Undercoal mine intelligent positioning navigation system based on AR glasses and method thereof

Abstract

The invention relates to the technical field of mining equipment monitoring, in particular to an under-coal-mine intelligent positioning navigation system based on AR glasses and a method thereof. The system comprises ground equipment, a plurality of base stations and AR glasses, each base station is in communication connection with ground equipment, and the base station comprises a UWB positioning base station and a first microphone; the AR glasses are worn on the body of an underground worker, and the AR glasses comprise a processor, a UWB tag card, a first loudspeaker, a second microphone and a second loudspeaker; uWB positioning is realized by using the UWB tag card and the UWB positioning base station, and first positioning information is obtained; the first microphone and the first loudspeaker calculate the moving speed of the underground worker, and the distance is measured by using the near ultrasonic frequency band transmitted and received between the second microphone and the second loudspeaker, so that the transverse distance of the underground worker in the roadway is obtained; the first positioning information, the moving speed and the transverse distance of the underground personnel in the roadway are transmitted to ground equipment for processing, intelligent navigation is achieved, and rendering is carried out on AR glasses. The problem of drifting of the positioning result is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mining equipment monitoring, and in particular to an intelligent positioning and navigation system and method for a coal mine based on AR glasses. Background Art

[0002] Underground workers carry identification cards to report their location to the mine personnel positioning system so that the dispatch room staff can view it in real time. When workers approach dangerous areas, overcrowding in restricted areas, or other dangerous events occur, the dispatch room staff can issue alarm information in time and use the sound and light alarm capabilities of the identification cards to prompt mine personnel to evacuate.

[0003] However, there is still room for improvement in the current mine personnel positioning system. On the one hand, the current mine personnel positioning system has positioning drift and cannot identify the movement rate of mine personnel. This causes false alarms and missed alarms in some limited-personnel scenes or electronic fence scenes, which brings inconvenience to mine safety. On the other hand, there is currently a lack of effective technical means to provide mine personnel with visual maps and positioning interfaces. Mine personnel can only judge their own location based on experience, and can only evacuate according to on-site signs during emergency evacuation. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, the present invention provides an intelligent positioning and navigation system for coal mines based on AR glasses, which can solve the problem of positioning result drift and provide a visual map and positioning interface through AR glasses.

[0006] According to an embodiment of the present invention, an intelligent positioning and navigation system for coal mines based on AR glasses includes: ground equipment connected to a ring communication network structure;

[0007] A plurality of base stations, each of which is connected to the ground equipment via the ring communication network structure, and the plurality of base stations are evenly deployed in the underground tunnel, and the base stations include a UWB positioning base station and a first microphone;

[0008] AR glasses, worn by underground workers, the AR glasses comprising: a processor, a UWB tag card, a first speaker, a second microphone and a second speaker;

[0009] The UWB tag is configured to send a ranging signal. After receiving the ranging signal, the UWB positioning base station calculates the distance to the UWB tag and feeds back the distance to the UWB tag. The processor obtains the first positioning information according to the fed-back distance. The first positioning information transmitting to the ground equipment;

[0010] The first speaker is configured to send out a speed measurement signal, the first microphone receives the speed measurement signal, calculates the moving speed of the underground worker, and transmits the moving speed to the surface equipment;

[0011] The second speaker is configured to emit a near ultrasonic signal, the near ultrasonic signal bounces through the tunnel to generate an echo, the second microphone receives the echo signal, the processor processes the echo signal to obtain a lateral distance of the underground personnel in the tunnel, and transmits the lateral distance of the underground personnel in the tunnel to the surface equipment;

[0012] The ground device is based on the first positioning information The depth distance of the underground personnel in the tunnel is calculated based on the moving speed, and the ground equipment performs intelligent navigation based on the lateral distance and the depth distance of the underground personnel in the tunnel, and renders it on the AR glasses.

[0013] The beneficial effect of the present invention is that the intelligent positioning and navigation system for coal mines based on AR glasses of the present invention calculates the depth and lateral distance of the workers in the tunnel based on AR glasses, realizes the positioning of the underground personnel, and introduces the moving speed to correct the positioning result, solves the problem of positioning drift, and based on the positioning result, the workers can view their own positioning information and planned paths through AR glasses, realize intelligent navigation, and improve the work efficiency and work safety of the underground workers.

[0014] According to an embodiment of the present invention, the UWB base station uses a TW-ToF method to calculate the distance to the UWB tag.

[0015] According to one embodiment of the present invention, the processor processes the echo to obtain the lateral position of the underground personnel in the tunnel, specifically comprising:

[0016] Assume the near ultrasonic signal is x 1 , the echo signal is x 2 , the time domain calculation of the cross-correlation function is:

[0017]

[0018] Through Fourier and convolution transform, the frequency domain expression is as follows:

[0019]

[0020] Let the first peak threshold be σ, when it appears for the first time When the echo signal arrives, the arrival time of the echo signal is determined to be

[0021] Assuming that the propagation speed of the echo signal in the air is c, the lateral position of the underground personnel in the tunnel is calculated using the following formula:

[0022]

[0023] According to one embodiment of the present invention, calculating the moving speed of underground workers includes: the first microphone obtains the speed measurement signal and transmits it to the central processor in the base station, and the central processor calculates the moving speed of the mine personnel using an anti-aliasing filter based on the Doppler principle.

[0024] According to one embodiment of the present invention, the ground equipment is based on the first positioning information Calculating the depth distance of the underground personnel in the tunnel with the moving speed specifically includes:

[0025] The ground equipment calculates the second positioning information at time t based on the moving speed and the position of the underground personnel at time t-1 The calculation formula is:

[0026]

[0027] in, represents the position of the underground personnel at time t-1, and v represents the moving speed;

[0028] According to the second positioning information at time t And the first positioning information Using the extended Kalman filter, the position of the underground personnel at time t is calculated The calculation formula is:

[0029]

[0030] Among them, P t|t-1 represents the covariance matrix of the prediction error, Q t is the covariance matrix of the process noise, F t represents the Jacobian matrix for position derivation based on near-ultrasonic velocity data, H t represents the Jacobian matrix of UWB-based position estimation, R t represents the covariance matrix of the observation noise, K t represents the Kalman gain, I represents the unit diagonal matrix;

[0031] The position of the underground personnel at time t It is the depth distance of underground personnel in the tunnel.

[0032] According to one embodiment of the present invention, the surface equipment will also send alarm information to the AR glasses according to the underground environment, and the alarm information will be displayed through the AR glasses.

[0033] According to one embodiment of the present invention, the AR glasses further include an intrinsically safe power supply, and the processor, the UWB tag card, the first speaker, the second microphone and the second speaker are all connected to the intrinsically safe power supply.

[0034] According to one embodiment of the present invention, the frequency of the near-ultrasonic signal is a chirp anti-interference sound signal with a frequency of 21 kHz-23 kHz.

[0035] According to an embodiment of the present invention, a positioning and navigation method using the above-mentioned intelligent positioning and navigation system in a coal mine based on AR glasses is provided, and the method comprises the following steps:

[0036] S1, deploy base stations in the tunnel and equip underground personnel with AR glasses;

[0037] S2, the UWB tag card of the AR glasses is configured to send a ranging signal. After receiving the ranging signal, the UWB positioning base station of the base station calculates the distance to the UWB tag card and feeds back the distance to the UWB tag card. The processor of the AR glasses obtains the first positioning information according to the fed-back distance. and transmitting the first positioning information to ground equipment through the base station;

[0038] S3, the first speaker of the AR glasses is configured to send a speed measurement signal, the first microphone of the base station receives the speed measurement signal, calculates the moving speed of the underground worker, and transmits the moving speed to the ground equipment through the base station;

[0039] S4, the second speaker of the AR glasses is configured to emit a near ultrasonic signal, the near ultrasonic signal bounces off the tunnel to generate an echo, the second microphone of the AR glasses receives the echo signal, the processor processes the echo signal to obtain the lateral distance of the underground personnel in the tunnel, and transmits the lateral distance of the underground personnel in the tunnel to the ground equipment through the base station;

[0040] S5: the ground device uses the first positioning information The depth distance of the underground personnel in the tunnel is calculated based on the moving speed, and the ground equipment performs intelligent navigation based on the lateral distance and the depth distance of the underground personnel in the tunnel, and renders it on the AR glasses.

[0041] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0044] Figure 1 It is a schematic diagram of the system structure of the first embodiment of the present invention.

[0045] Figure 2 It is a schematic diagram of the structure of a base station according to the first embodiment of the present invention.

[0046] Figure 3 It is a schematic diagram of the structure of AR glasses according to the first embodiment of the present invention.

[0047] Figure 4 It is a comparison diagram of the speed measurement signal of the first embodiment of the present invention and the speed measurement signal received by the first speaker.

[0048] Figure 5 Schematic diagram of speed measurement of a speed measurement signal according to the first embodiment of the present invention.

[0049] Figure 6 This is a frequency diagram of a near ultrasonic signal according to an embodiment of the present invention.

[0050] Figure 7 It is a schematic diagram of the method flow of embodiment 2 of the present invention.

[0051] Figure 8 It is a schematic diagram of the computing device structure of the third embodiment of the present invention.

[0052] In the figure, 10 is a computer device; 1002 is a processor; 1004 is a memory; and 1006 is a transmission device. DETAILED DESCRIPTION

[0053] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] Example 1

[0057] The present application embodiment provides an intelligent positioning and navigation system for coal mines based on AR glasses, such as Figure 1-3 As shown, the system includes:

[0058] Ground equipment, connected to the ring communication network structure;

[0059] A plurality of base stations, each of which is connected to the ground equipment through a ring communication network structure, and the plurality of base stations are evenly deployed in the underground tunnel, and the base stations include a UWB positioning base station and a first microphone;

[0060] AR glasses are worn by underground workers. The AR glasses include: a processor, a UWB tag card, a first speaker, a second microphone and a second speaker;

[0061] The UWB tag card is configured to send a ranging signal. After receiving the ranging signal, the UWB positioning base station calculates the distance to the UWB tag card and feeds back the distance to the UWB tag card. The processor obtains the first positioning information according to the fed-back distance. The first positioning information Transmit to ground equipment;

[0062] The first speaker is configured to send out a speed measurement signal, the first microphone receives the speed measurement signal, calculates the moving speed of the underground worker, and transmits the moving speed to the surface equipment;

[0063] The second speaker is configured to emit a near ultrasonic signal, the near ultrasonic signal bounces through the tunnel to generate an echo, the second microphone receives the echo signal, the processor processes the echo signal, obtains the lateral distance of the underground personnel in the tunnel, and transmits the lateral distance of the underground personnel in the tunnel to the surface equipment;

[0064] The ground equipment is based on the first positioning information The ground equipment performs intelligent navigation based on the lateral distance and depth of the underground personnel in the tunnel, and renders it on the AR glasses.

[0065] In an embodiment, the UWB base station uses a TW-ToF method to calculate the distance to the UWB tag.

[0066] In an embodiment, calculating the moving speed of underground workers includes: a first speaker obtains a speed measurement signal and transmits it to a central processor in a base station, and the central processor uses an anti-aliasing filter to improve the speed measurement resolution according to the Doppler principle and calculates the moving speed of the mine personnel. Further, the Doppler speed measurement calculation formula is:

[0067]

[0068] Among them, v R represents the moving speed calculated by the Doppler velocity measurement principle, c represents the propagation speed of the sound signal in the air, and v s Indicates the moving speed of the first speaker, usually v s =0,f 0 Indicates the source frequency of the speed measurement sound signal emitted from the speaker, f A Indicates the frequency of the sound source received by the first microphone.

[0069] Frequency band division under the action of anti-aliasing filter: f A =(2n+1)f 0 -nf s .

[0070] f s represents the audio sampling rate, and n represents the number of aliasing times of the anti-aliasing filter.

[0071] Figure 4 A comparison diagram of the speed measurement signal and the speed measurement signal received by the first speaker is shown, with the left side showing the speed measurement signal emitted and the right side showing the speed measurement signal received by the first microphone: Figure 5 A schematic diagram of speed measurement of a speed measurement signal is shown.

[0072] In the embodiment, the processor processes the echo to obtain the lateral position of the underground personnel in the tunnel, specifically including:

[0073] Assume that the near ultrasonic signal is x 1 , the echo signal is x 2 , τ represents the actual delay of the echo signal compared to the near-ultrasound signal, and the time domain calculation of the cross-correlation function is:

[0074]

[0075] According to the cross-correlation time domain calculation formula, since the echo signal is sent periodically, during the period when the signal is not sent, x 1 (t) = 0, so it can be seen that when the estimated signal arrival time When , the cross-correlation function reaches its maximum value.

[0076] In order to reduce the complexity of calculation, the frequency domain expression is obtained through Fourier and convolution transform as follows:

[0077]

[0078] Set the first peak threshold to n. When the first peak appears When the echo signal arrives, the arrival time of the echo signal is determined.

[0079] Assuming the propagation speed of the echo signal in the air is c, the lateral position of the underground personnel in the tunnel is calculated using the following formula:

[0080]

[0081] It should be noted that the frequency of the near-ultrasonic signal is the chirp anti-interference sound signal of 21kHz-23kHz, see Figure 6 shown.

[0082] In an embodiment, the ground device uses the first positioning information The calculation of the depth distance of underground personnel in the tunnel with the moving speed specifically includes:

[0083] The ground equipment calculates the second positioning information at time t based on the moving speed and the position of the underground personnel at time t-1. The calculation formula is:

[0084]

[0085] in, represents the position of the underground personnel at time t-1, and v represents the moving speed;

[0086] According to the second positioning information at time t And the first positioning information Using the extended Kalman filter, the position of the underground personnel at time t is calculated The position of the underground personnel at time t It is the depth distance of underground personnel in the tunnel. The calculation formula is:

[0087]

[0088] Among them, P t|t-1 represents the covariance matrix of the prediction error, Q t is the covariance matrix of the process noise, F t represents the Jacobian matrix for position derivation based on near-ultrasonic velocity data, H t represents the Jacobian matrix of UWB-based position estimation, R t represents the covariance matrix of the observation noise, K t represents the Kalman gain, I represents the unit diagonal matrix;.

[0089] In an embodiment, the ground equipment plans a route to the destination based on the lateral distance and depth of the underground personnel in the tunnel and the destination information, and transmits the planned route to the destination to the AR glasses through the base station for rendering and display.

[0090] In the embodiment, the ground equipment will also send alarm information to AR glasses according to the underground environment, and the alarm information will be displayed through AR glasses. In addition, when an accident occurs underground, the dispatcher will use the ground equipment to formulate the optimal evacuation route, and render it through AR glasses to instruct the underground workers to evacuate, further improving the safety of underground operations.

[0091] In an embodiment, the AR glasses further include an intrinsically safe power supply and a data transmission module, and the processor, the UWB tag card, the first speaker, the second microphone and the second speaker are all connected to the intrinsically safe power supply. The data transmission module is connected to the processor to transmit the first positioning information and the lateral distance of the underground personnel in the tunnel to the base station.

[0092] In the embodiment, the base station further includes: a data receiving module and a communication module, the data receiving module is connected to the data transmission module by signal, the data receiving module receives the first positioning information transmitted by the data transmission module and the lateral distance of the underground personnel in the tunnel, the data receiving module and the central processor are both connected to the communication module, and the communication module is connected to the ring communication network structure signal to transmit the first positioning information 、 The moving speed and lateral distance of underground personnel in the tunnel are transmitted to the surface equipment.

[0093] To sum up, the intelligent positioning and navigation system for coal mines based on AR glasses in this embodiment, based on AR glasses, calculates the depth and lateral distance of the workers in the tunnel to realize the positioning of the underground personnel, and introduces the moving speed to correct the positioning results, thereby solving the problem of positioning drift. Based on the positioning results, the workers can view their own positioning information and planned paths through AR glasses, realize intelligent navigation, and improve the work efficiency and safety of underground workers.

[0094] Example 2

[0095] Based on the same inventive concept as the intelligent positioning and navigation system for coal mines based on AR glasses in the aforementioned embodiment, the embodiment of the present application provides an intelligent positioning and navigation method for coal mines based on AR glasses, such as Figure 7 As shown, the method comprises the following steps:

[0096] S1, deploy base stations in the tunnel and equip underground personnel with AR glasses;

[0097] S2, the UWB tag card of the AR glasses is configured to send a ranging signal. After receiving the ranging signal, the UWB positioning base station of the base station calculates the distance to the UWB tag card and feeds back the distance to the UWB tag card. The processor of the AR glasses obtains the first positioning information according to the fed-back distance. and transmitting the first positioning information to the ground equipment through the base station;

[0098] S3, the first speaker of the AR glasses is configured to send a speed measurement signal, the first microphone of the base station receives the speed measurement signal, calculates the moving speed of the underground worker, and transmits the moving speed to the ground equipment through the base station;

[0099] S4, the second speaker of the AR glasses is configured to emit a near ultrasonic signal, the near ultrasonic signal bounces through the tunnel to generate an echo, the second microphone of the AR glasses receives the echo signal, the processor processes the echo signal, obtains the lateral distance of the underground personnel in the tunnel, and transmits the lateral distance of the underground personnel in the tunnel to the ground equipment through the base station;

[0100] S5, the ground device uses the first positioning information The ground equipment performs intelligent navigation based on the lateral distance and depth of the underground personnel in the tunnel, and renders it on the AR glasses.

[0101] The foregoing Figure 1The various variations and specific examples of an intelligent positioning and navigation system in a coal mine based on AR glasses in Example 1 are also applicable to an intelligent positioning and navigation method in a coal mine based on AR glasses in this embodiment. Through the above detailed description of an intelligent positioning and navigation system in a coal mine based on AR glasses, those skilled in the art can clearly know the implementation method of an intelligent positioning and navigation method in a coal mine based on AR glasses in this embodiment. Therefore, for the sake of brevity of the specification, it will not be described in detail here.

[0102] Example 2

[0103] An embodiment of the present application provides a computer device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement an intelligent positioning and navigation method in a coal mine based on AR glasses as provided in the above method embodiment.

[0104] Figure 8 The hardware structure diagram of a device for implementing an intelligent positioning and navigation method for coal mines based on AR glasses provided in an embodiment of the present application is shown. The device may participate in or include the device or system provided in an embodiment of the present application. Figure 8 As shown, the computer device 10 may include one or more processors 1002 (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1004 for storing data, and a transmission device 1006 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 8 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 8 More or fewer components as shown, or with Figure 8 Different configurations shown.

[0105] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer device 10 (or mobile device). As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0106] The memory 1004 can be used to store software programs and modules of application software, such as a program instruction / data storage device corresponding to an intelligent positioning and navigation method for coal mines based on AR glasses in an embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 1004, that is, implementing the above-mentioned method. The memory 1004 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1004 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer device 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0107] The transmission device 1006 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer device 10. In one example, the transmission device 1006 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 1006 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0108] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer device 10 (or mobile device).

[0109] Example 3

[0110] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a server to store at least one instruction or at least one program related to an intelligent positioning and navigation method in a coal mine based on AR glasses in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement an intelligent positioning and navigation method in a coal mine based on AR glasses provided in the above method embodiment.

[0111] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0112] Example 4

[0113] The embodiment of the present invention further provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes an intelligent positioning and navigation method for coal mines based on AR glasses provided in the above various optional embodiments.

[0114] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0115] Each embodiment in this application is described in a progressive 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, equipment and storage medium 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 embodiment.

[0116] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0117] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An intelligent positioning and navigation system for coal mines based on AR glasses, characterized in that: The system comprises: Ground equipment, connected to the ring communication network structure; A plurality of base stations, each of which is connected to the ground equipment via the ring communication network structure, and the plurality of base stations are evenly deployed in the underground tunnel, and the base stations include a UWB positioning base station and a first microphone; AR glasses, worn by underground workers, the AR glasses comprising: a processor, a UWB tag card, a first speaker, a second microphone and a second speaker; The UWB tag is configured to send a ranging signal. After receiving the ranging signal, the UWB positioning base station calculates the distance to the UWB tag and feeds back the distance to the UWB tag. The processor obtains the first positioning information according to the fed-back distance. The first positioning information transmitting to the ground equipment; The first speaker is configured to send out a speed measurement signal, the first microphone receives the speed measurement signal, calculates the moving speed of the underground worker, and transmits the moving speed to the surface equipment; The second speaker is configured to emit a near ultrasonic signal, the near ultrasonic signal bounces through the tunnel to generate an echo, the second microphone receives the echo signal, the processor processes the echo signal to obtain a lateral distance of the underground personnel in the tunnel, and transmits the lateral distance of the underground personnel in the tunnel to the surface equipment; The ground device is based on the first positioning information The depth distance of the underground personnel in the tunnel is calculated based on the moving speed, and the ground equipment performs intelligent navigation based on the lateral distance and depth distance of the underground personnel in the tunnel, and renders it on the AR glasses.

2. The intelligent positioning and navigation system for coal mines based on AR glasses as claimed in claim 1, characterized in that: The UWB base station uses the TW-ToF method to calculate the distance to the UWB tag.

3. The intelligent positioning and navigation system for coal mines based on AR glasses as claimed in claim 1, characterized in that: The processor processes the echo to obtain the lateral position of the underground personnel in the tunnel, which specifically includes: Assuming the near ultrasonic signal is x1, the echo signal is x2, the time domain calculation of the cross-correlation function is: Wherein, τ represents the actual delay of the echo signal compared to the near-ultrasound signal; Through Fourier and convolution transform, the frequency domain expression is as follows: Let the first peak threshold be σ, when it appears for the first time When the echo signal arrives, the arrival time of the echo signal is determined to be Assuming that the propagation speed of the echo signal in the air is c, the lateral position of the underground personnel in the tunnel is calculated using the following formula:

4. The intelligent positioning and navigation system for coal mines based on AR glasses according to claim 1, characterized in that: Calculating the moving speed of underground workers includes: the first microphone obtains the speed measurement signal and transmits it to the central processor in the base station, and the central processor calculates the moving speed of the mine personnel using an anti-aliasing filter based on the Doppler principle.

5. The intelligent positioning and navigation system for coal mines based on AR glasses as claimed in claim 1 or 4, characterized in that: The ground device is based on the first positioning information Calculating the depth distance of the underground personnel in the tunnel with the moving speed specifically includes: The ground equipment calculates the second positioning information at time t based on the moving speed and the position of the underground personnel at time t-1 The calculation formula is: in, represents the position of the underground personnel at time t-1, and v represents the moving speed; According to the second positioning information at time t And the first positioning information Using the extended Kalman filter, the position of the underground personnel at time t is calculated The calculation formula is: P t|t =(I-K t H t )P t|t-1 Among them, P t|t-1 represents the covariance matrix of the prediction error, Q t is the covariance matrix of the process noise, F t represents the Jacobian matrix for position derivation based on near-ultrasonic velocity data, H t represents the Jacobian matrix of UWB-based position estimation, R t represents the covariance matrix of the observation noise, K t represents the Kalman gain, I represents the unit diagonal matrix; The position of the underground personnel at time t It is the depth distance of underground personnel in the tunnel.

6. The intelligent positioning and navigation system for coal mines based on AR glasses as claimed in claim 1, characterized in that The ground equipment plans a route to the destination according to the lateral distance and depth of the underground personnel in the tunnel and the destination information, and transmits the planned route to the destination to the AR glasses through the base station for rendering and display.

7. The intelligent positioning and navigation system for coal mines based on AR glasses as claimed in claim 1, characterized in that: The surface equipment will also send alarm information to the AR glasses according to the underground environment, and the alarm information will be displayed through the AR glasses.

8. The intelligent positioning and navigation system for coal mines based on AR glasses as claimed in claim 1, characterized in that: The AR glasses also include an intrinsically safe power supply, and the processor, the UWB tag card, the first microphone, the second microphone and the second speaker are all connected to the intrinsically safe power supply.

9. The intelligent positioning and navigation system for coal mines based on AR glasses according to claim 1, characterized in that: The frequency of the near-ultrasonic signal is a chirp anti-interference sound signal of 21kHz-23kHz.

10. A positioning and navigation method using the intelligent positioning and navigation system in a coal mine based on AR glasses as described in any one of claims 1 to 9, characterized in that: The method comprises the following steps: S1, deploy base stations in the tunnel and equip underground personnel with AR glasses; S2, the UWB tag card of the AR glasses is configured to send a ranging signal. After receiving the ranging signal, the UWB positioning base station of the base station calculates the distance to the UWB tag card and feeds back the distance to the UWB tag card. The processor of the AR glasses obtains the first positioning information according to the fed-back distance. and transmitting the first positioning information to ground equipment through the base station; S3, the first speaker of the AR glasses is configured to send a speed measurement signal, the first microphone of the base station receives the speed measurement signal, calculates the moving speed of the underground worker, and transmits the moving speed to the ground equipment through the base station; S4, the second speaker of the AR glasses is configured to emit a near ultrasonic signal, the near ultrasonic signal bounces off the tunnel to generate an echo, the second microphone of the AR glasses receives the echo signal, the processor processes the echo signal to obtain the lateral distance of the underground personnel in the tunnel, and transmits the lateral distance of the underground personnel in the tunnel to the ground equipment through the base station; S5: the ground device uses the first positioning information The depth distance of the underground personnel in the tunnel is calculated based on the moving speed, and the ground equipment performs intelligent navigation based on the lateral distance and depth distance of the underground personnel in the tunnel, and renders it on the AR glasses.

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