A positioning method and positioning system for mine personnel

Abstract

The present application relates to a positioning method and positioning system for mine personnel, the method comprising: analyzing the signal in response to the acquired signal; calculating the propagation distance of the signal according to the actual signal strength and the signal strength mark; creating a coverage range using the signal generation position and propagation distance of the signal; obtaining a primary overlap area of ​​the coverage range of multiple signals; obtaining the coordinate points of the primary overlap area and calculating the corresponding positions of the coordinate points in the digital twin model; correcting the coordinate points using the corresponding positions so that the coordinate points are located in the restricted area in the digital twin model; calibrating the moved coordinate points and using the calibrated coordinate points as the position coordinates of the mine personnel. The positioning method and positioning system for mine personnel disclosed in the present application obtain more accurate coordinates by using a multi-signal strength solution method and combining position correction with surrounding environment correction, thereby achieving continuous tracking of the positions of underground mine personnel.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a positioning method and a positioning system for mine personnel. Background Art

[0002] In order to ensure the safety of underground workers, it is necessary to realize the positioning and tracking of underground workers to understand their location and status in real time, so as to achieve timely personnel identification, escape guidance and post-disaster rescue in the event of an accident.

[0003] The current positioning method commonly used on the ground requires multiple signals and high time synchronization to solve the position. However, the situation underground is complicated, and signal transmission is greatly affected by the surrounding environment. In addition, expensive synchronous clocks cannot be deployed in the underground environment. This leads to obvious position drift when using the positioning method on the ground.

[0004] Of course, there is also a way to use simulated routes to determine the location, but this requires higher motion sensor detection and continuous signal feedback. When the signal is interrupted, the simulated route will be paused directly. If an accident occurs during the pause period, the location of the underground workers cannot be provided, resulting in the inability to provide timely guidance and affecting subsequent rescue. Summary of the invention

[0005] The present application provides a positioning method and a positioning system for mine personnel, which obtains more accurate coordinates by using a multi-signal strength solution method and combining position correction with surrounding environment correction, thereby achieving continuous tracking of the positions of underground mine personnel.

[0006] The above-mentioned purpose of the present application is achieved through the following technical solutions:

[0007] In a first aspect, the present application provides a method for locating personnel in a mine, comprising:

[0008] In response to the acquired signal, the signal is parsed to obtain the signal generation location, actual signal strength, signal strength mark and signal receiving direction, and the number of signals is multiple;

[0009] Calculate the signal propagation distance based on the actual signal strength and the signal strength mark;

[0010] Creating coverage using the signal generation location and propagation distance of the signal;

[0011] Obtaining a primary overlap area of ​​coverage of multiple signals;

[0012] Get the coordinate points of the overlapped area and calculate the corresponding positions of the coordinate points in the digital twin model;

[0013] Use the corresponding position to correct the coordinate point so that the coordinate point is located in the restricted area in the digital twin model;

[0014] The moved coordinate points are calibrated and the calibrated coordinate points are used as the position coordinates of the mine personnel.

[0015] In a possible implementation manner of the first aspect, obtaining the actual signal strength includes:

[0016] Analyze the acquired signal to obtain the signal waveform;

[0017] Divide the signal waveform into multiple segments, obtain sub-signal waveforms and evaluate the stability of the sub-signal waveforms, and the lengths of the sub-signal waveforms are equal;

[0018] Calculate the amplitude average of multiple maximum amplitudes in the sub-signal waveform that meets the stability requirement;

[0019] The mean amplitude is taken as the actual signal strength.

[0020] In a possible implementation manner of the first aspect, evaluating the stability of the sub-signal waveform includes:

[0021] Put a sub-signal waveform and a standard waveform into a coordinate system, and calculate the area of ​​the region enclosed by the sub-signal waveform and the standard waveform to obtain the area value;

[0022] Determine the area reference value according to the ratio of the length of the sub-signal waveform to the length of the standard waveform;

[0023] The area value is compared with the area reference value, and when the area value is less than the area reference value, it is determined that the stability of the sub-signal waveform meets the requirements.

[0024] In a possible implementation manner of the first aspect, obtaining the coordinate points of the overlapped area includes:

[0025] Selecting at least two signals and obtaining a primary overlap area of ​​the at least two signals;

[0026] After obtaining a plurality of first-overlapping regions, the plurality of first-overlapping regions are merged, wherein the merging includes retaining only the overlapping portion of two overlapping regions with overlap, retaining all the overlapping regions without overlap, and performing mean calculation on the center of the overlapping portion and the center of the overlapping region without overlap to obtain the center coordinates;

[0027] The center coordinates are used as the coordinate points of the overlap area.

[0028] In a possible implementation manner of the first aspect, the coordinate point is corrected using the corresponding position:

[0029] Determine a point on the restricted area in the digital twin model that is closest to the coordinate point and record it as the reference point;

[0030] Use the reference point and the coordinate point to generate a direction reference, where the direction reference is the moving direction of the coordinate point;

[0031] Use the moving direction to move the coordinate point to the restricted area in the digital twin model.

[0032] In a possible implementation manner of the first aspect, when a coordinate point is moved to a restricted area in the digital twin model, the moved coordinate point needs to be calibrated, and the calibration includes:

[0033] According to the coordinate point after the movement, select the nearest determined position point in the historical database;

[0034] Calculate and determine the angle formed by the position point, the coordinate point and the signal generation position;

[0035] Use angles to re-determine the signal’s propagation path in the digital twin model;

[0036] The reference signal strength is calculated using the propagation path, and the coordinate point after the move is adjusted according to the reference signal strength.

[0037] In a possible implementation manner of the first aspect, the number of adjacent determined position points is multiple;

[0038] Each adjacent determined position point participates in adjusting the coordinate point after the move;

[0039] The coordinates obtained by averaging the coordinates of multiple moved coordinate points are used as the position coordinates of the mine personnel.

[0040] In a second aspect, the present application provides a positioning device for mine personnel, comprising:

[0041] A first signal analysis unit is used to analyze the signal in response to the acquired signal, and obtain the signal generation position, actual signal strength, signal strength mark and signal receiving direction through analysis, and the number of the signals is multiple;

[0042] A first calculation unit, used for calculating the propagation distance of the signal according to the actual signal strength and the signal strength mark;

[0043] a second computing unit for creating a coverage area using a signal generation location and a propagation distance of the signal;

[0044] A third calculation unit is used to obtain a primary overlap area of ​​coverage ranges of multiple signals;

[0045] A fourth calculation unit, used to obtain the coordinate points of the primary overlap area and calculate the corresponding positions of the coordinate points in the digital twin model;

[0046] A correction unit, used to correct the coordinate point using the corresponding position so that the coordinate point is located in a restricted area in the digital twin model;

[0047] The result unit is used to calibrate the moved coordinate points and use the calibrated coordinate points as the position coordinates of the mine personnel.

[0048] In a third aspect, the present application provides a positioning system for mine personnel, the system comprising:

[0049] one or more memories for storing instructions; and

[0050] One or more processors, used to call and run the instructions from the memory to execute the method as described in the first aspect and any possible implementation of the first aspect.

[0051] In a fourth aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium comprising:

[0052] Program, when the program is executed by a processor, the method described in the first aspect and any possible implementation of the first aspect is executed.

[0053] In a fifth aspect, the present application provides a computer program product, comprising program instructions. When the program instructions are executed by a computing device, the method described in the first aspect and any possible implementation of the first aspect is executed.

[0054] In a sixth aspect, the present application provides a chip system, which includes a processor for implementing the functions involved in the above aspects, for example, generating, receiving, sending, or processing the data and / or information involved in the above methods.

[0055] The chip system may be composed of chips, or may include chips and other discrete devices.

[0056] In a possible design, the chip system also includes a memory, which is used to store necessary program instructions and data. The processor and the memory can be decoupled and respectively set on different devices, connected by wired or wireless means, or the processor and the memory can also be coupled on the same device. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 This is a schematic flowchart of the steps of a positioning method provided by this application.

[0058] Figure 2This is a schematic diagram of the association between a signal propagation distance and actual signal strength provided by the present application.

[0059] Figure 3 This is another schematic diagram of the association between the propagation distance of a signal and the actual signal strength provided by the present application. The actual signal strength is affected by the surrounding environment.

[0060] Figure 4 This is a principle schematic diagram of obtaining a primary overlap area provided by the present application.

[0061] Figure 5 It is a schematic diagram of a comparison sub-signal waveform provided by the present application.

[0062] Figure 6 This is a schematic diagram of the principle of obtaining the center coordinates provided by this application. DETAILED DESCRIPTION

[0063] The technical solution in this application is further described in detail below in conjunction with the accompanying drawings.

[0064] This application discloses a method for locating personnel in a mine. In some examples, see Figure 1 The method for locating mine personnel disclosed in the present application comprises the following steps:

[0065] The positioning method for mine personnel disclosed in the present application is realized with the help of a tracking and positioning system for mine personnel. The system consists of four parts: a signal generator, a signal receiver carried by the mine personnel, a communicator and a server. The signal generator is deployed at various locations in the mine and continuously transmits signals to the surrounding environment. The signal receiver carried by the mine personnel receives the signal transmitted by the signal generator and calculates the position based on the received signal, and then sends the position to the server through the communicator.

[0066] The signal receivers carried by the mine personnel have numbers or codes, so that the server can know the specific location of each mine personnel. The server cannot receive the location signal sent by the communicator, indicating that the mine personnel have lost their location.

[0067] The positioning method for mine personnel disclosed in the present application is applied to the signal receivers carried by the mine personnel, and is mainly used to calculate the position of the mine personnel. Specifically, in step S101, in response to the acquired signal, the signal is first analyzed, and the analyzed content includes: the signal generation location, the actual signal strength, the signal strength mark and the signal reception direction.

[0068] The signal generation position represents the position of the signal generator. This position is a fixed value. When each signal generator transmits a signal, it will encode the position into the signal. The signal strength mark is also a fixed value and is processed in the same way.

[0069] The actual signal strength refers to the actual strength of the signal received by the signal receiver. A specific processing method is to convert the signal into a waveform and determine the actual signal strength according to the waveform amplitude. For example, the actual signal strength is the maximum value of the waveform amplitude.

[0070] The direction of signal reception refers to the relative position between the signal receiver and the signal generator. The direction of signal reception is determined by multiple antennas. There is a difference in the time when each antenna receives the signal. Based on the difference, the approximate direction of the signal generator can be calculated. The direction accuracy is determined according to the time accuracy. The time accuracy is an inherent parameter of the signal receiver.

[0071] Of course, limited by practical factors such as equipment cost, the direction of signal reception cannot be obtained in some cases, but the lack of signal reception direction will not affect the subsequent steps.

[0072] In step S102, refer to Figure 2 and Figure 3 The propagation distance of the signal is calculated based on the actual signal strength and the signal strength mark, and the propagation distance of the signal is associated with the actual signal strength. It should be understood that the signal is directly affected by the propagation medium during the propagation process, so the propagation distance of the signal can be calculated based on the actual signal strength and the signal strength mark.

[0073] The difference between the actual signal strength and the signal strength mark is positively correlated with the propagation distance. The longer the propagation distance, the lower the actual signal strength. As mentioned in the previous article, the approximate direction of the signal generator can be roughly calculated. At this time, with the help of the underground three-dimensional model, the approximate position can be calculated.

[0074] The propagation medium in the well is mainly divided into solid medium and gaseous medium. The solid medium directly affects the actual signal strength, while the gaseous medium has very little effect on the actual signal strength. Therefore, with the help of the general direction and the three-dimensional model of the well, the approximate position can be determined.

[0075] Because under the premise of determining the general direction, the medium involved in the propagation distance and the corresponding length of the medium can be determined. At this time, based on the attenuation coefficient, the signal strength range at a location can be calculated. By comparing the signal strength range and the actual signal strength, the possible range of the actual signal strength can be found.

[0076] In step S103, the signal generation position and propagation distance of the signal are used to create a coverage range, and then in step S104, a first overlap area of ​​the coverage ranges of multiple signals is obtained, such as Figure 4 As shown, then in step S105, the coordinate points of the overlapped area are obtained and the corresponding positions of the coordinate points in the digital twin model are calculated.

[0077] The digital twin model refers to the three-dimensional model based on the underground space.

[0078] In step S106, the coordinate point will be corrected using the corresponding position so that the coordinate point is located in the restricted area in the digital twin model. Because at this time it may be obtained that the coordinate point is located in the solid medium, which is obviously impossible. The coordinate point needs to be moved to the restricted area in the digital twin model, that is, the gaseous medium (mine tunnel).

[0079] Generally speaking, the corresponding position obtained is an area. If a part of the area is located in a gaseous medium and a part of the area is located in a solid medium, the part located in the gaseous medium is used as the presence position of the mine personnel.

[0080] When the entire area is located in the solid medium, the area is moved to the nearest gaseous medium. At this time, a ratio will be set, such as 30%. Then, the contents in the previous steps are reversely checked according to the coordinate points at this time, such as the signal strength range and the actual signal strength, to see whether there are some values ​​that can make part of the area located in the gaseous medium.

[0081] Finally, in S107, the moved coordinate point is calibrated and the calibrated coordinate point is used as the position coordinate of the mine personnel. The way to calibrate the moved coordinate point is to repeat the above process and determine the coordinate point by multiple calculations. If the coordinate point can also be obtained based on the subsequently received signal, the calibrated coordinate point is used as the position coordinate of the mine personnel.

[0082] In some examples, the actual signal strength is obtained as follows:

[0083] S201, analyzing the acquired signal to obtain a signal waveform;

[0084] S202, dividing the signal waveform into multiple segments, obtaining sub-signal waveforms and evaluating the stability of the sub-signal waveforms, wherein the sub-signal waveforms have equal lengths;

[0085] S203, calculating the amplitude average of multiple maximum amplitudes in the sub-signal waveforms that meet the stability requirements;

[0086] S204: Taking the amplitude mean as the actual signal strength.

[0087] The contents of step S201 to step S204 are to first evaluate the stability of the signal, specifically by dividing the signal waveform into multiple segments, with the length of the sub-signal waveforms of each segment being equal, and then evaluating the stability of the sub-signal waveforms, specifically by:

[0088] See also Figure 5, put the obtained sub-signal waveforms into the same coordinate system, the starting time points and the ending time points of these sub-signal waveforms are the same, and the starting time point can also correspond to the zero point of the waveform amplitude, so that the stability of the sub-signal waveform can be evaluated by the smoothness of the waveform.

[0089] Smoothness can be expressed by the number of non-differentiable points. The smoothness of the sub-signal waveforms is sorted according to the number of non-differentiable points. In the order sequence, the smoothness values ​​of the sub-signal waveforms tend to increase. After the sorting is completed, the maximum amplitude of the first set number (for example, three) of the sub-signal waveforms in the order sequence is taken. Finally, the amplitude average of multiple maximum amplitudes in the sub-signal waveforms that meet the stability requirements is calculated and the amplitude average is used as the actual signal strength.

[0090] Another way to evaluate the stability of the sub-signal waveform is:

[0091] Put a sub-signal waveform and a standard waveform into a coordinate system, and calculate the area of ​​the region enclosed by the sub-signal waveform and the standard waveform to obtain the area value;

[0092] Determine the area reference value according to the ratio of the length of the sub-signal waveform to the length of the standard waveform;

[0093] The area value is compared with the area reference value, and when the area value is less than the area reference value, it is determined that the stability of the sub-signal waveform meets the requirements.

[0094] In this method, the sub-signal waveform is screened by the standard waveform, and the signal generator is required to generate the signal according to the standard waveform. The area reference value is a fixed value, which is obtained according to the positioning accuracy and the relevant data collected on site.

[0095] In some examples, the specific method of obtaining the coordinate points of an overlap area is as follows:

[0096] S301, selecting at least two signals and obtaining a primary overlap area of ​​the at least two signals;

[0097] S302, after obtaining a plurality of first-overlapping regions, merging the plurality of first-overlapping regions, wherein the merging includes retaining only the overlapping portion of two overlapping regions that have overlap, retaining all the overlapping regions that do not overlap, and calculating the mean of the center of the overlapping portion and the center of the overlapping region that does not overlap, to obtain the center coordinates;

[0098] S303, taking the center coordinates as the coordinate points of the first overlapping area.

[0099] See also Figure 6Specifically, on the premise of obtaining multiple first-overlapping areas, only the overlapping parts of the two overlapping areas are retained, and all the overlapping areas without overlap are retained. The centers of the overlapping parts and the centers of the overlapping areas without overlap are averaged to obtain the center coordinates.

[0100] This method can refer to each one-time overlap area, so that the calculated center coordinates are close to the actual center coordinates.

[0101] In some examples, the specific method of correcting the coordinate point using the corresponding position is:

[0102] S401, determining a point on the restricted area in the digital twin model that is closest to the coordinate point and recording it as a reference point;

[0103] S402, using the reference point and the coordinate point to generate a direction reference, where the direction reference is the moving direction of the coordinate point;

[0104] S403, moving the coordinate point to a restricted area in the digital twin model with the help of the moving direction.

[0105] In step S401 to step S403, a moving direction is first determined, and then the coordinate point is moved to the restricted area in the digital twin model with the help of the moving direction. This method can minimize the moving distance of the coordinate point.

[0106] Furthermore, when moving the coordinate point to the restricted area in the digital twin model, the moved coordinate point needs to be calibrated as follows:

[0107] According to the coordinate point after the movement, select the nearest determined position point in the historical database;

[0108] Calculate and determine the angle formed by the position point, the coordinate point and the signal generation position;

[0109] Use angles to re-determine the signal’s propagation path in the digital twin model;

[0110] The reference signal strength is calculated using the propagation path, and the coordinate point after the move is adjusted according to the reference signal strength.

[0111] In the above calibration method, the historical database is referenced to select the adjacent determined location points, the propagation path of the determined location points is determined, and the corresponding medium and medium length on the propagation path are also determined. Based on these known data, the signal propagation path can be re-determined in the digital twin model, and then the propagation path is used to calculate the reference signal strength, and then the moved coordinate points are adjusted according to the reference signal strength.

[0112] This method refers to historical data and can help verify whether the coordinate point is moved to the restricted area in the digital twin model correctly. If the calibration is wrong, repositioning is performed.

[0113] In some possible implementations, there are multiple adjacent determined position points, and each adjacent determined position point participates in adjusting the coordinate point after the move. In this case, multiple coordinates of the moved coordinate points may be obtained, and the specific processing method is:

[0114] The coordinates obtained by averaging the coordinates of multiple moved coordinate points are used as the position coordinates of the mine personnel.

[0115] The present application also provides a positioning device for mine personnel, comprising:

[0116] A first signal analysis unit is used to analyze the signal in response to the acquired signal, and obtain the signal generation position, actual signal strength, signal strength mark and signal receiving direction through analysis, and the number of the signals is multiple;

[0117] A first calculation unit, used for calculating the propagation distance of the signal according to the actual signal strength and the signal strength mark;

[0118] a second computing unit for creating a coverage area using a signal generation location and a propagation distance of the signal;

[0119] A third calculation unit is used to obtain a primary overlap area of ​​coverage ranges of multiple signals;

[0120] A fourth calculation unit, used to obtain the coordinate points of the primary overlap area and calculate the corresponding positions of the coordinate points in the digital twin model;

[0121] A correction unit, used to correct the coordinate point using the corresponding position so that the coordinate point is located in a restricted area in the digital twin model;

[0122] The result unit is used to calibrate the moved coordinate points and use the calibrated coordinate points as the position coordinates of the mine personnel.

[0123] Furthermore, it also includes:

[0124] A second signal analysis unit, used to analyze the acquired signal to obtain a signal waveform;

[0125] A signal segmentation unit, used for dividing the signal waveform into multiple segments, obtaining sub-signal waveforms and evaluating the stability of the sub-signal waveforms, wherein the sub-signal waveforms have equal lengths;

[0126] A first numerical calculation unit, used for calculating the amplitude mean of a plurality of maximum amplitudes in the sub-signal waveform that meets the stability requirement;

[0127] The first value assigning unit is used to use the amplitude mean as the actual signal strength.

[0128] Furthermore, it also includes:

[0129] A second numerical calculation unit is used to put a sub-signal waveform and a standard waveform into a coordinate system, and calculate the area of ​​a region enclosed by the sub-signal waveform and the standard waveform to obtain an area value;

[0130] A third numerical calculation unit, used for determining an area reference value according to a ratio of a length of the sub-signal waveform to a length of the standard waveform;

[0131] The numerical comparison unit is used to compare the area value with the area reference value, and when the area value is less than the area reference value, it is determined that the stability of the sub-signal waveform meets the requirements.

[0132] Furthermore, it also includes:

[0133] A signal selection unit, used for selecting at least two signals and obtaining a primary overlap area of ​​the at least two signals;

[0134] A signal processing unit, configured to merge the multiple once-overlapping regions after obtaining them, wherein the merging includes retaining only the overlapping portion of two overlapping regions with overlap, retaining all the overlapping regions without overlap, and performing mean calculation on the center of the overlapping portion and the center of the overlapping region without overlap to obtain the center coordinates;

[0135] The second numerical value assignment unit is used to use the center coordinates as the coordinate points of the primary overlap area.

[0136] Furthermore, the coordinate points are corrected using the corresponding positions:

[0137] Determine a point on the restricted area in the digital twin model that is closest to the coordinate point and record it as the reference point;

[0138] Use the reference point and the coordinate point to generate a direction reference, where the direction reference is the moving direction of the coordinate point;

[0139] Use the moving direction to move the coordinate point to the restricted area in the digital twin model.

[0140] Furthermore, it also includes:

[0141] A position point selection unit is used to select a nearby determined position point in the historical database according to the coordinate point after the movement;

[0142] A first processing unit is used to calculate and determine the angle formed by the position point, the coordinate point and the signal generation position;

[0143] a second processing unit for re-determining a propagation path of the signal in the digital twin model using the angle;

[0144] The third processing unit is used to calculate the reference signal strength using the propagation path and adjust the coordinate point after the move according to the reference signal strength.

[0145] Furthermore, the number of adjacent determined position points is multiple;

[0146] Each adjacent determined position point participates in adjusting the coordinate point after the move;

[0147] The coordinates obtained by averaging the coordinates of multiple moved coordinate points are used as the position coordinates of the mine personnel.

[0148] In one example, the unit in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0149] For another example, when the units in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these units can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0150] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0151] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0152] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0153] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0154] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0155] It should also be understood that in various embodiments of the present application, the first, second, etc. are only used to indicate that multiple objects are different. For example, the first time window and the second time window are only used to indicate different time windows. They should not have any impact on the time window itself, and the first, second, etc. mentioned above should not impose any limitations on the embodiments of the present application.

[0156] It should also be understood that in the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0157] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a computer-readable storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned computer-readable storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0158] The present application also provides a positioning system for mine personnel, the system comprising:

[0159] one or more memories for storing instructions; and

[0160] One or more processors are used to call and run the instructions from the memory to execute the method as described above.

[0161] The present application also provides a computer program product, which includes instructions. When the instructions are executed, the positioning system (terminal device) performs operations of the positioning system (terminal device) corresponding to the above method.

[0162] The present application also provides a chip system, which includes a processor for implementing the functions involved in the above content, such as generating, receiving, sending, or processing the data and / or information involved in the above method.

[0163] The chip system may be composed of chips, or may include chips and other discrete devices.

[0164] The processor mentioned in any of the above places can be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for executing programs for controlling the above-mentioned feedback information transmission method.

[0165] In a possible design, the chip system also includes a memory, which is used to store necessary program instructions and data. The processor and the memory can be decoupled and respectively set on different devices, connected by wire or wireless means to support the chip system to implement various functions in the above embodiments. Alternatively, the processor and the memory can also be coupled on the same device.

[0166] Optionally, the computer instructions are stored in a memory.

[0167] Optionally, the memory is a storage unit within the chip, such as a register, a cache, etc. The memory can also be a storage unit within the terminal located outside the chip, such as a ROM or other types of static storage devices that can store static information and instructions, RAM, etc.

[0168] It can be understood that the memory in the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories.

[0169] The non-volatile memory may be a ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory.

[0170] The volatile memory may be a RAM, which is used as an external cache. There are many different types of RAM, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory.

[0171] The embodiments of this specific implementation method are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, all equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for locating mine personnel, characterized in that: include: In response to the acquired signal, the signal is parsed to obtain the signal generation location, actual signal strength, signal strength mark and signal receiving direction, and the number of signals is multiple; Calculate the signal propagation distance based on the actual signal strength and the signal strength mark; Creating coverage using the signal generation location and propagation distance of the signal; Obtaining a primary overlap area of ​​coverage of multiple signals; Get the coordinate points of the overlapped area and calculate the corresponding positions of the coordinate points in the digital twin model; Use the corresponding position to correct the coordinate point so that the coordinate point is located in the restricted area in the digital twin model; Calibrate the moved coordinate points and use the calibrated coordinate points as the position coordinates of the mine personnel; The coordinate points of the overlap area are: Selecting at least two signals and obtaining a primary overlap area of ​​the at least two signals; After obtaining a plurality of first-overlapping regions, the plurality of first-overlapping regions are merged, wherein the merging includes retaining only the overlapping portion of two overlapping regions with overlap, retaining all the overlapping regions without overlap, and performing mean calculation on the center of the overlapping portion and the center of the overlapping region without overlap to obtain the center coordinates; The center coordinates are used as the coordinate points of the overlap area; Use the corresponding positions to correct the coordinate points, including: Determine a point on the restricted area in the digital twin model that is closest to the coordinate point and record it as the reference point; Use the reference point and the coordinate point to generate a direction reference, where the direction reference is the moving direction of the coordinate point; Use the moving direction to move the coordinate point to the restricted area in the digital twin model.

2. The method for locating mine personnel according to claim 1, characterized in that: Getting the actual signal strength includes: Analyze the acquired signal to obtain the signal waveform; Divide the signal waveform into multiple segments, obtain sub-signal waveforms and evaluate the stability of the sub-signal waveforms, and the lengths of the sub-signal waveforms are equal; Calculate the amplitude average of multiple maximum amplitudes in the sub-signal waveform that meets the stability requirement; The mean amplitude is taken as the actual signal strength.

3. The method for locating mine personnel according to claim 2, characterized in that: Evaluation of the stability of the sub-signal waveform includes: Put a sub-signal waveform and a standard waveform into a coordinate system, and calculate the area of ​​the region enclosed by the sub-signal waveform and the standard waveform to obtain the area value; Determine the area reference value according to the ratio of the length of the sub-signal waveform to the length of the standard waveform; The area value is compared with the area reference value, and when the area value is less than the area reference value, it is determined that the stability of the sub-signal waveform meets the requirements.

4. The method for locating mine personnel according to claim 1, characterized in that: When moving coordinate points to restricted areas in the digital twin model, the moved coordinate points also need to be calibrated. The calibration includes: According to the coordinate point after the movement, select the nearest determined position point in the historical database; Calculate and determine the angle formed by the position point, the coordinate point and the signal generation position; Use angles to re-determine the signal’s propagation path in the digital twin model; The reference signal strength is calculated using the propagation path, and the coordinate point after the move is adjusted according to the reference signal strength.

5. The method for locating mine personnel according to claim 4, characterized in that: The number of adjacent determined position points is multiple; Each adjacent determined position point participates in adjusting the coordinate point after the move; The coordinates obtained by averaging the coordinates of multiple moved coordinate points are used as the position coordinates of the mine personnel.

6. A positioning device using the positioning method for mine personnel according to any one of claims 1 to 5, characterized in that: include: A first signal analysis unit is used to analyze the signal in response to the acquired signal, and obtain the signal generation position, actual signal strength, signal strength mark and signal receiving direction through analysis, and the number of the signals is multiple; A first calculation unit, used for calculating the propagation distance of the signal according to the actual signal strength and the signal strength mark; a second computing unit for creating a coverage area using a signal generation location and a propagation distance of the signal; A third calculation unit is used to obtain a primary overlap area of ​​coverage ranges of multiple signals; A fourth calculation unit, used to obtain the coordinate points of the primary overlap area and calculate the corresponding positions of the coordinate points in the digital twin model; A correction unit, used to correct the coordinate point using the corresponding position so that the coordinate point is located in a restricted area in the digital twin model; A result unit, used for calibrating the moved coordinate points and using the calibrated coordinate points as the position coordinates of the mine personnel; Also includes: A signal selection unit, used for selecting at least two signals and obtaining a primary overlap area of ​​the at least two signals; A signal processing unit, configured to merge the multiple once-overlapping regions after obtaining them, wherein the merging includes retaining only the overlapping portion of two overlapping regions with overlap, retaining all the overlapping regions without overlap, and performing mean calculation on the center of the overlapping portion and the center of the overlapping region without overlap to obtain the center coordinates; The second numerical value assignment unit is used to use the center coordinates as the coordinate points of the primary overlap area.

7. A positioning system for mine personnel, characterized in that: The system comprises: one or more memories for storing instructions; and One or more processors, configured to call and execute the instructions from the memory to perform the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer readable storage medium comprises: The program, when the program is executed by a processor, the method according to any one of claims 1 to 5 is executed.

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