Method and system for locating moving target in mine based on binocular CCD vision

Abstract

The invention discloses a method and a system for locating a moving target in a mine based on binocular CCD vision. The system for implementing the method comprises surface equipment and an underground device. The surface equipment comprises a base station controller, a location server, an Ethernet switch and a monitoring terminal. The underground device comprises a mine intrinsically safe base station and a wireless radio frequency identification tag. The method for implementing the system comprises the following steps: (1) using an RSSI algorithm to estimate the location of a moving target; (2) carrying out matching feature extracting and training on the wireless radio frequency identification tag of the moving target; (3) carrying out feature matching on images after sampling through an ORB algorithm; (4) using a binocular CCD vision sensor to stereoscopically calibrate the left and right images of the moving target; (5) getting an internal and external parameter matrix of the binocular CCD vision sensor, and calibrating the world coordinates of the moving target; and (6) carrying out location correction on the world coordinate information of the moving target, and getting the accurate location information of the moving target in a mine. The problem on how to accurately locate a moving target in a mine NLOS environment is solved. The reliability and robustness of the system are improved.

Description

technical field [0001] The invention relates to wireless communication technology and computer vision technology, in particular to a binocular CCD vision mine moving target positioning method and system. Background technique [0002] Coal is an important basic energy in our country, and the energy structure dominated by coal will not change for a long time. With the development of the national economy and the increasing demand for coal, the accompanying coal mine safety production accidents are also increasing . Therefore, the requirements for mine safety are getting higher and higher, which also puts forward higher requirements for the accuracy and reliability of the positioning of moving targets such as mine operators and operating equipment. [0003] At present, some positioning technologies based on RFID, WIFI, and Zigbee, as well as positioning algorithms such as triangle centroid positioning, TOA, and AOA, have been applied in underground personnel positioning. Exist...

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Problems solved by technology

[0003] At present, some positioning technologies based on RFID, WIFI, and Zigbee, as well as positioning algorithms such as triangle centroid positioning, TOA, and AOA, have been applied in underground personnel positioning. Existing problems: On the one hand, due to the non-direct line-of-sight propagation and multipath interference of electromagnetic waves in the underground NLOS environment, the real-time performance and accuracy of positioning technologies such as WIFI and Zigbee are easily affected, and due to the large transmission loss of wireless electromagnetic waves in mine roadways and serious signal attenuation, There are large errors in positioning algorithms such as triangle centroid positioning, TOA, and AOA, and it is impossible to achieve accurate positioning of mine moving targets

On the other hand, RFID positioning technology can only identify the entry and exit of moving targets underground, and cannot realize the two-dimensional positioning of moving targets. It is also difficult to accurately locate the problem of inaccurate inspection or identification

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