Mine underground offline positioning method and device and electronic equipment

Abstract

The invention discloses a mine underground offline positioning method and device and electronic equipment, and relates to the technical field of intelligent mines and the technical field of positioning, and the method comprises the steps: obtaining an underground image shot by a mobile terminal under a mine; extracting image features of the underground image; matching the image features of the underground image with the panorama features of each panorama of the mine underground acquired in advance to obtain a matched panorama; and determining the current position of the mobile terminal on the underground electronic map based on the position of the matched panorama marked on the underground electronic map of the mine. By adopting the scheme, the accuracy and efficiency of mine underground positioning are improved.

Description

Technical Field

[0001] The present application relates to the fields of intelligent mining technology and positioning technology, and in particular to an offline positioning method, device and electronic equipment for underground mines. Background Art

[0002] In underground mines, accurate positioning of workers is an important safety measure. However, common underground positioning solutions have some problems and limitations.

[0003] First of all, the traditional underground positioning solutions, such as UWB, WiFi, Bluetooth and other solutions, have high construction costs and require the laying of special hardware facilities and the wearing of related equipment, which not only increases the operating costs of enterprises, but also the accuracy of the solutions is uneven. In addition, the maintenance and upgrading of these base stations and equipment also requires a lot of capital investment.

[0004] Secondly, due to the particularity of the underground environment, GPS signals are often very weak or cannot be received at all, and the errors are also extremely large, which makes the positioning technology that relies on GPS unusable underground.

[0005] Thirdly, blasting operations are often carried out underground in mines, which causes the location of IoT devices to change frequently, making it impossible for positioning technology that relies on fixed locations to accurately obtain the location information of the equipment.

[0006] In addition, the base station signal underground is poor, and the mobile phone network signal is relatively weak. Mobile phones are often offline, making it impossible to meet real-time positioning requirements.

[0007] Therefore, it is necessary to study a new offline positioning method for underground wells, which can overcome the above problems and achieve accurate and efficient underground positioning. Summary of the invention

[0008] The embodiments of the present application provide a method, device and electronic equipment for offline positioning in an underground mine, so as to solve the problems of low accuracy and low efficiency of underground mine positioning existing in the prior art.

[0009] The present application provides an offline positioning method for a mine, including: Acquire underground images taken by a mobile terminal in a mine; extracting image features of the downhole image; Matching the image features with panoramic features of each panoramic view of the mine shaft collected in advance to obtain a matching panoramic view; Based on the position of the matching panoramic image marked on the underground electronic map of the mine, the current position of the mobile terminal on the underground electronic map is determined.

[0010] Further, the extracting the image features of the downhole image includes: Identifying whether there is a preset key area in the downhole image; When a key area exists, feature description information of the key area is extracted as image features of the downhole image.

[0011] Furthermore, the preset key area includes at least one of the following areas: Underground sign area; Corner area in the mine; The underground ventilation shaft entrance area; The feature description information of the underground sign area includes: the sign text and the sign pattern features; The feature description information of the downhole corner area includes: corner texture, direction and strength of the corner edge; The characteristic description information of the underground ventilation shaft entrance includes: the shape of the ventilation shaft and the size of the ventilation shaft.

[0012] Furthermore, before matching the image features with the panoramic features of each panoramic view of the mine collected in advance, the method further includes: Acquire the underground horizontal layer where the mobile terminal is located, wherein the mine has multiple underground horizontal layers with different heights; The image features are matched with panoramic features of each panoramic image of the mine shaft that is collected in advance and belongs to the same horizontal layer of the shaft.

[0013] Further, the determining the current position of the mobile terminal on the underground electronic map based on the position of the matching panoramic image marked on the underground electronic map of the mine includes: Determining the position of the matching panoramic image marked on the underground electronic map of the mine as the current position of the mobile terminal on the underground electronic map; or Acquire depth information of multiple pixel points of the underground image; based on the depth information of the multiple pixel points, calculate the offset angles of the multiple pixel points relative to the acquisition center point of the matching panoramic image; based on the offset angles and calibration coordinates of the multiple pixel points, calculate the geographic coordinates of the multiple pixel points, the calibration coordinates representing the position of the matching panoramic image marked on the underground electronic map of the mine; based on the geographic coordinates of the multiple pixel points, calculate the geographic coordinates of the mobile terminal in accordance with the principle of triangulation as the current position of the mobile terminal on the underground electronic map.

[0014] The embodiment of the present application also provides an offline positioning device for a mine, comprising: An image acquisition module is used to acquire underground images taken by a mobile terminal in a mine; A feature extraction module, used to extract image features of the downhole image; A feature matching module, used for matching the image features with the panoramic features of each panoramic view of the mine shaft collected in advance to obtain a matching panoramic view; The position determination module is used to determine the current position of the mobile terminal on the underground electronic map based on the position of the matching panoramic image marked on the underground electronic map of the mine.

[0015] Furthermore, the feature extraction module is specifically used to identify whether there is a preset key area in the downhole image; When a key area exists, feature description information of the key area is extracted as image features of the downhole image.

[0016] Furthermore, the preset key area includes at least one of the following areas: Underground sign area; Corner area in the mine; The underground ventilation shaft entrance area; The feature description information of the underground sign area includes: the sign text and the sign pattern features; The feature description information of the downhole corner area includes: corner texture, direction and strength of the corner edge; The characteristic description information of the underground ventilation shaft entrance includes: the shape of the ventilation shaft and the size of the ventilation shaft.

[0017] Furthermore, the image acquisition module is also used to acquire the underground horizontal layer where the mobile terminal is located, and the mine has multiple underground horizontal layers with different heights; The feature matching module is specifically used to match the image features with the panoramic image features of each panoramic image belonging to the same horizontal layer underground in the mine collected in advance.

[0018] Further, the position determination module is specifically used to determine the position of the matching panoramic image marked on the underground electronic map of the mine as the current position of the mobile terminal on the underground electronic map; or Acquire depth information of multiple pixel points of the underground image; based on the depth information of the multiple pixel points, calculate the offset angles of the multiple pixel points relative to the acquisition center point of the matching panoramic image; based on the offset angles and calibration coordinates of the multiple pixel points, calculate the geographic coordinates of the multiple pixel points, the calibration coordinates representing the position of the matching panoramic image marked on the underground electronic map of the mine; based on the geographic coordinates of the multiple pixel points, calculate the geographic coordinates of the mobile terminal in accordance with the principle of triangulation as the current position of the mobile terminal on the underground electronic map.

[0019] An embodiment of the present application also provides an electronic device, including a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is prompted by the machine-executable instructions to implement any of the above-mentioned offline positioning methods for underground mines.

[0020] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned offline positioning methods for underground mines is implemented.

[0021] The embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute any of the above-mentioned offline positioning methods for underground mines.

[0022] The beneficial effects of this application include: In the method provided in the embodiment of the present application, each panorama of the mine shaft is collected in advance, and the panoramic features of each panorama are extracted, and the position of each panorama is marked on the underground electronic map of the mine shaft. When positioning is required in the mine shaft, the underground image taken by the mobile terminal in the mine shaft is obtained, and the image features of the underground image are extracted, and the image features are matched with the panoramic features of each panorama collected in advance to obtain a matching panorama, and based on the position of the matching panorama marked on the underground electronic map, the current position of the mobile terminal on the underground electronic map is determined. With this method, there is no need to install hardware equipment in the mine shaft in advance, nor is there any need to perform positioning based on network signals, such as GPS signals or base station signals, so that positioning is more convenient and positioning efficiency is improved. In addition, the underground electronic map can be pre-stored in the mobile terminal, so as to achieve offline positioning in the mine shaft, and the accuracy is also higher.

[0023] Other features and advantages of the present application will be described in the subsequent description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings: Figure 1 A flow chart of an offline positioning method for an underground mine provided in an embodiment of the present application; Figure 2 A flow chart of an offline positioning method for an underground mine provided by another embodiment of the present application; Figure 3 A schematic diagram of the structure of an offline positioning device for an underground mine provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to provide an implementation scheme to improve the accuracy and efficiency of underground mine positioning, the embodiments of the present application provide an offline positioning method, device and electronic device for underground mines. The preferred embodiments of the present application are described below in conjunction with the drawings of the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application can be combined with each other if there is no conflict.

[0026] The present application embodiment provides a method for offline positioning in a mine. Figure 1 As shown, including: Step 11, obtaining underground images taken by the mobile terminal in the mine; Step 12: extracting image features of the downhole image; Step 13, matching the image features of the underground image with the panoramic features of each panoramic image of the underground mine collected in advance to obtain a matching panoramic image; Step 14: Based on the position of the matching panoramic image marked on the underground electronic map of the mine, determine the current position of the mobile terminal on the underground electronic map.

[0027] The above-mentioned offline positioning method for underground mines proposed in the embodiment of the present application does not require the installation of hardware equipment in the underground mines in advance, nor does it require positioning based on network signals, such as GPS signals or base station signals, thereby making it easier to achieve positioning and improving positioning efficiency. In addition, the underground electronic map can be pre-stored in the mobile terminal, thereby achieving offline positioning in the mines with higher accuracy.

[0028] The method and device provided by the present application are described in detail below with reference to specific embodiments in conjunction with the accompanying drawings.

[0029] The present application embodiment provides a method for offline positioning in a mine. Figure 2 As shown, including: Step 21: Acquire underground images taken by the mobile terminal in the mine.

[0030] In an embodiment of the present application, a user who is underground in a mine can use a mobile terminal held by the user to shoot the surrounding scenes in the mine when positioning is required. The user can turn on the video mode to continuously collect images of the surrounding scenes, or can take photos, for example, to take photos of more iconic scenes.

[0031] The captured images are used as downhole images for subsequent feature matching and offline positioning.

[0032] Step 22: Identify whether there is a preset key area in the acquired downhole image.

[0033] In order to more accurately identify the image features of the downhole image, in the embodiment of the present application, a key area is preset, wherein the preset key area may include at least one of the following areas: Underground sign area; Corner area in the mine; The entrance area of ​​the underground ventilation shaft.

[0034] Among them, the underground signboard has the number of the underground tunnel, the underground corner is the obvious turning area of ​​the tunnel, and the entrance of the underground ventilation shaft has a unique shape and size. Therefore, the underground signboard area, the underground corner area and the underground ventilation shaft entrance area all have unique and obvious characteristics, so they can be used as key areas.

[0035] Step 23: When a key area exists, extract feature description information of the key area as image features of the downhole image.

[0036] The feature description information of the underground sign area may include: the sign text and the sign pattern features; The feature description information of the corner area in the well may include: corner texture, direction and strength of the corner edge; The characteristic description information of the underground ventilation shaft entrance may include: the shape of the ventilation shaft and the size of the ventilation shaft.

[0037] In the embodiment of the present application, OpenCV can be used as a core tool, and its built-in SIFT algorithm can be used to implement feature extraction of the acquired downhole image.

[0038] In the embodiment of the present application, if the key area is not identified from the acquired downhole image, the overall image feature extraction may be performed on the downhole image to obtain the image features of the downhole image.

[0039] Step 24: Obtain the underground horizontal layer where the mobile terminal is located.

[0040] In actual mine underground scenarios, there are often multiple underground horizontal layers with different heights. In response to this situation, in an embodiment of the present application, the underground horizontal layer where the mobile terminal is currently located can be obtained. The current underground horizontal layer can be determined based on the altitude detected by the mobile terminal, and can also be manually input by the user.

[0041] Step 25: Match the extracted image features of the downhole image with the panoramic image features of the pre-collected panoramic images belonging to the same downhole horizontal layer to obtain a matching panoramic image.

[0042] In an embodiment of the present application, a panoramic camera is used in advance to perform all-round image acquisition of various scenes underground in a mine. In particular, panoramic images can be acquired for scenes containing key areas. The panoramic image includes a 360-degree field of view and can record information in the four basic directions of east, south, west, and north.

[0043] And for each collected panorama, image features are extracted as the panoramic features of the panorama. Specifically, feature description information of key areas in the panorama can be extracted as the panoramic features of the panorama.

[0044] In an embodiment of the present application, after extracting image features from the panoramic images, the positions of the panoramic images can be marked on an underground electronic map of the mine according to the image features of each panoramic image, thereby establishing a corresponding relationship between the panoramic images and the map coordinates.

[0045] Specifically, the geographical coordinates (longitude, latitude) of the panorama can be matched with the corresponding positions on the underground electronic map, and the orientation of the panorama can be ensured to be consistent with the direction on the underground electronic map, thereby achieving accurate position mapping and direction calibration of the panorama on the underground electronic map.

[0046] Furthermore, when there are multiple underground horizontal layers with different heights in the mine, the panoramic image can also be associated with the underground horizontal layer in which it is located.

[0047] In this step, the image features of the downhole image are matched with the panoramic features of each panoramic image, which can also be achieved using the SIFT algorithm built into OpenCV.

[0048] In the embodiment of the present application, after obtaining the matching panoramic image, the position of the matching panoramic image marked on the underground electronic map of the mine can be directly determined as the current position of the mobile terminal on the underground electronic map.

[0049] Furthermore, in order to more accurately determine the position of the mobile terminal, the depth information of the downhole image and the panoramic image may also be used to determine the position of the mobile terminal, which specifically includes the following steps: Step 26: Obtain depth information of multiple pixel points of the downhole image.

[0050] In the embodiment of the present application, if a downhole image is obtained by photographing with a depth camera, the downhole environment image and the depth information of each pixel point of the downhole image can be captured simultaneously.

[0051] In this step, the depth information of the multiple pixel points obtained may be the depth information of the multiple pixel points at the specified position of the downhole image, or the depth information of the multiple pixel points in the key area of ​​the downhole image.

[0052] Step 27: Based on the depth information of the multiple pixel points, calculate the offset angles of the multiple pixel points relative to the acquisition center point of the matching panoramic image.

[0053] In this step, the following formula can be used to calculate the offset angles of multiple pixel points relative to the acquisition center point of the matching panoramic image: X=d*(x / width); Y=d*(y / high); Among them, x and y are the pixel coordinates of the pixel, d is the depth of the pixel, width is the image width, and high is the image height; theta_deg = math.atan2(X,Y); phi_deg =math.atan(Y / (math.sqrt(X**2+Y**2))); Among them, theta_deg represents the horizontal offset angle, and phi_deg represents the vertical offset angle.

[0054] In this step, the calculated offset angles of the multiple pixel points relative to the acquisition center point of the matching panoramic image can represent the directions of the multiple pixel points in the matching panoramic image.

[0055] Step 28 calculates the geographic coordinates of the plurality of pixel points based on the offset angles and the calibration coordinates of the plurality of pixel points, the calibration coordinates representing the positions of the matching panoramic images marked on the underground electronic map of the mine.

[0056] x_pixel=x_c+d*math.sin(phi)*math.cos(theta); y_pixel=y_c+d*math.sin(phi)*math.cos(theta); z_pixel=z_c+d*math.cos(phi); theta=math.radians(theta_deg); phi = math.radians(phi_deg); Among them, x_pixel, y_pixel and z_pixel are the geographic coordinates of the pixel point, theta_deg is the horizontal offset angle, phi_deg is the vertical offset angle, theta is the radian converted from the horizontal offset angle, and phi is the radian converted from the vertical offset angle.

[0057] Step 29: Based on the geographic coordinates of the multiple pixel points, the geographic coordinates of the mobile terminal are calculated according to the triangulation principle as the current position of the mobile terminal on the underground electronic map.

[0058] In the embodiment of the present application, after the current position of the mobile terminal on the underground electronic map is obtained, the current position of the mobile terminal can be displayed on the underground electronic map.

[0059] In the embodiment of the present application, the underground electronic map may be an underground GIS (Geographic Information System) map, and the underground GIS map may be produced in the following manner: First, the CAD drawings of the underground tunnels of the mine are converted into GIS electronic maps to establish the spatial model of the underground tunnels; Among them: the graphics elements in the underground tunnel CAD drawings are generally Cartesian coordinates (X, Y, Z), while GIS Figure 1 Generally based on the WGS84 geographic coordinate system (L, B, H). To make an underground GIS map from underground tunnel drawings, you first need to convert Cartesian coordinates (X, Y, Z) to WGS84 geographic coordinates (L, B, H).

[0060] The Cartesian coordinates (X, Y, Z) of a primitive refer to: Reference point (origin): In the CAD drawings of underground tunnels, the reference point is generally the center of the earth as the starting point of the entire coordinate system. In this way, by applying appropriate map projection methods, it is convenient to convert the geographic coordinates on the earth's surface into Cartesian coordinates; X: The straight line extending from the reference point to the east is defined as the X axis. The positive direction of the X axis points to the east, and the negative direction points to the west; Y: The straight line extending from the reference point to the north and south is defined as the Y axis. The positive direction of the Y axis points to the north, and the negative direction points to the south; Z: Starting from the reference point, it indicates the altitude. The positive direction of the Z axis points upward, that is, vertically upward, and the negative direction points downward, that is, vertically downward.

[0061] The WGS84 geographic coordinate system (L, B, H) in GIS maps refers to: L (Longitude): Indicates the position of the element on the surface of the earth in the east-west direction. It is the angle value extending eastward or westward based on the prime meridian. The range of longitude is 0° to 180°, with east longitude being positive and west longitude being negative. B (latitude): indicates the position of the element on the earth's surface in the north-south direction, and is the angle value extending north or south based on the equator. The latitude range is 0° to 90°, with positive values ​​for north latitude and negative values ​​for south latitude; H (Altitude): Indicates the vertical height of the element relative to the mean sea level, in meters. Positive and negative values ​​of altitude indicate the height of the element relative to the mean sea level.

[0062] Cesium is an open source JavaScript library for creating high-performance, cross-platform 3D maps and data visualization applications. It supports a variety of data formats and conversions, including terrain, satellite images, 3D models, etc., and can achieve seamless rendering and interaction of global geospatial data in the browser. In the embodiment of the present application, the Cesium tool can be used to convert coordinates. There are two types of coordinates in Cesium, namely WGS84 geographic coordinate system and Cartesian spatial coordinate system; Use Cesium to convert coordinates; use the cartesianToCartographic method provided in the Cesium tool to convert the WGS84 geographic coordinate system (L, B, H); The coordinates of the CAD drawings are converted to the WGS84 geographic coordinate system (L, B, H) and saved. The vector data after CAD lane analysis and conversion is stored in the spatial database using the PostGIS tool to provide basic data for the next step of building an electronic map. PostgreSQL is an object-relational database management system (ORDBMS), and is also a powerful, feature-rich and complex free software database system. PostGIS is an extension of the object-relational database system PostgreSQL. PostGIS supports all spatial data types, including: points (POINT), lines (LINESTRING), polygons (POLYGON), etc., which can be compatible with CAD drawing vector data.

[0063] The established underground tunnel GIS electronic map shows the underground tunnel layout, intersections, connection methods and related attribute information in detail, including accurate underground road network information. The topological relationship of the road network is established in GIS to ensure the correctness of the tunnel connection, and guide points are added to the road network. These points can be important intersections, turning points or specific geographical feature points; Among them: The mesh topology in GIS is usually composed of nodes and edges, where nodes represent intersections or endpoints, and edges represent paths connecting nodes. Guide points are usually important nodes in the road network and can be used as reference points or destinations in path analysis.

[0064] At the same time, add underground horizontal layer information: When making an underground tunnel GIS map, in addition to the tunnel layout and intersection information, it is also necessary to record the horizontal layer information of each tunnel. This can be achieved by adding a field to the attribute table of the GIS map. This solution uses levelID "horizontal layer number".

[0065] Offline export of underground tunnel GIS electronic map. Based on the spatial database PostGIS, the electronic map of the underground tunnel is exported to GeoJson format. These data include the geometric information, attribute information, and road network information of the tunnel. The generated offline map data can be stored in the mobile phone; GeoJSON is an open source format based on JSON for representing geospatial information. It is a lightweight data exchange format that is easy to read and write, and can also be easily processed by various programming languages.

[0066] The GeoJSON data format includes several main geographic data types, such as point (Point), line (LineString), surface (Polygon), multipoint (MultiPoint) and collection (GeometryCollection), etc. It can contain features (Feature) and feature collections (FeatureCollection), which contain geometric objects and attribute information.

[0067] Among them: the road network information contains line features, so the LineString type in GeoJSON can be used to represent this information; The FeatureCollection above contains two Feature objects: one is a road network of type LineString, and the other is a guide point of type Point. A guide point has a geometry attribute that describes the geographic location of the point, and a properties attribute that contains non-spatial information related to the point.

[0068] Based on the same inventive concept, according to the mine underground offline positioning method provided by the above embodiment of the present application, correspondingly, another embodiment of the present application also provides a mine underground offline positioning device, whose structural schematic diagram is shown as follows: Figure 3 As shown, specifically including: The image acquisition module 31 is used to acquire underground images taken by the mobile terminal in the mine; A feature extraction module 32, used to extract image features of the downhole image; A feature matching module 33 is used to match the image features with the panoramic features of each panoramic view of the mine collected in advance to obtain a matching panoramic view; The position determination module 34 is used to determine the current position of the mobile terminal on the underground electronic map based on the position of the matching panoramic image marked on the underground electronic map of the mine.

[0069] Furthermore, the feature extraction module 32 is specifically used to identify whether there is a preset key area in the downhole image; When a key area exists, feature description information of the key area is extracted as image features of the downhole image.

[0070] Furthermore, the preset key area includes at least one of the following areas: Underground sign area; Corner area in the mine; The underground ventilation shaft entrance area; The feature description information of the underground sign area includes: the sign text and the sign pattern features; The feature description information of the downhole corner area includes: corner texture, direction and strength of the corner edge; The characteristic description information of the underground ventilation shaft entrance includes: the shape of the ventilation shaft and the size of the ventilation shaft.

[0071] Furthermore, the image acquisition module 31 is also used to acquire the underground horizontal layer where the mobile terminal is located, and the mine has multiple underground horizontal layers with different levels; The feature matching module 33 is specifically used to match the image features with the panoramic image features of each panoramic image of the same underground horizontal layer of the mine collected in advance.

[0072] Further, the position determination module 34 is specifically used to determine the position of the matching panoramic image marked on the underground electronic map of the mine as the current position of the mobile terminal on the underground electronic map; or Acquire depth information of multiple pixel points of the underground image; based on the depth information of the multiple pixel points, calculate the offset angles of the multiple pixel points relative to the acquisition center point of the matching panoramic image; based on the offset angles and calibration coordinates of the multiple pixel points, calculate the geographic coordinates of the multiple pixel points, the calibration coordinates representing the position of the matching panoramic image marked on the underground electronic map of the mine; based on the geographic coordinates of the multiple pixel points, calculate the geographic coordinates of the mobile terminal in accordance with the principle of triangulation as the current position of the mobile terminal on the underground electronic map.

[0073] The functions of the above modules can correspond to Figure 1 and Figure 2 The corresponding processing steps in the shown process will not be repeated here.

[0074] The offline positioning device for underground mines provided in the embodiments of the present application can be implemented by a computer program. Those skilled in the art should be able to understand that the above module division method is only one of many module division methods. If it is divided into other modules or no modules are divided, as long as the offline positioning device for underground mines has the above functions, it should be within the protection scope of the present application.

[0075] The present application also provides an electronic device, such as Figure 4 As shown, it includes a processor 41 and a machine-readable storage medium 42, wherein the machine-readable storage medium 42 stores machine-executable instructions that can be executed by the processor 41, and the processor 41 is prompted by the machine-executable instructions to implement any of the above-mentioned offline positioning methods for underground mines.

[0076] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned offline positioning methods for underground mines is implemented.

[0077] The embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute any of the above-mentioned offline positioning methods for underground mines.

[0078] The machine-readable storage medium in the electronic device may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the processor.

[0079] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0080] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, electronic device, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0081] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0082] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0083] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0084] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0085] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A mine underground offline positioning method, characterized in that: include: Acquire underground images taken by a mobile terminal in a mine; extracting image features of the downhole image; Matching the image features with panoramic features of each panoramic view of the mine shaft collected in advance to obtain a matching panoramic view; Based on the position of the matching panoramic image marked on the underground electronic map of the mine, the current position of the mobile terminal on the underground electronic map is determined.

2. The method according to claim 1, characterized in that The extracting the image features of the downhole image comprises: Identifying whether there is a preset key area in the downhole image; When a key area exists, feature description information of the key area is extracted as image features of the downhole image.

3. The method according to claim 2, characterized in that The preset key areas include at least one of the following areas: Underground sign area; Corner area in the mine; The underground ventilation shaft entrance area; The feature description information of the underground sign area includes: the sign text and the sign pattern features; The feature description information of the downhole corner area includes: corner texture, direction and strength of the corner edge; The characteristic description information of the underground ventilation shaft entrance includes: the shape of the ventilation shaft and the size of the ventilation shaft.

4. The method according to claim 1, characterized in that Before matching the image features with the panoramic features of each panoramic view of the mine collected in advance, the method further includes: Acquire the underground horizontal layer where the mobile terminal is located, wherein the mine has multiple underground horizontal layers with different heights; The matching of the image features with panoramic features of each panoramic image of the mine collected in advance includes: The image features are matched with panoramic features of each panoramic image of the mine shaft that is collected in advance and belongs to the same horizontal layer of the shaft.

5. The method according to claim 1, characterized in that The determining the current position of the mobile terminal on the underground electronic map based on the position of the matching panoramic image marked on the underground electronic map of the mine includes: Determining the position of the matching panoramic image marked on the underground electronic map of the mine as the current position of the mobile terminal on the underground electronic map; or Acquire depth information of multiple pixel points of the underground image; based on the depth information of the multiple pixel points, calculate the offset angles of the multiple pixel points relative to the acquisition center point of the matching panoramic image; based on the offset angles and calibration coordinates of the multiple pixel points, calculate the geographic coordinates of the multiple pixel points, the calibration coordinates representing the position of the matching panoramic image marked on the underground electronic map of the mine; based on the geographic coordinates of the multiple pixel points, calculate the geographic coordinates of the mobile terminal in accordance with the principle of triangulation as the current position of the mobile terminal on the underground electronic map.

6. An offline positioning device for underground mines, characterized in that: include: An image acquisition module is used to acquire underground images taken by a mobile terminal in a mine; A feature extraction module, used to extract image features of the downhole image; A feature matching module, used for matching the image features with the panoramic features of each panoramic view of the mine shaft collected in advance to obtain a matching panoramic view; The position determination module is used to determine the current position of the mobile terminal on the underground electronic map based on the position of the matching panoramic image marked on the underground electronic map of the mine.

7. The device according to claim 6, characterized in that The feature extraction module is specifically used to identify whether there is a preset key area in the downhole image; When a key area exists, feature description information of the key area is extracted as image features of the downhole image.

8. The device according to claim 7, characterized in that The preset key areas include at least one of the following areas: Underground sign area; Corner area in the mine; The underground ventilation shaft entrance area; The feature description information of the underground sign area includes: the sign text and the sign pattern features; The feature description information of the downhole corner area includes: corner texture, direction and strength of the corner edge; The characteristic description information of the underground ventilation shaft entrance includes: the shape of the ventilation shaft and the size of the ventilation shaft.

9. An electronic device, characterized in that: The method comprises a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is prompted by the machine-executable instructions to implement the method described in any one of claims 1 to 5.

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

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