A method for replaying the trajectories of underground coal mine personnel

Abstract

The present invention discloses a method for replaying the trajectory of personnel underground in a coal mine, which includes: determining the chronological information of the positioning information associated with the tag to be queried; classifying the positioning information associated with the tag to be queried according to the associated card readers, and obtaining the card reader-associated positioning sets corresponding to each card reader; respectively selecting, from each card reader-associated positioning set, the positioning information reflecting the maximum and minimum distance values when the tag is on different sides of the card reader, and obtaining the four extreme value sets corresponding to each card reader; converting the positioning data of the four extreme value sets into GIS spatial coordinates; and determining the trajectory replay route based on the chronological information and the GIS spatial coordinates. For each card reader passed by the tag, the present invention only needs to take the positioning information of the four extreme value sets, which can not only ensure the accuracy of the trajectory replay, but also greatly reduce the data volume, thereby saving a large amount of calculations, reducing the operation time, and effectively improving the user experience.

Description

Technical Field

[0001] The present invention relates to the field of coal mine personnel positioning, and particularly to a method for replaying the trajectories of underground coal mine personnel. Background Art

[0002] With the continuous improvement of the intelligence and informatization levels of coal mines, the coal mine precise positioning technology based on UWB (Ultra-Wideband technology) has become the preferred solution for the upgrade of coal mine positioning systems. Although the positioning accuracy of personnel is high, this also results in an excessive amount of data required. A UWB tag card uploads its location information every second. In the case of full mine coverage, the data generated by each worker carrying a card and working underground for 8 hours will reach 28,800 pieces, and these data form real personnel trajectory information. The existing trajectory replay methods currently have the following problems: For each piece of data, it is necessary to convert the direction and distance data provided by UWB into coordinate data, locate the positions of these data in the GIS map, and the amount of calculation is large. In response to this problem, the solutions adopted by the current coal mine underground personnel precise positioning technology in terms of trajectory replay are mainly as follows: Abandon the precise positioning trajectory replay method and adopt the area trajectory replay method in the coal mine personnel management system; or, the precise data is only presented in the form of points for all precise data, and is not connected into a line to form a trajectory. No matter which processing method is used, it is impossible to achieve the replay of the trajectories of underground coal mine personnel while taking into account the simplicity of the structure and the accuracy of the conclusion. Summary of the Invention

[0003] In view of the above problems existing in the prior art, the present invention provides a method for replaying the trajectories of underground coal mine personnel, which can not only ensure the accuracy of the trajectory replay effect, but also effectively reduce the amount of data calculation and save the data processing time.

[0004] The present invention discloses a method for replaying the trajectories of underground coal mine personnel, which is realized based on a number of positioning information generated by the communication between a card reader arranged on the side wall of a roadway and a tag worn by underground personnel. The method includes:

[0005] S1: Determine the chronological information of the positioning information associated with the tag to be queried.

[0006] S2: Classify the positioning information associated with the tag to be queried according to the associated card reader, and obtain the card reader-associated positioning set corresponding to each card reader.

[0007] S3: Select the positioning information reflecting the maximum and minimum distance values when the tag is on different sides of the card reader from each card reader-associated positioning set respectively, and obtain the four extreme value sets corresponding to each card reader.

[0008] S4: Convert the positioning data in the four extreme value sets into GIS space coordinates.

[0009] S5: Determine the trajectory playback route based on the chronological information and GIS spatial coordinates.

[0010] Further, the positioning information described in this method is used to reflect the following information: the tag number of the tag that sends data to the card reader, the card reader number of the card reader that receives data, the direction of the tag relative to the card reader, and the distance between the tag and the card reader.

[0011] Further, before step S1, the following steps are also included:

[0012] Select the positioning information related to the tag to be queried from all the positioning information and form a tag association positioning set corresponding to the tag to be queried.

[0013] Step S1 includes:

[0014] Determine the chronological information of the positioning information in the tag association positioning set.

[0015] Step S2 includes:

[0016] Classify the positioning information in the tag association positioning set according to the card readers they are associated with, and respectively obtain a card reader association positioning set corresponding to each card reader.

[0017] Further, step S3 includes:

[0018] Respectively determine the following four extreme value information from the positioning information in each card reader association positioning set: Select the positioning information that reflects the tag on the left side of the card reader and has the largest distance value as the left maximum distance information; select the positioning information that reflects the tag on the left side of the card reader and has the smallest distance value as the left minimum distance information; select the positioning information that reflects the tag on the right side of the card reader and has the largest distance value as the right maximum distance information; select the positioning information that reflects the tag on the right side of the card reader and has the smallest distance value as the right minimum distance information.

[0019] Select the four extreme value information of each card reader association positioning set to obtain a four - extreme value set corresponding to each card reader.

[0020] Further, the step of selecting the four extreme value information of each card reader association positioning set to obtain a four - extreme value set corresponding to each card reader includes:

[0021] If there is both positioning information reflecting the tag on the left side of the card reader and positioning information reflecting the tag on the right side of the card reader in the card reader association positioning set, then select the left maximum distance information and the right maximum distance information as the four - extreme value set.

[0022] Further, the step of selecting the four extreme value information of each card reader association positioning set to obtain a four - extreme value set corresponding to each card reader includes:

[0023] If there is only positioning information indicating that the tag is on the left side of the card reader in the card reader - associated positioning set, then the maximum distance information on the left side and the minimum distance information on the left side are taken as the four - extreme - value set.

[0024] Furthermore, the selection of the four extreme - value information of each card reader - associated positioning set to obtain the four - extreme - value set corresponding to each card reader includes:

[0025] If there is only positioning information indicating that the tag is on the right side of the card reader in the card reader - associated positioning set, then the maximum distance information on the right side and the minimum distance information on the right side are taken as the four - extreme - value set.

[0026] The present invention also discloses a computer device, including: a memory, a processor, and a computer program stored in the processor and executable on the processor. When the processor executes the computer program, the above - described method for replaying the trajectory of underground coal mine personnel is implemented.

[0027] The present invention also discloses a computer - readable storage medium. The computer - readable storage medium stores a computer program, and when the computer program is executed by a processor, the above - described method for replaying the trajectory of underground coal mine personnel is implemented.

[0028] The present invention has at least the following beneficial effects:

[0029] When the present invention obtains the positioning of the person to be queried for trajectory replay, for each card reader passed by the tag, only the positioning information of the four - extreme - value set needs to be taken. This not only ensures the accuracy of trajectory replay but also greatly reduces the data volume, thereby saving a large amount of computing, reducing the operation time, and effectively improving the user experience.

[0030] Other beneficial effects of the present invention will be described in detail in the specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 is a flowchart of the method for replaying the trajectory of underground coal mine personnel disclosed by the present invention.

[0033] Figure 2 is the first case of the actual movement of underground personnel in the roadway disclosed in the preferred embodiment of the present invention.

[0034] Figure 3It is the second situation where the actual movement of underground personnel in the roadway is disclosed in the preferred embodiment of the present invention.

[0035] Figure 4 It is the third situation where the actual movement of underground personnel in the roadway is disclosed in the preferred embodiment of the present invention.

[0036] Figure 5 It is the fourth situation where the actual movement of underground personnel in the roadway is disclosed in the preferred embodiment of the present invention.

[0037] Figure 6 It is the fifth situation where the actual movement of underground personnel in the roadway is disclosed in the preferred embodiment of the present invention.

[0038] Figure 7 It is the sixth situation where the actual movement of underground personnel in the roadway is disclosed in the preferred embodiment of the present invention.

[0039] Figure 8 It is the seventh situation where the actual movement of underground personnel in the roadway is disclosed in the preferred embodiment of the present invention.

[0040] Figure 9 It is the eighth situation where the actual movement of underground personnel in the roadway is disclosed in the preferred embodiment of the present invention.

[0041] Figure 10 It is the schematic diagram of the method for replaying the trajectory of underground personnel in coal mines disclosed in the preferred embodiment of the present invention.

[0042] Figure 11 It is the implementation flowchart of the method for replaying the trajectory of underground personnel in coal mines disclosed in the preferred embodiment of the present invention.

[0043] Among them, 1 - card reader. Detailed implementation manner

[0044] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present invention.

[0045] As Figure 1 shown, the present invention discloses a method for replaying the trajectory of underground personnel in coal mines, which is realized based on a number of positioning information generated by the communication between the card readers arranged on the side walls of the roadway and the tags worn by underground personnel. Its characteristics lie in that the method includes:

[0046] S1: Determine the chronological information of the positioning information associated with the tag to be queried. The chronological information is determined based on the generation time of each positioning information and can reflect the movement trend of the person to be queried.

[0047] S2: For the positioning information associated with the tag to be queried, classify it according to the associated card reader to obtain the card reader associated positioning set corresponding to each card reader. The tag to be queried is the tag worn by the person to be queried.

[0048] S3: Select the positioning information reflecting the maximum and minimum distance values when the tag is on different sides of the card reader from each card reader associated positioning set respectively to obtain the four extreme value sets corresponding to each card reader.

[0049] S4: Convert the positioning data in the four extreme value sets into GIS spatial coordinates.

[0050] S5: Determine the trajectory playback route based on the chronological information and GIS spatial coordinates. The GIS space can be determined through the chronological information of the positioning information.

[0051] In some preferred embodiments of the present invention, the positioning information described in the method is used to reflect the following information: the tag number of the tag sending data to the card reader, the card reader number of the card reader receiving data, the direction of the tag relative to the card reader, and the distance between the tag and the card reader. In the present invention, the corresponding time can also be generated along with the positioning information. The specific principle is a known technology in the art and will not be elaborated herein. The combination of time and positioning can reflect the position status of underground personnel at a certain time.

[0052] In some preferred embodiments of the present invention, to determine the chronological information, it is necessary to first select the positioning information associated with the tag to be queried from all the positionings to form a tag associated positioning set. Then, based on the positioning information in the tag associated positioning set, the chronological information is determined, reducing the amount of data processing.

[0053] In some preferred embodiments of the present invention, there are two implementation manners for step S2. One is to first divide the positioning data into several groups according to the associated card reader, and then select the positioning information associated with the tag of the person to be queried from each group, and screen out the positioning information of other people. The screened groups are the card reader associated positioning sets corresponding to each card reader. For example, the positioning information sent by the tag to be queried can be selected from the positioning information received by each card reader respectively, and the card reader associated positioning sets corresponding to each card reader are formed respectively.

[0054] Second, first screen all the positioning information to obtain all the positioning information associated with the person to be investigated's tag, and then group the screened positioning information by the associated card reader to obtain the card reader-associated positioning set corresponding to each card reader. For example, select the positioning information associated with the tag to be investigated from all the positioning information and form the tag-associated positioning set corresponding to the tag to be investigated; classify the positioning information in the tag-associated positioning set according to the respective associated card readers to obtain the card reader-associated positioning set corresponding to each card reader.

[0055] In some preferred embodiments of the present invention, step S3 includes: respectively determining four extreme value information from the positioning information of each card reader-associated positioning set, and selecting the four extreme value information of each card reader-associated positioning set to obtain the four extreme value set corresponding to each card reader. Among them, these four extreme value information specifically include:

[0056] (1) The left maximum distance information, which is the positioning information reflecting that the tag is on the left side of the card reader and the distance value is the largest.

[0057] (2) The left minimum distance information, which is the positioning information reflecting that the tag is on the left side of the card reader and the distance value is the smallest.

[0058] (3) The right maximum distance information, which is the positioning information reflecting that the tag is on the right side of the card reader and the distance value is the largest.

[0059] (4) The right minimum distance information, which is the positioning information reflecting that the tag is on the right side of the card reader and the distance value is the smallest.

[0060] Through the above solution, important positioning information, that is, the four extreme value set, is selected from the card reader-associated positioning set, and the positioning information associated with each card reader is controlled within 4, greatly reducing the data volume and being beneficial to improving the efficiency of subsequent storage and processing.

[0061] Based on the above-disclosed four extreme value set, the preferred embodiments of the present invention also disclose an optimization method for the four extreme value set, further reducing the data volume of the positioning information required for trajectory playback. In some preferred embodiments of the present invention, when determining and selecting the four extreme value information from the card reader-associated positioning set, the following method is adopted:

[0062] ① If there is both positioning information reflecting that the tag is on the left side of the card reader and positioning information reflecting that the tag is on the right side of the card reader in the card reader-associated positioning set, then take the left maximum distance information and the right maximum distance information as the four extreme value set.

[0063] ② If there is only positioning information reflecting that the tag is on the left side of the card reader in the card reader-associated positioning set, then take the left maximum distance information and the left minimum distance information as the four extreme value set.

[0064] ③If there is only positioning information indicating that the tag is on the right side of the card reader in the card reader association positioning set, then take the maximum distance information on the right side and the minimum distance information on the right side as the four-extreme value set.

[0065] The above three methods can correspond to various situations of the actual movement of underground personnel in the roadway, totaling three categories and eight types, specifically as follows (only enumerating the tags from left to right):

[0066] The first category is that the tag passes by the left side of the card reader and also passes by the right side of the card reader, including the following specific situations:

[0067] As Figure 2 shown, when the tag passes through both ends of the card reader 1 and passes from the left side to the right side of the card reader 1, then take the positioning information corresponding to the maximum value A1 on the left side and the maximum value B1 on the right side to complete the trajectory playback.

[0068] As Figure 3 shown, when the tag passes through both sides of the card reader 1 but does not reach the right end and turns into another roadway, then take the positioning information corresponding to the maximum value A2 on the left side and the maximum value B2 on the right side to complete the trajectory playback.

[0069] As Figure 4 shown, when the tag turns into the left side of the card reader 1 roadway from another roadway and passes through the card reader 1 to reach the right end, then take the positioning information corresponding to the maximum value A3 on the left side and the maximum value B3 on the right side to complete the trajectory playback.

[0070] As Figure 5 shown, when the tag turns into the card reader 1 roadway from another roadway, then passes through the card reader 1 and turns into another roadway on the right side, then take the positioning information corresponding to the maximum value A4 on the left side and the maximum value B4 on the right side to complete the trajectory playback.

[0071] The second category is that the tag only passes by the left side of the card reader 1 and does not pass by the right side of the card reader 1, including the following situations:

[0072] As Figure 6 shown, when the tag turns into the card reader 1 roadway from another roadway, does not pass through the card reader 1, and then turns into another roadway, then take the positioning information corresponding to the maximum value A5 on the left side and the minimum value B5 on the left side to complete the trajectory playback.

[0073] As Figure 7 shown, when the tag enters the card reader 1 roadway from the left side of the card reader 1 roadway, does not pass through the card reader 1, and then turns into another roadway, then take the positioning information corresponding to the maximum value A6 on the left side and the minimum value B6 on the left side to complete the trajectory playback.

[0074] The third category is that the tag does not pass by the left side of the card reader 1 and only passes by the right side of the card reader 1, including the following situations:

[0075] As Figure 8 shown, the tag turns from other lanes on the right side of the card reader 1 into the lane of the card reader 1, does not pass through the card reader 1, and then turns into another lane on the right side. Then, the positioning information corresponding to the minimum value A7 and the maximum value B7 on the right side is taken to complete the trajectory playback.

[0076] As Figure 9 shown, the tag turns from other lanes on the right side of the card reader 1 into the lane of the card reader 1 and does not pass through the card reader 1. Then, the positioning information corresponding to the minimum value A8 and the maximum value B8 on the right side is taken to complete the trajectory playback.

[0077] Through the above optimization method for the four extreme value sets, the number of positioning information required for each card reader is further reduced from 4 to 2, further reducing the data volume and improving the processing efficiency. The comparison of the advantages and disadvantages between the present invention and the prior art is shown in Table 1 below.

[0078] Table 1

[0079]

[0080] For the GIS disclosed in steps S4 and S5 of the present invention, the GIS (Geographic Information System) map display of the personnel positioning system also presents various forms with the development of precise positioning technology, and can realize functions such as real-time personnel position display, electronic fence, integration of 2D and 3D, and historical trajectory playback. Although these functions and methods are complex and have a high technical content, when users use them, they can very conveniently and quickly obtain the information they want, giving users an intuitive graphical impression. The GIS map adopted has developed to the present, and it is very easy to perform coordinate data conversion through the card reader position, lane orientation, and tag positioning data to form a general coordinate conversion module. The shortest path algorithm is also widely used in the GIS map, and the present invention also has the shortest path algorithm that can pass through. The present invention can perform corresponding calculations according to the prior art, and the specific principle and process will not be elaborated.

[0081] The present invention also discloses a computer device, including: a memory, a processor, and a computer program stored in the processor and executable on the processor. When the processor executes the computer program, the method for playing back the trajectory of underground coal mine personnel as described above is implemented.

[0082] The present invention also discloses a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for playing back the trajectory of underground coal mine personnel as described above is implemented.

[0083] Embodiment 1

[0084] As Figure 10 shown, the method for playing back the trajectory of underground coal mine personnel disclosed in this embodiment is implemented based on the following several modules.

[0085] (1) The tag, which has its own tag number, is a positioning device worn by underground personnel. It has the function of UWB communication with the card reader and sends 1 piece of positioning data to the card reader every second. The positioning data includes the tag number, the direction of the tag relative to the card reader (since the coal mine roadway is mainly a long and narrow space structure, the card reader is arranged on one side of the roadway. When a person faces the card reader, the position of the tag will have two directions, left or right, hereinafter referred to as "direction"), and the distance between the tag and the card reader (hereinafter referred to as "distance").

[0086] (2) The card reader, which has its own card reader number, has the function of UWB communication with the tag, and simultaneously transmits the tag number, card reader number, distance and direction data to the data acquisition module.

[0087] (3) The data acquisition module is used to store the tag number, card reader number, direction and distance data uploaded by the card reader into the database.

[0088] (4) The database is used to realize the storage, query and analysis of distance and direction.

[0089] (5) The data sampling module is responsible for querying the distance and direction data for trajectory playback from the database according to certain rules.

[0090] (6) The coordinate conversion module, based on the GIS map, with reference to the position of the card reader and the roadway trend, converts the distance and direction data obtained by the data sampling module into spatial coordinate data in the GIS map.

[0091] (7) The trajectory playback module, based on the GIS map, with reference to the roadway trend, forms a trajectory playback route along the roadway with the spatial coordinate data, and finally realizes the playback of the walking trajectory of underground coal mine personnel.

[0092] Embodiment 2

[0093] As Figure 11 shown, the method for playing back the trajectory of underground coal mine personnel disclosed in this embodiment includes:

[0094] ① Start.

[0095] ② Through the tag, card reader and data acquisition module, collect the positioning information reflecting the tag number, card reader number, direction and distance data into the database.

[0096] ③ Through the data sampling module, first query all the positioning information of the tag number associated with the person to be queried.

[0097] ④ First, sort the data in chronological order, and divide the positioning information formed by each passing of a card reader into one group (when passing the same card reader repeatedly, and passing other card readers in between, it should not be considered as one group). In this way, when the tag passes the card reader n times, n groups of card reader associated positioning sets are formed.

[0098] ⑤ Take the positioning information corresponding to the four extreme values in each group. These four extreme values respectively represent the maximum value in the left direction, the minimum value in the left direction, the maximum value in the right direction, and the minimum value in the right direction of the tag's relative position to the card reader. The positioning information that conforms to these four extreme values forms a four-extreme value set, namely the left maximum distance information, the left minimum distance information, the right maximum distance information, and the right minimum distance information.

[0099] At this time, it is optimized in the following three categories: The first category is the positioning information with both left and right directions. At this time, the four-extreme value set only takes the positioning information corresponding to the left maximum value and the right maximum value; the second category is the positioning information with only the left direction. At this time, take the positioning information corresponding to the left maximum value and the left minimum value; the third category is the positioning information with only the right direction. At this time, take the positioning information corresponding to the right maximum value and the right minimum value. In this way, 2n pieces of positioning information are obtained.

[0100] ⑥ Based on the GIS map and the roadway alignment data, convert these 2n pieces of positioning information into GIS spatial coordinate points.

[0101] ⑦ Connect these 2n points into a trajectory according to the shortest path algorithm of the GIS map.

[0102] ⑧ End.

[0103] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention.

Claims

1. A method for replaying the trajectory of underground coal mine personnel, which is realized based on a number of positioning information generated by the communication between a card reader installed on the side wall of the roadway and a tag worn by underground personnel, and is characterized in that, The method includes: S1: Determine the chronological information of the positioning information associated with the tag to be queried; S2: Classify the positioning information associated with the tag to be queried according to the associated card reader, and obtain the card reader associated positioning set corresponding to each card reader; S3: Select the positioning information reflecting the maximum and minimum distance values when the tag is on different sides of the card reader from each card reader associated positioning set respectively, and obtain the four extreme value sets corresponding to each card reader; S4: Convert the positioning data of the four extreme value sets into GIS spatial coordinates; S5: Determine the trajectory playback route based on the chronological information and GIS spatial coordinates.

2. The method for replaying the trajectory of underground coal mine personnel according to claim 1, characterized in that, The positioning information described in this method is used to reflect the following information: the tag number of the tag sending data to the card reader, the card reader number of the card reader receiving data, the direction of the tag relative to the card reader, and the distance between the tag and the card reader.

3. The method for replaying the trajectory of underground coal mine personnel according to claim 1, characterized in that, Before the step S1, it further includes: Select the positioning information associated with the tag to be queried from all the positioning information, and form the tag associated positioning set corresponding to this tag to be queried; The step S1 includes: Determine the chronological information of the positioning information in the tag associated positioning set; The step S2 includes: Classify the positioning information in the tag associated positioning set according to the respective associated card readers, and obtain the card reader associated positioning set corresponding to each card reader respectively.

4. The method for replaying the trajectory of underground coal mine personnel according to claim 1, characterized in that, The step S3 includes: Determine the following four extreme value information from the positioning information of each card reader associated positioning set respectively: Select the positioning information reflecting that the tag is on the left side of the card reader and has the largest distance value as the left maximum distance information; Select the positioning information reflecting that the tag is on the left side of the card reader and has the smallest distance value as the left minimum distance information; Select the positioning information reflecting that the tag is on the right side of the card reader and has the largest distance value as the right maximum distance information; Select the positioning information reflecting that the tag is on the right side of the card reader and has the smallest distance value as the right minimum distance information; Select the four extreme value information of each card reader associated positioning set to obtain the four extreme value sets corresponding to each card reader.

5. The method for replaying the trajectory of underground coal mine personnel according to claim 4, characterized in that, The selection of the four extreme value information of each card reader associated positioning set to obtain the four extreme value sets corresponding to each card reader includes: If there is both positioning information reflecting that the tag is on the left side of the card reader and positioning information reflecting that the tag is on the right side of the card reader in the card reader associated positioning set, then take the left maximum distance information and the right maximum distance information as the four extreme value sets.

6. The method for replaying the trajectory of mine underground personnel according to claim 4, characterized in that The selection of the four extreme value information of each card reader associated positioning set to obtain the four extreme value sets corresponding to each card reader includes: If there is only positioning information reflecting that the tag is on the left side of the card reader in the card reader associated positioning set, then take the left maximum distance information and the left minimum distance information as the four extreme value sets.

7. The method for replaying the trajectory of underground coal mine personnel according to claim 4, wherein The selection of the four extreme value information of each card reader associated positioning set to obtain the four extreme value sets corresponding to each card reader includes: If there is only positioning information reflecting that the tag is on the right side of the card reader in the card reader associated positioning set, then take the right maximum distance information and the right minimum distance information as the four extreme value sets.

8. A computer device, comprising: A memory, a processor, and a computer program stored in the processor and executable on the processor, wherein the processor, when executing the computer program, implements the method for replaying the trajectory of underground coal mine personnel according to any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for replaying the trajectory of underground coal mine personnel according to any one of claims 1 to 7.

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