A precise positioning system for underground personnel

Abstract

This invention relates to the field of underground intelligent management technology, specifically to an underground personnel precise positioning system, including a card terminal, a positioning card reader, and a processor. The card terminal is a wireless communication card, and the card terminal records the personal information of the cardholder. Multiple positioning card readers are arranged at preset intervals along the length of the underground roadway. The positioning card readers are used to read information from the card terminals within their coverage area, measure the distance between themselves and the card terminals, and send the personal information from the card terminals and the corresponding distances to the processor. The processor stores the location information of each positioning card reader and performs positioning analysis based on the location information of each positioning card reader, the distances sent by each positioning card reader, and the corresponding personal information to obtain the basic location of the underground personnel. Using this system, even in the presence of environmental interference, accurate positioning of personnel entering the underground roadway can be achieved.

Description

Technical Field

[0001] This invention relates to the field of intelligent management technology in underground mines, specifically to a precise positioning system for underground personnel. Background Technology

[0002] With the development of intelligent management, its application scenarios are becoming increasingly widespread, and underground mine management is gradually becoming more intelligent. Intelligent underground management mainly refers to the centralized monitoring and management of various status data collected from underground roadways, thereby managing underground roadways in a visualized and centralized manner.

[0003] To effectively manage underground personnel, precise location tracking is essential. Since underground tunnels are typically long, narrow, and straight passages, the mainstream positioning method is UWB (Ultra-Wideband) technology. This involves placing a location reader at predetermined intervals (usually around 600 meters) within the tunnel and providing each person entering the mine with a card containing their personal information. When a person enters the mine, the location reader reads the information on the card and measures the distance to the card, thus enabling real-time location tracking.

[0004] The above-mentioned method can conveniently locate personnel entering the underground roadway in real time. However, due to the complex environment inside the underground roadway, some areas may interfere with the positioning signal, resulting in inaccurate positioning data of personnel in that area, which cannot meet the accuracy requirements of personnel positioning and thus fails to meet the requirements of personnel management. Summary of the Invention

[0005] To address the shortcomings of the existing technology, this invention proposes a precise personnel positioning system for underground mines, which can accurately locate personnel entering underground tunnels even in the presence of environmental interference.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A precise positioning system for underground personnel includes a card terminal, a positioning card reader, and a processor;

[0008] The card is a wireless communication card, and the card contains an identifier of the cardholder's personal information. Multiple positioning readers are arranged at preset intervals along the length of the underground tunnel. Each positioning reader reads information from the card within its coverage area, measures the distance from the card, and sends the cardholder's personal information and the corresponding distance to the processor. The processor stores the location information of each positioning reader and performs location analysis based on the location information, the distances sent by each reader, and the corresponding personal information to obtain the basic location of the underground personnel.

[0009] The positioning card reader is also used to send ranging signals to adjacent positioning card readers at a preset frequency and measure the adjacent distance between adjacent positioning card readers. It is also used to send the adjacent distance to the processor. The processor also stores the actual distance between each adjacent positioning card reader. The processor is also used to calculate the distance correction coefficient between each positioning card reader based on the adjacent distance and the actual distance between adjacent positioning card readers, and to correct the basic positioning of the personnel underground based on the distance correction coefficient to obtain the actual positioning of the personnel underground.

[0010] Preferably, the system also includes an underground vehicle equipped with a mobile data acquisition terminal. The mobile data acquisition terminal includes a second reading unit and a radio frequency unit. The second reading unit reads personal information from a card within the sensing range and measures the distance between the card and the card. The second reading unit also packages the personal information and the corresponding distance into mobile information and sends it to an adjacent positioning card reader via the radio frequency unit. The positioning card reader, upon receiving the mobile information, measures the distance to the corresponding underground vehicle and records it as a detection distance, then sends the mobile information and the detection distance to a processor. The processor performs real-time positioning of the underground vehicle based on a distance correction coefficient and the detection distance. The processor also analyzes whether the personal information within the mobile information belongs to the occupants of the vehicle according to preset conditions; if so, the processor associates the personal information with the real-time positioning of the corresponding underground vehicle.

[0011] Preferably, when the processor analyzes whether the personal information in the mobile information is the personal information of the person in the vehicle, if the analysis result is that the distance between the card end and the second reading unit is less than a preset distance, the moving distance of the card end is less than a preset distance, and the moving frequency of the card end is less than a preset frequency, then it is determined that the card end is in the vehicle, and the personal information corresponding to the card end is the personal information of the person in the vehicle.

[0012] Preferably, the processor is also used to store the distance correction coefficient between each positioning card reader, and to perform correction analysis based on the distance correction coefficient; if the correction coefficient between two adjacent positioning card readers is continuously greater than the first preset value and the duration is greater than the preset duration, the processor generates an alarm message.

[0013] Preferably, when the processor performs correction analysis, if the correction coefficient between two adjacent positioning card readers is greater than a second preset value, the processor generates an alarm message; wherein the second preset value is greater than the first preset value.

[0014] Preferably, the processor is also used to mark two adjacent positioning card readers corresponding to the alarm information when an alarm information exists, and to perform interference source location analysis based on the real-time detection distance of the underground vehicle sent by the two adjacent positioning card readers when an underground vehicle passes through the space between the two marked adjacent positioning card readers.

[0015] Preferably, the processor is also used to generate suggested processing area information based on the analysis results of the interference source location.

[0016] Preferably, the alarm information includes the type of anomaly.

[0017] Preferably, the preset frequency range is between 1 time / 2 minutes and 1 time / 10 minutes.

[0018] Preferably, the preset interval distance is no more than 650 meters.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. This solution uses positioning readers and processors to perform conventional UWB positioning of underground personnel. After obtaining the basic positioning of the personnel, it analyzes the distance correction coefficients between adjacent positioning readers based on the measured distances and actual distances between them. These correction coefficients are then used to correct the basic positioning of each underground person. If there is interference between two adjacent positioning readers, the corresponding distance correction coefficients can minimize the impact of this interference, ensuring that the positioning of personnel located between these adjacent readers is as close as possible to their actual positioning. In this way, even under environmental interference, accurate positioning of personnel entering underground tunnels can be achieved.

[0021] 2. Using this application, even if personnel are inside an underground vehicle and the signal from the card is blocked by the vehicle's exterior, accurate positioning is still possible. Specifically, through the mobile acquisition terminal's data collection and analysis, and the processor's processing of the relevant data from the mobile acquisition terminal, personnel inside the vehicle can be effectively identified, and the underground vehicle can be located. The location of the personnel inside the vehicle is then associated with the location of the corresponding underground vehicle. Essentially, the location of the underground vehicle is used as the location of the personnel inside. Since the underground vehicle is not large, and personnel inside can be considered as a single unit within the vehicle, this level of accuracy meets the usage requirements. Thus, even if personnel are inside the underground vehicle, continuous positioning of those personnel is possible. Furthermore, to ensure the effectiveness of collecting personnel information, this application designs specific judgment conditions: a person is determined to be inside the vehicle only when the distance between a person and the second reading unit is less than a preset distance, the person's movement distance is less than a preset distance, and the person's movement frequency is less than a preset frequency.

[0022] 3. If an anomaly at a certain point is too severe, even after correction, its accuracy may not be guaranteed. Therefore, the processor in this application performs a correction analysis based on the distance correction coefficient. If the correction coefficient between two adjacent positioning readers is consistently greater than the first preset value, and the duration exceeds the preset time, it indicates that the anomaly between these adjacent positioning readers is severe and has lasted for a considerable period, making automatic elimination difficult. Therefore, the processor generates an alarm message to help relevant personnel understand the situation and take timely action. Similarly, if the correction coefficient between two adjacent positioning readers is greater than the second preset value (the second preset value is greater than the first preset value), it indicates that the anomaly between these adjacent positioning readers is very severe and cannot be allowed to disappear automatically; it needs to be addressed as soon as possible. Therefore, the processor also generates an alarm message to help relevant personnel understand the situation and take timely action.

[0023] 4. After generating the alarm information, the processor in this application will automatically analyze the location of the interference source when an underground vehicle passes through the space between two adjacent marked positioning readers. Specifically, if there is no interference between the underground vehicle and a certain positioning reader, the corresponding change in detection distance will be relatively smooth. If the detection distance changes abruptly, it indicates that the vehicle has entered or left the area of ​​signal interference. In this way, by analyzing the detection distances of underground vehicles sent by the positioning readers on both sides, the specific area where abnormal interference exists can be identified relatively accurately. Afterwards, the processor generates suggested processing area information, facilitating targeted handling of the specific area with abnormal interference by management personnel. Attached Figure Description

[0024] To make the objectives, technical solutions, and advantages of the invention clearer, the invention will now be described in further detail with reference to the accompanying drawings, wherein:

[0025] Figure 1 This is a logic block diagram of Example 1;

[0026] Figure 2 This is an illustrative diagram illustrating an example from Example 1. Detailed Implementation

[0027] The following detailed explanation illustrates the specific implementation methods: Example 1

[0028] like Figure 1 As shown, this embodiment discloses a precise personnel positioning system for underground mining operations, including a card terminal, a positioning card reader, a processor, and an underground vehicle. The card terminal is a wireless communication card, and it records the personal information of the cardholder. In this embodiment, the card terminal is an RFID card, and the positioning card reader is an RFID card reader. In other embodiments, the card terminal and positioning card reader may also employ equivalent devices using UWB positioning technology or other indoor positioning technologies. These are all existing technologies and can be directly applied; therefore, they will not be elaborated upon here.

[0029] Multiple positioning card readers are installed along the length of the underground tunnel at preset intervals. In this embodiment, a positioning card reader is installed every 600 meters, meaning any two adjacent positioning card readers are 600 meters apart. The positioning card readers are used to read personal information from the cards within their coverage area and measure the distance between the card reader and the card. They also send the personal information from the card and the corresponding distance to the processor. The processor performs personnel positioning analysis based on the personal information from the card and the corresponding distance. The processor stores the location information of each positioning card reader. The processor performs positioning analysis based on the location information of each positioning card reader, the distances sent by each positioning card reader, and the corresponding personal information to obtain the basic location of the personnel underground.

[0030] The positioning card reader is also used to send ranging signals to adjacent positioning card readers at a preset frequency and measure the adjacent distance between them. It is also used to send the adjacent distances to the processor. The processor stores the actual distances between each adjacent positioning card reader. The processor is further used to calculate a distance correction coefficient between each positioning card reader based on the adjacent distances and the actual distances, and to correct the basic positioning of the personnel underground based on the distance correction coefficients, thus obtaining the actual positioning of the personnel underground. The preset frequency range is between 1 time / 2 minutes and 1 time / 10 minutes; in this embodiment, it is once every 3 minutes.

[0031] A mobile data acquisition terminal is installed on the underground vehicle. The mobile data acquisition terminal includes a second reading unit and a radio frequency (RF) unit. In this embodiment, the second reading unit is installed inside the underground vehicle, and the RF unit is installed outside the underground vehicle. In specific implementation, the second reading unit can be an RF card reader with a small sensing distance (e.g., 30 meters), and the communication unit is an RF transmitting module. The second reading unit is used to read the personal information on the card within the sensing range and measure the distance between the card and the card. The second reading unit is also used to package the personal information and the corresponding distance into mobile information and send it to the adjacent positioning card reader through the RF unit. The positioning card reader is also used to measure the distance to the corresponding underground vehicle when receiving the mobile information and record it as the detection distance, and send the mobile information and the detection distance to the processor. The processor is also used to perform real-time positioning of the underground vehicle according to the distance correction coefficient and the detection distance. The processor is also used to analyze whether the personal information in the mobile information is the personal information of the people in the vehicle according to preset conditions. If so, the processor associates the personal information with the real-time positioning of the corresponding underground vehicle. Specifically, when the processor analyzes whether the personal information within the mobile information belongs to a person inside the vehicle, if the analysis results show that the distance between the card and the second reading unit is less than a preset distance, the card's movement distance is less than a preset distance, and the card's movement frequency is less than a preset frequency, then it is determined that the card is inside the vehicle, and the personal information corresponding to the card is the personal information of a person inside the vehicle. The specific values ​​of the preset distance and preset frequency can be set by those skilled in the art based on the internal spatial layout of the underground vehicle, and will not be elaborated here.

[0032] This solution uses positioning readers and processors to perform conventional UWB positioning of underground personnel. After obtaining the basic positioning of the personnel, it analyzes the distance correction coefficients between adjacent positioning readers based on the measured distances and actual distances between them. These correction coefficients are then used to correct the basic positioning of each underground person. If there is interference between two adjacent positioning readers, the corresponding distance correction coefficients can minimize the impact of this interference, ensuring that the positioning of personnel located between those adjacent readers is as close as possible to their actual positioning. In this way, even under environmental interference, accurate positioning of personnel entering underground tunnels can be achieved.

[0033] For ease of understanding, Figure 2 Let's take the situation in the example below as an illustration. Figure 2As shown, the actual distance between card reader locator 1 and card reader locator 2 is D; the detection distance between card reader locator 1 and card reader locator 2 measured by automatic ranging is d; therefore, the correction coefficient K = D / d. Subsequently, when the automatic detection shows that the detection distance between the card end located between card reader 1 and card reader 2 and card reader 1 is d1, then the actual distance between the card end and card reader 1 is D1 = d1 * K = d1 * D / d. Through the correction coefficient, the error caused by ambient temperature and humidity in ranging can be eliminated, achieving more accurate positioning.

[0034] In addition, through the data collection and analysis of the mobile acquisition terminal, and the processing of relevant data from the mobile acquisition terminal by the processor, this solution can effectively identify personnel inside the vehicle and locate the underground vehicle, and then associate the personnel inside the vehicle with the location of the corresponding underground vehicle. Essentially, the location of the underground vehicle is used as the location of the personnel inside. Since the underground vehicle is not large, and personnel inside the vehicle can be considered as a whole with the vehicle, this level of accuracy meets the usage requirements. Thus, even if personnel are inside the underground vehicle, they can be continuously located. Furthermore, to ensure the effectiveness of the collection of personnel information, this application has designed specific judgment conditions.

[0035] In summary, this system can accurately locate personnel entering underground tunnels even in the presence of environmental interference. Example 2

[0036] Unlike Embodiment 1, in this embodiment, the processor is also used to store the distance correction coefficients between each positioning reader, and to perform correction analysis based on the distance correction coefficients. If the correction coefficient between two adjacent positioning readers is continuously greater than a first preset value and the duration is greater than a preset time, or if the correction coefficient between two adjacent positioning readers is greater than a second preset value, the processor generates an alarm message. The second preset value is greater than the first preset value, and the alarm message includes the type of anomaly. The specific values ​​of the first and second preset values ​​can be set by those skilled in the art based on the daily interference conditions of the underground roadway and the actual requirements for positioning accuracy, and will not be elaborated here.

[0037] If an anomaly at a certain point is too severe, even after correction, its accuracy cannot be guaranteed. Therefore, the processor in this application performs a correction analysis based on a distance correction coefficient. If the correction coefficient between two adjacent positioning readers is consistently greater than a first preset value, and the duration exceeds a preset time, it indicates that the anomaly between these adjacent positioning readers is severe and has been prolonged, making automatic elimination difficult. Therefore, the processor generates an alarm message to help relevant personnel understand the situation and take timely action. Similarly, if the correction coefficient between two adjacent positioning readers is greater than a second preset value (the second preset value is greater than the first preset value), it indicates that the anomaly between these adjacent positioning readers is very severe and cannot be allowed to disappear automatically; it needs to be addressed as soon as possible. Therefore, the processor also generates an alarm message to help relevant personnel understand the situation and take timely action. Example 3

[0038] Unlike Embodiment 2, in this embodiment, the processor is further configured to mark two adjacent positioning readers corresponding to the alarm information when an alarm is detected, and to perform interference source location analysis based on the real-time detection distance of the underground vehicle transmitted by the two adjacent positioning readers when an underground vehicle passes through the space between the marked two adjacent positioning readers. The processor is also configured to generate suggested processing area information based on the interference source location analysis results.

[0039] After generating the alarm information, the processor in this application will automatically analyze the location of the interference source when an underground vehicle passes through the space between two adjacent marked positioning readers. Specifically, if there is no interference between the underground vehicle and a certain positioning reader, the corresponding change in detection distance is relatively smooth. If the detection distance changes abruptly, it indicates that the vehicle has entered or left the area of ​​signal interference. In this way, by analyzing the detection distances of underground vehicles sent by the positioning readers on both sides, the specific area where abnormal interference exists can be identified relatively accurately. Afterwards, the processor generates suggested processing area information, facilitating targeted handling of the specific area with abnormal interference by management personnel.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the technical solutions. Those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present invention that do not depart from the purpose and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A precise positioning system for underground personnel, characterized in that: Includes the card itself, the positioning reader, and the processor; The card is a wireless communication card, and the card contains an identifier of the cardholder's personal information. Multiple positioning readers are arranged at preset intervals along the length of the underground tunnel. Each positioning reader reads information from the card within its coverage area, measures the distance from the card, and sends the cardholder's personal information and the corresponding distance to the processor. The processor stores the location information of each positioning reader and performs location analysis based on the location information, the distances sent by each reader, and the corresponding personal information to obtain the basic location of the underground personnel. The positioning card reader is also used to send ranging signals to adjacent positioning card readers at a preset frequency and measure the adjacent distance between them. It is also used to send the adjacent distance to the processor. The processor also stores the actual distance between each adjacent positioning card reader. The processor is also used to calculate the distance correction coefficient between each positioning card reader based on the adjacent distance and the actual distance between the adjacent positioning card readers, and to correct the basic positioning of the personnel in the mine based on the distance correction coefficient to obtain the actual positioning of the personnel in the mine. It also includes an underground vehicle equipped with a mobile data acquisition terminal. The mobile data acquisition terminal includes a second reading unit and a radio frequency unit. The second reading unit is used to read personal information from a card within the sensing range and measure the distance between the card and the card. The second reading unit is also used to package the personal information and the corresponding distance into mobile information and send it to an adjacent positioning card reader via the radio frequency unit. The positioning card reader is also used to measure the distance to the corresponding underground vehicle when receiving the mobile information and record it as the detection distance, and send the mobile information and the detection distance to the processor. The processor is also used to perform real-time positioning of the underground vehicle based on the distance correction coefficient and the detection distance. The processor is also used to analyze whether the personal information in the mobile information is the personal information of the people in the vehicle according to preset conditions. If so, the processor associates the personal information with the real-time positioning of the corresponding underground vehicle. The processor is also used to store the distance correction coefficient between each positioning card reader, and to perform correction analysis based on the distance correction coefficient; if the correction coefficient between two adjacent positioning card readers is continuously greater than a first preset value and the duration is greater than a preset duration, the processor generates an alarm message. When the processor performs correction analysis, if the correction coefficient between two adjacent positioning card readers is greater than a second preset value, the processor generates an alarm message; wherein the second preset value is greater than the first preset value. The processor is also used to mark two adjacent positioning card readers corresponding to the alarm information when an alarm information exists, and to perform interference source location analysis based on the real-time detection distance of the underground vehicle sent by the two adjacent positioning card readers when an underground vehicle passes through the space between the two marked adjacent positioning card readers. The processor is also used to generate suggested processing area information based on the analysis results of the interference source location.

2. The underground personnel precision positioning system as described in claim 1, characterized in that: When the processor analyzes whether the personal information in the mobile information is the personal information of the person in the vehicle, if the analysis result is that the distance between the card end and the second reading unit is less than a preset distance, the moving distance of the card end is less than a preset distance, and the moving frequency of the card end is less than a preset frequency, then it is determined that the card end is in the vehicle, and the personal information corresponding to the card end is the personal information of the person in the vehicle.

3. The underground personnel precision positioning system as described in claim 1, characterized in that: The alarm information includes the type of anomaly.

4. The underground personnel precision positioning system as described in claim 1, characterized in that: The preset frequency range is between 1 time / 2 minutes and 1 time / 10 minutes.

5. The underground personnel precision positioning system as described in claim 1, characterized in that: The preset interval distance is no more than 650 meters.

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