications by creating an algorithm comprising the data packet from the OPC software, transforming it into this platform in which through any compatible HMI software will create a visual location monitoring interface.
  • an RTLS system aims to be used in spatially defined work spaces, with identifiable obstacles, it is necessary to adapt them to a tunnel space where the greatest relevance in them is to locate their extension, in the specific case, in dimension of the its trajectory, which is generally not linear, here is to locate on an "X""Y” axis or “Z is not trivial, but it is feasible by” Approximation by linear sections "(a curve can be approximated by the union of multiple straight lines between different points of the same), as well as the interconnection between several of them by combining” Multiple networks of devices ", all this finally integrated by a software with the appropriate algorithms to process this space model.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un système de localisation ou de suivi en temps réel de personnes et d'objets mobiles à l'intérieur de tunnels, à haute densité infrastructurelle, par estimation de longueurs, d'angles ou de modèles, obtenus par l'intermédiaire de signaux électromagnétiques. L'invention se caractérise en ce que ce système de localisation en temps réel (WILOS-RTLS) comprend quatre moyens de base pour réaliser la localisation, soit un commutateur Ethernet fibre optique/UP (1), des dispositifs fixes RTLS (2), un dispositif TAG mobile disposé sur une machinerie ou une personne (5), et un logiciel de calcul de localisation (6). Les dispositifs RTLS (2) reçoivent un signal sans fil interface RF (4) correspondant du dispositif mobile TAG (5) de position inconnue, qui émet son signal RF par intermittence de l'ordre des m/sec. Lorsqu'au moins deux dispositifs fixes RTLS (2) reçoivent un signal sans fil interface RF (4) en provenance du dispositif mobile (TAG mobile sur machinerie ou personne) (5), ils estiment le temps différentiel d'arrivée de l'émission d'interface RF (4) (TDoA), pour ensuite envoyer les informations estimées par l'intermédiaire de l'infrastructure de réseau câblé au moyen d'un commutateur Ethernet fibre optique/UP ou sans fil (1) par interface RF entre dispositifs fixes (3), en direction d'un logiciel de calcul de localisation (6). Ainsi, les informations reçues desdits au moins deux dispositifs RTLS (2) (une dimension), ou trois (deux dimension) ou quatre (trois dimensions), sont traitées dans le logiciel (6), en vue de l'application de techniques mathématiques de latération appuyée sur les informations de TDoA. Enfin, une fois estimée la position dans ledit logiciel (6), ces informations sont utilisées dans toute application permettant la représentation graphique et l'adaptation d'une interface selon le scénario de localisation.
PCT/CL2014/000021 2014-04-24 2014-04-24 Système de localisation en temps réel d'objets mobiles à l'intérieur de tunnels WO2015161391A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CL2014/000021 WO2015161391A1 (fr) 2014-04-24 2014-04-24 Système de localisation en temps réel d'objets mobiles à l'intérieur de tunnels

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CL2014/000021 WO2015161391A1 (fr) 2014-04-24 2014-04-24 Système de localisation en temps réel d'objets mobiles à l'intérieur de tunnels

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019106211A1 (fr) * 2017-12-01 2019-06-06 Mysphera, S.L. Système de localisation
EP3539307A4 (fr) * 2016-11-08 2020-06-03 IOT Eye, Inc. Plate-forme d'internet des objets (iot) basée sur un brouillard pour système de localisation en temps réel (rtls)
CN111398906A (zh) * 2020-03-18 2020-07-10 武汉理工大学 一种基于tdoa的地铁隧道外部入侵位置的定位方法
CN111818545A (zh) * 2020-08-20 2020-10-23 北京智源人工智能研究院 一种确定无线网关设备安装位置的方法、装置和电子设备

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000068907A1 (fr) * 1999-05-06 2000-11-16 Pinpoint Corporation Systeme d'identification de biens et de personnes au moyen d'un gps
WO2001046711A1 (fr) * 1999-12-22 2001-06-28 Innovative Technology Licensing, Llc Systeme de position des emplacements destine au suivi assiste par relais
US6700533B1 (en) * 1999-05-06 2004-03-02 Rf Technologies, Inc. Asset and personnel tagging system utilizing GPS
US20110051608A1 (en) * 2009-08-25 2011-03-03 Korea Electrotechnology Research Institute Wireless location determination system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000068907A1 (fr) * 1999-05-06 2000-11-16 Pinpoint Corporation Systeme d'identification de biens et de personnes au moyen d'un gps
US6700533B1 (en) * 1999-05-06 2004-03-02 Rf Technologies, Inc. Asset and personnel tagging system utilizing GPS
WO2001046711A1 (fr) * 1999-12-22 2001-06-28 Innovative Technology Licensing, Llc Systeme de position des emplacements destine au suivi assiste par relais
US20110051608A1 (en) * 2009-08-25 2011-03-03 Korea Electrotechnology Research Institute Wireless location determination system and method

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3539307A4 (fr) * 2016-11-08 2020-06-03 IOT Eye, Inc. Plate-forme d'internet des objets (iot) basée sur un brouillard pour système de localisation en temps réel (rtls)
WO2019106211A1 (fr) * 2017-12-01 2019-06-06 Mysphera, S.L. Système de localisation
CN111398906A (zh) * 2020-03-18 2020-07-10 武汉理工大学 一种基于tdoa的地铁隧道外部入侵位置的定位方法
CN111398906B (zh) * 2020-03-18 2023-03-31 武汉理工大学 一种基于tdoa的地铁隧道外部入侵位置的定位方法
CN111818545A (zh) * 2020-08-20 2020-10-23 北京智源人工智能研究院 一种确定无线网关设备安装位置的方法、装置和电子设备
CN111818545B (zh) * 2020-08-20 2020-12-04 北京智源人工智能研究院 一种确定无线网关设备安装位置的方法、装置和电子设备

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