Underground equipment positioning device

Abstract

The embodiment of the invention discloses an underground equipment positioning device, and the device comprises an input module which obtains a first control instruction inputted by a user, and transmits the first control instruction to a main control module; after receiving the first control instruction, the main control module controls the UHF transmitting module to transmit a first radio frequency signal to each direction; the UHF receiving module receives a second radio frequency signal returned by the UHF tag in the underground equipment and sends the second radio frequency signal to the main control module; and the main control module determines the position of the underground equipment according to the time difference between the time when each UHF receiving module receives the second radio frequency signal and the time when each UHF transmitting module transmits the first radio frequency signal. Intelligent positioning of passive wireless communication underground equipment is achieved, the safety of used information is guaranteed, the passive tag can achieve the waterproof, anti-corrosion and anti-pressure functions, and limited searching can be achieved even if the tag is buried or placed underground in cooperation with the high penetrability of UHF.

Description

Technical Field

[0001] The present invention relates to the field of underground positioning technology, and in particular to an underground equipment positioning device. Background Art

[0002] With the rapid development of power technology, a large number of cables and their ancillary equipment have been moved underground, and the underground power pipeline equipment is crisscrossed. Nowadays, cities are changing with each passing day, and a large number of infrastructure projects are constantly being built, which will cause the underground power equipment to be unable to correspond to the ledger and the relative position to be lost. When the underground equipment fails, it is often impossible to find the exact location of the equipment in time and it is impossible to excavate, resulting in delays in emergency repairs, causing users to have long power outages or the impact of the failure to expand.

[0003] The conventional method is to compare the line route drawings with the site. If the obvious signs are covered or defaced, the precise location of the target position cannot be obtained, or confusion may occur with other similar types nearby, resulting in excavation in the wrong place. The second conventional method is to obtain the Global Positioning System (GPS) coordinate value of the target location during the construction period. If the obvious signs are covered or defaced in the later stage, the corresponding GPS coordinate value is compared. However, GPS positioning usually has meter-level positioning errors in places with good signals, and it is impossible to accurately locate the target location for excavation. The third method is that the obvious signs on site are not covered or defaced, and the target location can be directly observed. However, due to the rapid construction and renewal of the city, more and more obvious signs on site of early underground equipment are covered or defaced, making it impossible to directly find the target location through obvious signs on site. Summary of the invention

[0004] The present invention provides an underground equipment positioning device, which realizes the intelligent positioning of underground equipment through passive wireless communication, ensures the information security of use, and the passive tag can realize the functions of waterproof, anti-corrosion and pressure resistance. Combined with the high penetration of UHF, the tag can achieve limited search even if it is buried or placed underground.

[0005] According to one aspect of the present invention, there is provided an underground equipment positioning device, comprising:

[0006] A main control module, an input module, an Ultra High Frequency (UHF) transmitting module and at least four UHF receiving modules; the main control module is electrically connected to the input module, the UHF transmitting module and the UHF receiving module respectively; and the at least four UHF receiving modules are arranged in different positions;

[0007] The input module is used to obtain a first control instruction input by a user and send the first control instruction to the main control module;

[0008] The main control module is used to control the UHF transmitting module to transmit the first radio frequency signal in all directions after receiving the first control instruction;

[0009] The UHF receiving module is used to receive the second radio frequency signal returned by the UHF tag in the underground device, and send the second radio frequency signal to the main control module;

[0010] The main control module is used to determine the position of the underground equipment according to the time difference between each UHF receiving module receiving the second radio frequency signal and the UHF transmitting module transmitting the first radio frequency signal.

[0011] Optionally, the main control module is used to determine the signal flight distance corresponding to each UHF receiving module based on the time difference between each UHF receiving module receiving the second RF signal and the UHF transmitting module transmitting the first RF signal, and determine the location of the underground equipment based on the signal flight distance of each UHF receiving module and the position determination function; wherein the position determination function is a predetermined correspondence function between the signal flight distance of each UHF receiving module and the location of the underground equipment.

[0012] Optionally, the main control module is used to control the UHF transmitting module to transmit the first RF signal multiple times, and determine the signal flight distance corresponding to the UHF receiving module according to the time difference between the time when the UHF receiving module receives the second RF signal and the time when the UHF transmitting module transmits the first RF signal each time after the UHF transmitting module transmits the first RF signal, perform mean filtering on the multiple signal flight distances corresponding to each UHF receiving module to determine the filtered signal flight distance, and determine the location of the underground equipment based on the filtered signal flight distance and the position determination function.

[0013] Optionally, the main control module is used to determine that there is no underground equipment nearby when all UHF receiving modules have not received the second RF signal within a preset time period; when the UHF receiving module receives the second RF signal within a preset time and determines that the received second RF signal is different from the first RF signal, the location of the underground equipment is determined according to the time difference between each UHF receiving module receiving the second RF signal and the UHF transmitting module transmitting the first RF signal.

[0014] Optionally, the preset duration is greater than or equal to 50ms.

[0015] Optionally, an angle sensor and a laser ranging module; the angle sensor and the laser ranging module are both electrically connected to the main control module;

[0016] The angle sensor is used to measure a first angle between the laser ranging module and the front of the underground equipment positioning device, and send the first angle to the main control module;

[0017] The input module is also used to receive a second control instruction input by a user, and transmit the second control instruction to the main control module;

[0018] The main control module is used to control the UHF transmitting module to transmit the first radio frequency signal in all directions after receiving the second control instruction, and control the laser ranging module to measure the first distance between the UHF tag at a specific position and the underground equipment positioning device;

[0019] The main control module is also used to determine the signal flight distance corresponding to each UHF receiving module according to the time difference between each UHF receiving module receiving the second RF signal and the UHF transmitting module transmitting the first RF signal, and update the position determination function according to the flight distance, the first distance and the first angle.

[0020] Optionally, the main control module is used to control the UHF transmitting module to transmit the first radio frequency signal in various directions multiple times after receiving the second control instruction;

[0021] The main control module is also used to determine the signal flight distance corresponding to the UHF receiving module according to the time difference between the UHF receiving module receiving the second RF signal and the UHF transmitting module transmitting the first RF signal after the UHF transmitting module transmits the first RF signal each time, and update the position determination function according to multiple flight distances, the first distance and the first angle.

[0022] Optionally, an interaction module, the interaction module is electrically connected to the main control module;

[0023] The main control module is used to obtain the tag content in the second radio frequency signal, retrieve the information corresponding to the tag content in the database according to the tag content, and control the interactive module to display the information corresponding to the tag content and the location of the underground equipment.

[0024] Optional, power management module, battery and storage module;

[0025] The power management module is electrically connected to the battery, the main control module, the UHF transmitting module, the UHF receiving module and the input module;

[0026] The storage module is electrically connected to the main control module;

[0027] The power management module is used to control the battery to supply power to the main control module, UHF transmitting module, UHF receiving module and input module;

[0028] The storage module is used to store the location of underground equipment.

[0029] Optionally, the input module is a button.

[0030] The underground equipment positioning device provided by the embodiment of the present invention includes: a main control module, an input module, an ultra-high frequency wave UHF transmitting module and at least four UHF receiving modules; the main control module is electrically connected to the input module, the UHF transmitting module and the UHF receiving module respectively; at least four UHF receiving modules are arranged in different positions; the radio frequency signal of the UHF module has a high anti-interference ability and can be stably transmitted in a complex underground environment, thereby ensuring the stability and reliability of the underground positioning device. The input module is used to obtain the first control instruction input by the user and send the first control instruction to the main control module; the main control module is used to control the UHF transmitting module to transmit the first radio frequency signal in all directions after receiving the first control instruction; the UHF receiving module is used to receive the second radio frequency signal returned by the UHF tag in the underground equipment and send the second radio frequency signal to the main control module; the main control module is used to determine the position of the underground equipment according to the time difference between each UHF receiving module receiving the second radio frequency signal and the UHF transmitting module transmitting the first radio frequency signal, thereby improving the accuracy of positioning and reducing errors. It realizes the intelligent positioning of underground equipment through passive wireless communication and ensures the information security. The passive tag can realize the functions of waterproof, anti-corrosion and pressure resistance. Combined with the high penetration of UHF, the tag can be searched even if it is buried or placed underground.

[0031] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 It is a module schematic diagram of an underground equipment positioning device provided by an embodiment of the present invention;

[0034] Figure 2 It is a flow chart of an underground equipment positioning device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] The embodiment of the present invention provides an underground equipment positioning device. Figure 1 is a schematic diagram of a module of an underground equipment positioning device provided by an embodiment of the present invention, with reference to Figure 1 , underground equipment positioning device, including:

[0038] A main control module 10, an input module 20, an ultra-high frequency wave UHF transmitting module 11 and at least four UHF receiving modules 12; the main control module 10 is electrically connected to the input module 20, the UHF transmitting module 11 and the UHF receiving module 12 respectively; at least four UHF receiving modules 12 are arranged in different positions;

[0039] The input module 20 is used to obtain a first control instruction input by a user, and send the first control instruction to the main control module 10;

[0040] The main control module 10 is used to control the UHF transmitting module 11 to transmit the first radio frequency signal in all directions after receiving the first control instruction;

[0041] The UHF receiving module 12 is used to receive the second radio frequency signal returned by the UHF tag in the underground device, and send the second radio frequency signal to the main control module 10;

[0042] The main control module 10 is used to determine the location of the underground equipment according to the time difference between each UHF receiving module 12 receiving the second radio frequency signal and the UHF transmitting module 11 transmitting the first radio frequency signal.

[0043] Among them, the main control module 10 is used as the main control of the device for data processing, signal acquisition and module control. The UHF transmitting module 11 is used to transmit UHF radio frequency signals outward. The UHF receiving module 12 is used to receive the radio frequency signal returned by the tag. The first control instruction is used to start the positioning device and trigger the subsequent radio frequency signal transmission and reception process. The second radio frequency signal is sent by the UHF tag after receiving the first radio frequency signal and undergoing certain processing.

[0044] Specifically, the user inputs the first control instruction through the input module 20. After receiving the first control instruction, the main control module 10 controls the UHF transmitting module 11 to transmit the first radio frequency signal in all directions. At least four UHF receiving modules 12 set in different directions start to start. The UHF receiving modules 12 in different directions receive the second radio frequency signal returned by the UHF tag in the underground equipment. The UHF receiving module 12 sends the received second radio frequency signal to the main control module 10. The main control module 10 records the time when each UHF receiving module 12 receives the second radio frequency signal, and compares it with the time when the UHF transmitting module 11 transmits the first radio frequency signal to calculate the time difference. The main control module 10 calculates the precise position of the UHF tag in the underground equipment, that is, the actual position of the underground equipment, through a certain algorithm, according to the time difference when each UHF receiving module 12 receives the second radio frequency signal, and the known position information of the UHF transmitting module 11 and the UHF receiving module 12.

[0045] The underground equipment positioning device provided by the embodiment of the present invention includes: a main control module 10, an input module 20, an ultra-high frequency wave UHF transmitting module 11 and at least four UHF receiving modules 12; the main control module 10 is electrically connected to the input module 20, the UHF transmitting module 11 and the UHF receiving module 12 respectively; at least four UHF receiving modules 12 are arranged in different positions; the radio frequency signal of the UHF module has a high anti-interference ability and can be stably transmitted in a complex underground environment, thereby ensuring the stability and reliability of the underground positioning device. The input module 20 is used to obtain the first control instruction input by the user and send the first control instruction to the main control module 10; the main control module 10 is used to control the UHF transmitting module 11 to transmit the first radio frequency signal in all directions after receiving the first control instruction; the UHF receiving module 12 is used to receive the second radio frequency signal returned by the UHF tag in the underground equipment and send the second radio frequency signal to the main control module 10; the main control module 10 is used to determine the position of the underground equipment according to the time difference between each UHF receiving module 12 receiving the second radio frequency signal and the UHF transmitting module 11 transmitting the first radio frequency signal, thereby improving the accuracy of positioning and reducing the error. It realizes the intelligent positioning of underground equipment through passive wireless communication and ensures the information security. The passive tag can realize the functions of waterproof, anti-corrosion and pressure resistance. Combined with the high penetration of UHF, the tag can be searched even if it is buried or placed underground.

[0046] Optionally, the main control module 10 is used to determine the signal flight distance corresponding to each UHF receiving module 12 according to the time difference between each UHF receiving module 12 receiving the second RF signal and the UHF transmitting module 11 transmitting the first RF signal, and determine the position of the underground equipment according to the signal flight distance of each UHF receiving module 12 and the position determination function; wherein the position determination function is a predetermined correspondence function between the signal flight distance of each UHF receiving module 12 and the position of the underground equipment.

[0047] Specifically, the main control module 10 records the time of transmitting the first RF signal and the time of receiving the second RF signal according to each UHF receiving module 12, and calculates the time difference between the time of transmitting the first RF signal and the time of receiving the second RF signal. The main control module 10 calculates the corresponding signal flight distance according to the time difference of each UHF receiving module 12 and the propagation speed of light. The main control module 10 inputs the calculated signal flight distance of each UHF receiving module 12 into a pre-set position determination function, and the position determination function determines the specific position of the underground equipment according to the signal flight distance of each UHF receiving module 12 and the installation position of the UHF receiving module 12, and according to the relative distance.

[0048] Optionally, the main control module 10 is used to control the UHF transmitting module 11 to transmit the first RF signal multiple times, and determine the signal flight distance corresponding to the UHF receiving module 12 according to the time difference between the UHF receiving module 12 receiving the second RF signal and the UHF transmitting module 11 transmitting the first RF signal each time the UHF transmitting module 11 transmits the first RF signal, perform mean filtering on the multiple signal flight distances corresponding to each UHF receiving module 12 to determine the filtered signal flight distance, and determine the location of the underground equipment according to the filtered signal flight distance and the position determination function.

[0049] Specifically, the main control module 10 controls the UHF transmitting module 11 to transmit the first radio frequency signal three times. There can be a certain time interval between each transmission to ensure that the signals do not interfere with each other. For each first radio frequency signal transmitted by the UHF transmitting module 11, the UHF receiving module 12 records the time difference between the time when the second radio frequency signal is received and the time when the UHF transmitting module 11 transmits the first radio frequency signal after receiving the second radio frequency signal from the underground equipment. The main control module 10 collects the three time differences recorded by each UHF receiving module 12, and calculates the corresponding three signal flight distances using the known propagation speed of light. The three signal flight distances corresponding to each UHF receiving module 12 are subjected to mean filtering, that is, the average value of the three signal flight distances is calculated to eliminate the influence of random errors and noise, and the filtered signal flight distance is obtained. The main control module 10 inputs the filtered signal flight distance into a preset position determination function. The position determination function determines the specific position of the underground equipment according to the filtered signal flight distance and the installation position of the UHF receiving module 12, and according to the relative distance.

[0050] Optionally, the main control module 10 is used to determine that there is no underground equipment nearby when all UHF receiving modules 12 do not receive the second RF signal within a preset time period; when the UHF receiving module 12 receives the second RF signal within a preset time and determines that the received second RF signal is different from the first RF signal, the location of the underground equipment is determined according to the time difference between each UHF receiving module 12 receiving the second RF signal and the UHF transmitting module 11 transmitting the first RF signal.

[0051] Specifically, the main control module 10 controls the UHF transmitting module 11 to transmit a first radio frequency signal, and the first radio frequency signal is used to trigger the underground equipment to transmit or reflect a second radio frequency signal. The main control module 10 starts timing and waits for all UHF receiving modules 12 to receive the second radio frequency signal. If all UHF receiving modules 12 do not receive the second radio frequency signal within the preset time of 50ms, the main control module 10 determines that there is no underground equipment nearby, and may output corresponding prompt information or perform other preset operations. If at least one UHF receiving module 12 receives the second radio frequency signal within the preset time of 50ms, the main control module 10 enters the next step of processing. The main control module 10 needs to determine whether the received second radio frequency signal is different from the first radio frequency signal, and is usually distinguished by the characteristics of the signal (such as frequency, modulation mode, encoding, etc.). If the received second radio frequency signal is the same as the first radio frequency signal or cannot be distinguished, it may be considered an invalid reception, and the first radio frequency signal needs to be retransmitted or other processing needs to be performed. For each UHF receiving module 12 that effectively receives the second RF signal, the main control module 10 records the time difference between the time when the second RF signal is received and the time when the UHF transmitting module 11 transmits the first RF signal. Using the known propagation speed of light and the position information of each UHF receiving module 12, the main control module 10 calculates the corresponding signal flight distance according to the time difference. The main control module 10 uses the position determination function to calculate the specific location of the underground equipment according to the signal flight distances of multiple UHF receiving modules 12 and the position information of the UHF receiving modules 12.

[0052] Optionally, the preset duration is greater than or equal to 50ms.

[0053] Specifically, in underground environments, signal propagation may be hindered by a variety of obstacles, such as soil, rocks, pipes, etc. A longer preset duration allows the device to more stably receive and process signals from different directions, which helps the algorithm to more accurately analyze signal characteristics and reduce positioning failures caused by temporary signal loss or interference, thereby optimizing the data processing and positioning calculation process and improving the reliability and stability of the entire positioning system.

[0054] Optionally, the underground equipment positioning device further includes: an angle sensor 40 and a laser ranging module 30; the angle sensor 40 and the laser ranging module 30 are both electrically connected to the main control module 10;

[0055] The angle sensor 40 is used to measure a first angle between the laser ranging module 30 and the front of the underground equipment positioning device, and send the first angle to the main control module 10;

[0056] The input module 20 is also used to receive a second control instruction input by a user, and transmit the second control instruction to the main control module 10;

[0057] The main control module 10 is used to control the UHF transmitting module 11 to transmit the first radio frequency signal in all directions after receiving the second control instruction, and control the laser ranging module 30 to measure the first distance between the UHF tag at a specific position and the underground equipment positioning device;

[0058] The main control module 10 is also used to determine the signal flight distance corresponding to each UHF receiving module 12 according to the time difference between each UHF receiving module 12 receiving the second RF signal and the UHF transmitting module 11 transmitting the first RF signal, and update the position determination function according to the flight distance, the first distance and the first angle.

[0059] The angle sensor 40 obtains the angle between the laser ranging module 30 and the forward direction of the device. The laser ranging module 30 is used to measure the distance between the UHF tag at a specific position and the device reference point in the calibration mode. The first angle refers to the angle between the laser ranging module 30 and the front of the underground equipment positioning device. The first distance refers to the straight-line distance between the UHF tag at a specific position and the underground equipment positioning device.

[0060] Specifically, the angle sensor 40 measures the first angle between the laser ranging module 30 and the front of the underground equipment positioning device, and sends the first angle data to the main control module 10. The user inputs the second control instruction through the input module 20. After receiving the second control instruction, the input module 20 transmits the second control instruction to the main control module 10. After receiving the second control instruction, the main control module 10 controls the UHF transmitting module 11 to transmit the first radio frequency signal in all directions. The main control module 10 controls the laser ranging module 30 to measure the first distance between the UHF tag at a specific position and the underground equipment positioning device. Each UHF receiving module 12 starts to receive the second radio frequency signal emitted by the UHF tag. The main control module 10 records the time difference between the UHF transmitting module 11 transmitting the first radio frequency signal and the UHF receiving module 12 receiving the second radio frequency signal, and calculates the signal flight distance corresponding to each UHF receiving module 12 according to the time difference and the known propagation speed of light. The main control module 10 updates the position determination function using the received first angle data, first distance data and flight distance data. The updated position determination function is used to calculate the final position of the underground equipment positioning device, and the position information can be output to the user or related systems through a display screen, wireless communication, etc. If it is necessary to continuously locate or track the position of the underground equipment, the above process can be repeated, and the position determination function can be dynamically adjusted and optimized according to new measurement data and user instructions.

[0061] Optionally, the main control module 10 is used to control the UHF transmitting module 11 to transmit the first radio frequency signal in various directions multiple times after receiving the second control instruction;

[0062] The main control module 10 is also used to determine the signal flight distance corresponding to the UHF receiving module 12 according to the time difference between the UHF receiving module 12 receiving the second RF signal and the UHF transmitting module 11 transmitting the first RF signal each time after the UHF transmitting module 11 transmits the first RF signal, and update the position determination function according to multiple flight distances, the first distance and the first angle.

[0063] Specifically, after receiving the second control instruction, the main control module 10 controls the UHF transmitting module 11 to transmit the first radio frequency signal in various directions for multiple times. Each UHF receiving module 12 receives the second radio frequency signal transmitted by the UHF tag. The main control module 10 records the time difference between each time the UHF transmitting module 11 transmits the first radio frequency signal and each time the UHF receiving module 12 receives the second radio frequency signal. Using the known propagation speed of light, the main control module 10 calculates the signal flight distance corresponding to each UHF receiving module 12. Under the control of the main control module 10, the laser ranging module 30 measures the first distance between the UHF tag at a specific position and the underground equipment positioning device. The main control module 10 receives multiple flight distances, the first distance and the first angle, and updates the position determination function. The updated position determination function is used to calculate the current position of the underground equipment positioning device. The calculated position information can be output to the user or related system through a display screen, wireless communication, etc. If it is necessary to continuously locate or track the position of the underground equipment, the above process can be repeated 20 times, and the position determination function is dynamically adjusted and optimized according to the new measurement data and user instructions.

[0064] Optionally, the underground equipment positioning device further includes: an interaction module 50, the interaction module 50 is electrically connected to the main control module 10;

[0065] The main control module 10 is used to obtain the tag content in the second radio frequency signal, retrieve the information corresponding to the tag content in the database according to the tag content, and control the interactive module 50 to display the information corresponding to the tag content and the location of the underground equipment.

[0066] The interaction module 50 is used for device information interaction and display.

[0067] Specifically, the main control module 10 controls the UHF transmitting module 11 to transmit a first radio frequency signal to the underground space, and the first radio frequency signal is used to activate the UHF tags distributed in the underground environment. When the UHF tag receives the first radio frequency signal, the UHF tag transmits back a second radio frequency signal containing the tag content, and the second radio frequency signal is received by the UHF receiving module 12 and transmitted to the main control module 10. The main control module 10 extracts the tag content from the received second radio frequency signal. According to the extracted tag content, the main control module 10 retrieves the information associated with it in the database (including the name, model, location description, etc. of the device). At the same time, the main control module 10 uses the angle measured by the angle sensor 40, the distance measured by the laser ranging module 30, and the flight time difference of the UHF radio frequency signal, and calculates the specific location of the underground device through a certain algorithm. If the location information associated with the tag has been stored in the database, the main control module 10 will compare the location associated with the tag with the calculated new location, and update the location information in the database as needed. The main control module 10 integrates the information corresponding to the retrieved tag content (such as the device name, model, direction distance, etc.) and the calculated location of the underground device into a complete display information. The main control module 10 controls the interactive module 50 (which may be a display screen, a touch screen, etc.) to display information so that the user can intuitively see the location of the underground equipment and related information.

[0068] Optionally, the underground equipment positioning device further includes: a power management module 60, a battery 70 and a storage module 80;

[0069] The power management module 60 is electrically connected to the battery 70, the main control module 10, the UHF transmitting module 11, the UHF receiving module 12 and the input module 20;

[0070] The storage module 80 is electrically connected to the main control module 10;

[0071] The power management module 60 is used to control the battery 70 to supply power to the main control module 10, the UHF transmitting module 11, the UHF receiving module 12 and the input module 20;

[0072] The storage module 80 is used to store the location of the underground equipment.

[0073] The power management module 60 is used for device power supply and power management. The battery 70 is a lithium battery used for energy storage. The storage module 80 is an embedded multimedia card (Embedded Multi Media Card, Emmc) used for storing device information.

[0074] Specifically, when the device is started, the power management module 60 is responsible for obtaining power from the battery 70 and transmitting the power to the main control module 10, the UHF transmitting module 11, the UHF receiving module 12 and the input module 20. The specific location information of the underground equipment calculated in the above example is transmitted to the storage module 80 by the main control module 10, and the storage module 80 stores the specific location information of the underground equipment in the internal memory so that the user can query it at any time.

[0075] Optionally, the input module 20 is a button.

[0076] Specifically, the button is used to start the device scanning. Using the button as the input module 20 of the underground equipment positioning device has many advantages such as intuitive and easy to use, high reliability, strong durability, reduced misoperation, strong adaptability and low cost.

[0077] Figure 2 is a flow chart of an underground equipment positioning device provided by an embodiment of the present invention, with reference to Figure 2. The underground equipment positioning device starts the main control module and configures the parameters of the UHF transmitting module, UHF receiving module, angle sensor and measuring laser ranging module to ensure that each module is in normal working condition. Turn on the search function and wait for the user to press the scan button. When pressed, the device will read the set UHF module power to transmit the radio frequency signal and start the high-precision timer at this time. The 4-way UHF receiving module will wait for the signal returned by the receiving tag. If the 4-way UHF receiving module does not receive the returned radio frequency signal, it will determine whether the current timer exceeds 50ms. If so, it will output the scan failure information, that is, the tag is too far away from the device and cannot receive the returned signal or activate the tag. If it does not exceed 50ms, it will continue to wait for the signal to be received. If the returned RF signal is received within 50ms, it will determine whether it is the signal transmitted by the UHF of the device itself to prevent self-excitation. If not, it will record the current timer time when the signal is received, and then determine whether there are two or more UHF receiving modules that have received the returned RF signal. If not, it will continue to wait for reception. If the conditions are met, it will determine whether the current time exceeds 50ms. If not, it will continue to wait for the signal to be received from other UHF receiving modules. If it exceeds 50ms, the flight distance of the 4-way UHF receiving module signal will be calculated according to the time difference of the timer. After the calculation, the cumulative value will be increased by one and the timer will be reset. The device then cycles through the transmitting and receiving process three times to obtain a total of three sets of data, and determines whether the cumulative value is greater than 3. If not, it continues to transmit UHF radio frequency signals. If it is to calculate the average flight distance of the 4-way UHF receiving module, the cumulative value is reset to zero, and it is determined whether it is currently in calibration mode. If it is not in calibration mode, the two smallest flight distance averages other than 0 are used in the data fitting function to calculate the relative position of the tag and the device. The signal content returned by the tag is then retrieved from the database of the device, the retrieval returns the radio frequency signal ID information, and the target direction, distance and other detailed content information are output. The relative position and detailed content information are then displayed in the interactive module to guide the user to the target location.

[0078] The device is calibrated by receiving the radio frequency signal returned by the tag at a specific location through four UHF receiving modules arranged in the front, back, left, and right directions of the device, respectively, to calculate the flight distance of the signal. The relative distance between the tag at a specific location and the device is calculated by inputting the flight distance of the signal into the fitting function, and the location of the underground equipment is determined based on the relative distance. If the device is equipped with different tags or the sensitivity of the UHF receiving module decreases after long-term use, errors will occur in the relative position calculated by the fitting function, so the device provides the function of fitting function calibration.

[0079] The device records the time of transmitting the first radio frequency signal and the time of receiving the second radio frequency signal according to each UHF receiving module, and calculates the time difference between the time of transmitting the first radio frequency signal and the time of receiving the second radio frequency signal. The corresponding signal flight distance is calculated according to the time difference of each UHF receiving module 12 and the propagation speed of light. After calculating the average flight distance of the 4-way UHF receiving module, the device will finally read the distance value of the laser ranging module and the angle sensor value used to measure the angle value between the laser sensor and the front of the device. The accurate relative position of the tag at a specific position and the device can be calculated through these two sensor values. By placing the tag at a specific position at different positions within the searchable distance of the device and looping the process 20 times, 20 sets of accurate relative position data and the average flight distance calculated by the four-way UHF module can be obtained, and then the 20 sets of data are used to calculate the fitting function of the 4-way UHF module and the actual position. After the calculation is completed, the device fitting function will be updated.

[0080] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0081] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An underground equipment positioning device, characterized in that: include: Main control module, input module, UHF transmission module and at least four UHF receiving modules; The main control module is electrically connected to the input module, the UHF transmitting module and the UHF receiving module respectively; at least four UHF receiving modules are arranged in different positions; The input module is used to obtain a first control instruction input by a user, and send the first control instruction to the main control module; The main control module is used to control the UHF transmitting module to transmit the first radio frequency signal in all directions after receiving the first control instruction; The UHF receiving module is used to receive the second radio frequency signal returned by the UHF tag in the underground equipment, and send the second radio frequency signal to the main control module; The main control module is used to determine the location of the underground equipment according to the time difference between each UHF receiving module receiving the second radio frequency signal and the UHF transmitting module transmitting the first radio frequency signal.

2. The underground equipment positioning device according to claim 1, characterized in that: The main control module is used to determine the signal flight distance corresponding to each UHF receiving module according to the time difference between each UHF receiving module receiving the second radio frequency signal and the UHF transmitting module transmitting the first radio frequency signal, and determine the position of the underground equipment according to the signal flight distance of each UHF receiving module and the position determination function; wherein the position determination function is a predetermined correspondence function between the signal flight distance of each UHF receiving module and the position of the underground equipment.

3. The underground equipment positioning device according to claim 2, characterized in that: The main control module is used to control the UHF transmitting module to transmit the first radio frequency signal multiple times, determine the signal flight distance corresponding to the UHF receiving module according to the time difference between the UHF receiving module receiving the second radio frequency signal and the UHF transmitting module transmitting the first radio frequency signal after the UHF transmitting module transmits the first radio frequency signal each time, perform mean filtering on the multiple signal flight distances corresponding to each UHF receiving module to determine the filtered signal flight distance, and determine the position of the underground equipment according to the filtered signal flight distance and the position determination function.

4. The underground equipment positioning device according to claim 1, characterized in that: The main control module is used to determine that there is no underground equipment nearby when all the UHF receiving modules do not receive the second radio frequency signal within a preset time period; When the UHF receiving module receives a second radio frequency signal within a preset time and determines that the received second radio frequency signal is different from the first radio frequency signal, the location of the underground equipment is determined according to the time difference between each UHF receiving module receiving the second radio frequency signal and the UHF transmitting module transmitting the first radio frequency signal.

5. The underground equipment positioning device according to claim 4, characterized in that: The preset duration is greater than or equal to 50 ms.

6. The underground equipment positioning device according to claim 2, characterized in that: Also includes: Angle sensor and laser ranging module; the angle sensor and the laser ranging module are both electrically connected to the main control module; The angle sensor is used to measure a first angle between the laser ranging module and the front of the underground equipment positioning device, and send the first angle to the main control module; The input module is also used to receive a second control instruction input by a user, and transmit the second control instruction to the main control module; The main control module is used to control the UHF transmitting module to transmit the first radio frequency signal in all directions after receiving the second control instruction, and control the laser ranging module to measure the first distance between the UHF tag at a specific position and the underground equipment positioning device; The main control module is also used to determine the signal flight distance corresponding to each UHF receiving module according to the time difference between each UHF receiving module receiving the second radio frequency signal and the UHF transmitting module transmitting the first radio frequency signal, and update the position determination function according to the flight distance, the first distance and the first angle.

7. The underground equipment positioning device according to claim 6, characterized in that: The main control module is used to control the UHF transmitting module to transmit the first radio frequency signal in various directions multiple times after receiving the second control instruction; The main control module is also used to determine the signal flight distance corresponding to the UHF receiving module according to the time difference between the UHF receiving module receiving the second RF signal and the UHF transmitting module transmitting the first RF signal after the UHF transmitting module transmits the first RF signal each time, and update the position determination function according to the multiple flight distances, the first distance and the first angle.

8. The underground equipment positioning device according to claim 1, characterized in that: Also includes: An interaction module, the interaction module is electrically connected to the main control module; The main control module is used to obtain the tag content in the second radio frequency signal, retrieve information corresponding to the tag content in the database according to the tag content, and control the interactive module to display the information corresponding to the tag content and the location of the underground equipment.

9. The underground equipment positioning device according to claim 1, characterized in that: Also includes: Power management modules, batteries and storage modules; The power management module is electrically connected to the battery, the main control module, the UHF transmitting module, the UHF receiving module and the input module; The storage module is electrically connected to the main control module; The power management module is used to control the battery to supply power to the main control module, the UHF transmitting module, the UHF receiving module and the input module; The storage module is used to store the location of the underground equipment.

10. The underground equipment positioning device according to claim 1, characterized in that: The input module is a key.

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