Underground space three-dimensional coordinate positioning device and method

Abstract

The invention discloses an underground space three-dimensional coordinate positioning device which comprises a gyroscope, a wireless range finder and a transceiver, the gyroscope comprises a rotor and a frame installed on the periphery of the rotor, the frame can rotate around the rotor, the wireless range finder is fixedly installed on the frame, and the transceiver is connected with the wireless range finder. The wireless range finder can transmit a first wireless signal to the transceiver, and the transceiver can transmit a second wireless signal to the wireless range finder after receiving the first wireless signal. The invention further discloses an underground space three-dimensional coordinate positioning method. According to the underground space three-dimensional coordinate positioning device and method, the three-dimensional coordinate of a certain point in an underground space can be conveniently and accurately determined.

Description

[0001] This invention claims the priority of a domestic application filed by the applicant on July 26, 2024, with application number 202411012862.6 and title "An Underground Space Three-Dimensional Coordinate Positioning Device and Method". The entire content of the above application is incorporated herein by reference in its entirety. Technical Field

[0002] This invention relates to the field of positioning, and particularly to a device and method for three-dimensional coordinate positioning of a certain point in underground space. Background Art

[0003] In actual production and life, it is often necessary to determine the specific coordinates of a certain point in underground space. This point to be positioned may be within the visual range of the surveyor or outside the visual range. When the point to be positioned is within the visual range of the surveyor, for example, when the surveyor is in a roadway underground in a mine and needs to determine the specific coordinates of a certain point within the visual range; when the point to be positioned is outside the visual range of the surveyor, for example, when an emergency (collapse) occurs in a mine and rescue operations are required, the specific location of the emergency, that is, the point to be positioned, is outside the visual range of the surveyor. Only after the surveyor determines the specific location of the emergency can the rescue personnel carry out the rescue smoothly. The existing devices and methods for determining the specific coordinates of a certain point in underground space are inconvenient to use and the determined coordinates are not accurate enough. Summary of the Invention

[0004] The technical problem to be solved by this invention is to provide an underground space three-dimensional coordinate positioning device and method, which can conveniently and accurately determine the three-dimensional coordinates of a certain point in underground space.

[0005] The underground space three-dimensional coordinate positioning device in this invention includes a gyroscope, a wireless distance measuring instrument, and a transceiver. The gyroscope includes a rotor and a frame installed around the rotor. The frame can rotate around the rotor. The wireless distance measuring instrument is fixedly installed on the frame. The wireless distance measuring instrument can transmit a first wireless signal to the transceiver, and the transceiver can transmit a second wireless signal to the wireless distance measuring instrument after receiving the first wireless signal.

[0006] The underground space three-dimensional coordinate positioning device in this invention further includes a reflector. The axis of the reflector coincides with the connection line between the wireless distance measuring instrument and the center of the rotor. Multiple antennas are arrayedly installed on the reflector.

[0007] In the underground space three-dimensional coordinate positioning device in this invention, the shape of the reflector is arc-shaped, the center of the arc of the reflector coincides with the center of the rotor, and multiple antennas are arranged in a linear array on the reflector.

[0008] The three-dimensional coordinate positioning device for underground space in the present invention, wherein the frame includes an inner frame and an outer frame, the rotor is rotatably installed inside the inner frame through a rotating shaft, the rotating shaft is coaxial with the rotor, the inner frame is rotatably installed inside the outer frame through an inner frame shaft, the inner frame shaft is perpendicular to the rotating shaft, the outer frame is rotatably installed inside a housing through an outer frame shaft, the outer frame shaft is perpendicular to the inner frame shaft, and angle sensors are provided at the connection between the rotating shaft and the inner frame, the connection between the inner frame and the outer frame, and the connection between the outer frame and the housing.

[0009] The three-dimensional coordinate positioning device for underground space in the present invention, wherein both the inner frame and the outer frame are circular, one end of the wireless rangefinder is fixed on the outer frame, the other end of the wireless rangefinder passes through the housing, the back of the reflector is fixed to the end of the wireless rangefinder passing through the housing, multiple antennas are arranged on the front of the reflector, and the arrangement direction of the multiple antennas is coaxially arranged with the outer frame.

[0010] The three-dimensional coordinate positioning device for underground space in the present invention, wherein the wireless rangefinder is a mechanical wave rangefinder, an electromagnetic wave rangefinder or an optical rangefinder.

[0011] The three-dimensional coordinate positioning device for underground space in the present invention, wherein the mechanical wave rangefinder is an ultrasonic rangefinder or a vibration wave rangefinder.

[0012] The three-dimensional coordinate positioning device for underground space in the present invention, wherein the electromagnetic wave rangefinder is a radar wave rangefinder or a laser rangefinder.

[0013] The three-dimensional coordinate positioning method for underground space in the present invention includes the following steps:

[0014] A transceiver is set at the point A to be positioned;

[0015] Taking the center of the rotor as the origin, the rotating shaft as the Z axis, an X axis and a Y axis are established in the plane passing through the center of the rotor and perpendicular to the rotating shaft to construct a three-dimensional coordinate system;

[0016] The rotor is started, and after the direction of the rotating shaft in the inertial space remains unchanged, the initial three-dimensional coordinates of the wireless rangefinder are recorded;

[0017] The housing is rotated so that the wireless rangefinder can transmit the first wireless signal to the transceiver, and at the same time, after the transceiver receives the first wireless signal, it can transmit the second wireless signal to the wireless rangefinder, and the second wireless signal can be received by the wireless rangefinder at position B;

[0018] The first angle output by the angle sensor on the inner frame and the second angle output by the angle sensor on the outer frame after the wireless rangefinder rotates from the initial position to position B are recorded;

[0019] Obtain the three-dimensional coordinates of the wireless rangefinder at position B according to the initial three-dimensional coordinates, the first angle, and the second angle;

[0020] Obtain the transmission distance between the point A to be located and position B according to the time taken to transmit the first signal, the time taken to receive the second signal, and the signal propagation speed;

[0021] Obtain the three-dimensional coordinates of the point A to be determined according to the three-dimensional coordinates of position B and the transmission distance.

[0022] In the three-dimensional coordinate positioning method for underground space in the present invention, after obtaining the three-dimensional coordinates of the wireless rangefinder at position B, screen the antenna on the reflector with the strongest received signal, and use the three-dimensional coordinates where the antenna with the strongest received signal is located as the three-dimensional coordinates of position B.

[0023] The difference between the three-dimensional coordinate positioning device and method for underground space in the present invention and the prior art is that when the present invention is used, there are two usage scenarios: one is when the point to be located is within the visual range of the surveyor. For example, when the surveyor is in a mine roadway and needs to determine the coordinates of a certain point within the visual range, the surveyor only needs to place the transceiver at the point to be located, and then the coordinates of the position where the transceiver is located, that is, the point to be located, can be conveniently and accurately measured by using a gyroscope and a wireless rangefinder; the other is when the point to be located is outside the visual range of the surveyor. For example, when a mine collapse occurs and there are trapped workers, the surveyor needs to measure the specific position of the trapped workers. This specific position is the point to be located, which is outside the visual range of the surveyor. Usually, the workers in the mine are equipped with transceivers. In this way, when a mine collapse occurs and there are trapped workers, the trapped workers can activate the transceivers they are equipped with, and the surveyor can conveniently and accurately measure the specific position coordinates of the transceivers used by the trapped workers by using a gyroscope and a wireless rangefinder, and can also determine the specific position of the trapped workers, which is convenient for carrying out rescue work. Thus, it can be seen that the present invention can conveniently and accurately determine the three-dimensional coordinates of a certain point in the underground space.

[0024] The following further illustrates the present invention with reference to the accompanying drawings. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram (square frame) of the three-dimensional coordinate positioning device for underground space in the present invention;

[0026] Figure 2 It is a schematic structural diagram (circular frame) of the three-dimensional coordinate positioning device for underground space in the present invention;

[0027] Figure 3 It is a schematic diagram of the principle of the three-dimensional coordinate positioning method for underground space in the present invention. Detailed Embodiments

[0028] AsFigure 1 or Figure 2 As shown, the three-dimensional coordinate positioning device for underground space in the present invention includes a gyroscope, a wireless rangefinder 18, and a transceiver (not shown in the figure). The gyroscope includes a rotor 10 and a frame mounted around the periphery of the rotor 10. The frame can rotate around the rotor 10. The wireless rangefinder 18 is fixedly mounted on the frame. The wireless rangefinder 18 can transmit a first wireless signal to the transceiver, and the transceiver can transmit a second wireless signal to the wireless rangefinder 18 after receiving the first wireless signal.

[0029] In the three-dimensional coordinate positioning device for underground space in the present invention, the wireless rangefinder 18 is a mechanical wave rangefinder, an electromagnetic wave rangefinder, or an optical rangefinder. The mechanical wave rangefinder is an ultrasonic rangefinder or a shock wave rangefinder. The electromagnetic wave rangefinder is a radar wave rangefinder or a laser rangefinder.

[0030] As Figure 3 shown, if point O represents the central position of the rotor 10, point B represents the installation position of the wireless rangefinder 18, and point A represents the placement position of the transceiver. After the wireless rangefinder 18 is installed on the frame, the distance L' from point O to point B is known, and L' will not change no matter how the wireless rangefinder 18 rotates. Therefore, the three-dimensional coordinates of point B are known. When the wireless rangefinder 18 can just receive the second line signal transmitted by the transceiver after rotation, it indicates that the wireless rangefinder 18 and the transceiver are facing each other. According to the signal transmission speed, the distance from point A to point B can be obtained. Since the three-dimensional coordinates of point B are known, the three-dimensional coordinates of point A can be calculated through three-dimensional coordinates. Therefore, the surveyor can easily measure the specific position coordinates of the transceiver used by the trapped person by using the gyroscope and the wireless rangefinder, that is, the specific position of the trapped person can be determined, which is convenient for carrying out rescue work and can conveniently and accurately determine the three-dimensional coordinates of a certain point in the underground space.

[0031] As Figure 2As shown, the device of the present invention further includes a reflector 19. The axis of the reflector 19 coincides with the connection line between the center of the wireless rangefinder 18 and the rotor 10 (that is, the reflector 19, the wireless rangefinder 18 and the center of the rotor 10 are on the same straight line). A plurality of antennas are array-mounted on the reflector 19. The shape of the reflector 10 is arc-shaped, and the center of the arc of the reflector 10 coincides with the center of the rotor 10. The plurality of antennas are arranged in a linear array on the reflector. Each antenna can receive the second wireless signal transmitted by the transceiver, and each antenna represents a slight offset of the wireless rangefinder 18 on the frame (that is, multiple points B are arranged along the arc), that is to say, the three-dimensional coordinates of each antenna relative to the center of the rotor are also known. Among all the wires, there must be one antenna that receives the strongest signal. Select the three-dimensional coordinates corresponding to the antenna with the strongest signal as the three-dimensional coordinates of point B. Then, according to the signal transmission speed, the distance from point A to point B can be obtained. Finally, the three-dimensional coordinates of point A can be calculated through the three-dimensional coordinates, thereby improving the positioning accuracy.

[0032] As Figure 2As shown in the figure, the frame that rotates around the rotor 10 includes an inner frame 13 and an outer frame 15. The rotor 10 is rotatably installed inside the inner frame 13 through a rotating shaft 11, and the rotor 10 can rotate around the rotating shaft 11. In this embodiment, the rotor 10 is cylindrical, and the rotating shaft 11 coincides with the central axis of the rotor 10. The inner frame 13 is further rotatably installed inside the outer frame 15 through an inner frame shaft 14, and the inner frame shaft 14 is perpendicular to the rotating shaft 11 of the rotor 10. The outer frame 15 is further rotatably installed inside a housing 17 through an outer frame shaft 16. The housing 17 can be set to be spherical, and the outer frame shaft 16 is perpendicular to the inner frame shaft 14. Angle sensors 12 are provided at the connection between the rotating shaft 11 of the rotor 10 and the inner frame 13, the connection between the inner frame 13 and the outer frame 15, and the connection between the outer frame 15 and the housing 17, which can measure the respective rotation angles of the inner frame 13 / outer frame 15. The axes of the rotating shaft 11, the inner frame shaft 14, and the outer frame shaft 16 all pass through the center of the rotor 10, and the center of the rotor 10 is also the midpoint of the rotating shaft 11, the inner frame shaft 14, and the outer frame shaft 16. The inner frame 13 and the outer frame 15 are both set to be circular. One end of the wireless range finder 18 is fixed on the outer frame 15, so that the other end of the wireless range finder 18 passes through the housing 17. The back surface of the reflector 19 is fixed to the end of the wireless range finder 18 that passes through the housing 17, and multiple antennas are arranged on the front surface of the reflector 9. By installing the wireless range finder 18 on the outer frame 15, when the rotor 10 rotates at a high speed, the rotating shaft 11 of the rotor 10 remains stationary. The wireless range finder 18 rotates around the rotating shaft 11 through the inner frame 13 and rotates around the inner frame shaft 14 through the outer frame 15. Then the entire running track of the wireless range finder 18 becomes spherical. The tester can hold the spherical housing 17 and rotate it continuously until the antenna can receive the second wireless signal. At this time, the three-dimensional coordinates of the transceiver can be obtained according to the above three-dimensional coordinate calculation process, which is more convenient and faster to use.

[0033] In order to make it easier to determine the three-dimensional coordinates of each antenna, the arrangement directions of multiple antennas are coaxially set with the outer frame 15. Through the arc distance between adjacent two antennas, the angle between the lines connecting adjacent two antennas and the center of the rotor 10 can be known in advance. Since the reflector 9 is fixedly connected to the wireless range finder 18, the angle between the line connecting each antenna and the center of the rotor 10 and the line connecting the wireless range finder 18 and the center of the rotor 10 can also be determined. Therefore, after knowing the three-dimensional coordinates of the wireless range finder 18, the three-dimensional coordinates of each antenna can also be obtained.

[0034] It should be noted that in addition to being cylindrical, the rotor 10 can also be of other shapes, such as spherical. In addition to being square as Figure 1 shown, the inner frame 13 and the outer frame 15 can also be of other shapes, such as Figure 2The circular shape shown. When the rotor 10 of the gyroscope rotates, due to the fixed-axis property of the gyroscope, the axis 11 of the rotor 10 can always remain in a certain position. Even if the outer frame rotates around the rotor 10, the position of the axis 11 will not change. In this way, when the rotor 10 rotates, the inner frame 13 can only rotate around the axis 11, and the outer frame 15 can only rotate around the inner frame axis 14.

[0035] In this embodiment, the wireless rangefinder 18 can be set to one, or can be set to two or more.

[0036] In an embodiment of the present invention, as another feasible technical solution, the gyroscope inside the spherical housing 17 is replaced with a chip with an electronic gyroscope, and the chip is installed at the center of gravity (i.e., the centroid) of the housing 17. When the wireless rangefinder 18 rotates with the housing 17, the electronic gyroscope inside the chip can measure the yaw angle, pitch angle, and roll angle of the housing 17 relative to the initial position, and then measure the yaw angle, pitch angle, and roll angle of the wireless rangefinder 18. On the premise that the initial three-dimensional coordinates of the wireless rangefinder 18 are known, according to the rotated yaw angle, pitch angle, and roll angle, the three-dimensional coordinates of the wireless rangefinder 18 when it rotates to a position where it can receive the signal from the transceiver can be obtained. Then, according to the signal transmission speed, the distance from the wireless rangefinder 18 to the transceiver can be measured, and finally, the three-dimensional coordinates of the transceiver can be calculated through the three-dimensional coordinates, so as to achieve the positioning purpose of the present invention.

[0037] As Figure 3 shown, in the method for three-dimensional coordinate positioning of underground space in the embodiment of the present invention, the following steps are included:

[0038] A transceiver is set at the point to be located A, and the transceiver can be fixedly installed or carried with.

[0039] Taking the center of the rotor 10 as the origin, the axis 11 as the Z-axis, an X-axis and a Y-axis are established in the plane passing through the center of the rotor 10 and perpendicular to the axis 11 to construct a three-dimensional coordinate system. The constructed three-dimensional coordinate system is as Figure 3 shown.

[0040] Start the rotor 10, and record the initial three-dimensional coordinates of the wireless rangefinder 18 (i.e., record the three-dimensional coordinates of the initial position of the wireless rangefinder) after the direction of the axis 11 remains unchanged in the inertial space.

[0041] Rotate the outer shell 17 so that the wireless rangefinder 18 can transmit the first wireless signal to the transceiver, and at the same time, the transceiver can transmit the second wireless signal to the wireless rangefinder 18 after receiving the first wireless signal, and the second wireless signal can be received by the wireless rangefinder 18 at position B.

[0042] Record the first angle output by the angle sensor 12 on the inner frame 13 and the second angle output by the angle sensor 12 on the outer frame 15 after the wireless rangefinder 18 rotates from the initial position to position B.

[0043] Based on the initial three-dimensional coordinates, the first angle, and the second angle, obtain the three-dimensional coordinates of the wireless rangefinder 18 at position B. Calculating the three-dimensional coordinates of the wireless rangefinder 18 at position B can be divided into two steps. First, calculate the first three-dimensional coordinates after rotating the first angle based on the initial three-dimensional coordinates, and then calculate the second three-dimensional coordinates after rotating the second angle based on the first three-dimensional coordinates. Take the second three-dimensional coordinates as the three-dimensional coordinates of the wireless rangefinder 18 at position B. Of course, it is also possible to first calculate the rotation of the second angle and then calculate the three-dimensional coordinates of the rotation of the first angle.

[0044] Based on the time taken to transmit the first signal, the time taken to receive the second signal, and the signal propagation speed, obtain the transmission distance between the point A to be located and position B. During the signal propagation process, the signal propagation speed can be determined. When the time between signal transmission and reception is determined, the signal transmission distance can be determined.

[0045] Based on the three-dimensional coordinates of position B and the transmission distance, obtain the three-dimensional coordinates of the point A to be determined. As Figure 3 shown, the origin 0, position B, and the point A to be determined are on the same straight line. When the three-dimensional coordinates of position B and the transmission distance (i.e., the distance between B and A) are known, the three-dimensional coordinates of the point A to be determined can be obtained through simple three-dimensional coordinate calculations.

[0046] Using this positioning method, personnel can easily measure the specific position coordinates of the transceiver used by the trapped person using a gyroscope and a wireless rangefinder, that is, the specific position of the trapped person can be determined, facilitating the rescue work and accurately determining the three-dimensional coordinates of a certain point in the underground space.

[0047] Based on the above method embodiment, after obtaining the three-dimensional coordinates of the wireless rangefinder 18 at position B, screen the antenna on the reflector 19 that receives the strongest signal, and take the three-dimensional coordinates where the antenna that receives the strongest signal is located as the three-dimensional coordinates of position B. Although the wireless rangefinder 18 can receive the second wireless signal sent by the transceiver, it cannot guarantee that the wireless rangefinder 18 is directly facing the transceiver (i.e., as Figure 3 shown, the point A is not on the extension line of the OB line segment). By screening the antenna that receives the strongest signal and taking the three-dimensional coordinates where the antenna that receives the strongest signal is located as the three-dimensional coordinates of position B, the relative position relationship between the wireless rangefinder 18 and the transceiver can be more accurately reflected, thereby improving the positioning accuracy of the three-dimensional coordinates of position B.

[0048] As Figure 3As shown, in another feasible embodiment of the present invention, the three-dimensional coordinate positioning method for underground space includes the following steps:

[0049] A transceiver is set at the point A to be located.

[0050] The wireless rangefinder 18 is fixed on the frame around the periphery of the gyro rotor 10.

[0051] Let the rotor 10 rotate, and let the frame rotate around the rotor 10. At the same time, let the wireless rangefinder 18 fixed on the frame emit the first wireless signal outward.

[0052] A coordinate system o-xyz is established with the center of the rotor 10 as the origin, and the rotation axis 11 of the rotor 10 as the z-axis. Then, the x-axis and the y-axis are set up in the plane passing through the center of the rotor 10 and perpendicular to the rotation axis 11 of the rotor 10.

[0053] When the wireless rangefinder 18 rotates with the frame to position B, it can transmit the first wireless signal to the transceiver, and after receiving the first wireless signal, the transceiver can emit the second wireless signal to the wireless rangefinder 18, and at the same time, the second wireless signal can be received by the wireless rangefinder 18.

[0054] Determine the coordinates (x1, y1, z1) of the wireless rangefinder 18 at position B according to the coordinate system o-xyz.

[0055] Record the time when the wireless rangefinder 18 emits the first wireless signal at position B as t1, and record the time when the wireless rangefinder 18 receives the second wireless signal at position B as t2. Then, the distance L between A and B is calculated according to Formula 1:

[0056]

[0057] In Formula 1, v is the propagation speed of the wireless signal.

[0058] Obtain the angle α between the propagation direction of the first wireless signal emitted by the wireless rangefinder 18 at position B and the plane where the x-axis and the y-axis are located. Then, the coordinate value z2 of A on the z-axis is calculated according to Formula 2:

[0059] z2 = z1 + L×sinα (Formula 2)

[0060] Obtain the angles between the projection lines of the connection line between A and B on the plane where the x-axis and the y-axis are located and the x-axis and the y-axis as β and γ respectively. Then, the coordinate value x2 of A on the x-axis is calculated according to Formula 3 or Formula 4:

[0061] x2 = x1 + L×cosα×cosβ (Formula 3)

[0062] x2 = x1 + L×cosα×sinγ (Formula 4)

[0063] The coordinate value y2 of point A on the y-axis is calculated according to Formula 5 or Formula 6:

[0064] y2 = y1 + L × cosα × sinβ (Formula 5),

[0065] y2 = y1 + L × cosα × cosγ (Formula 6),

[0066] Thus, the coordinates (x2, y2, z2) of the point A to be located are measured.

[0067] The above positioning method requires the use of a positioning device, such as Figure 1 , 2 As shown, the wireless rangefinder 18 is fixedly arranged on the inner frame 13 or the outer frame 15 outside the gyroscope rotor 10. After the rotor 10 starts to rotate, the axis 11 of the rotor 10 is arranged vertically, the origin of the coordinate system o-xyz is located at the center of the rotor 10, the z-axis coincides with the axis of the axis 11, and the plane where the x-axis and the y-axis are located passes through the center of the rotor 10 and is perpendicular to the z-axis / axis 11. In other words, the plane where the x-axis and the y-axis are located is arranged horizontally.

[0068] After the wireless rangefinder 18 is fixedly arranged on the frame, as Figure 1 shown, the wireless rangefinder 18 is fixedly arranged on the outer frame 15. When the outer frame 15 is arranged horizontally, the propagation direction of the first wireless signal emitted by the wireless rangefinder 18 is outward along the horizontal direction. In this way, during the rotation of the outer frame 15 around the rotor 10, the angle α between the propagation direction of the first wireless signal when the wireless rangefinder 18 moves to position B and the plane where the x-axis and the y-axis are located can be measured, and the angles β and γ between the projection line of the connection line between A and B at this time on the plane where the x-axis and the y-axis are located and the x-axis and the y-axis can also be measured. The measurement of the above angles α, β, and γ by the gyroscope belongs to the prior art and will not be elaborated here.

[0069] After the wireless rangefinder 18 is fixedly arranged on the outer frame 15, it rotates around the rotor 10 at a certain angular velocity. When the wireless rangefinder 18 moves to position B, the wireless rangefinder 18 emits the first wireless signal. After a time of t2 - t1, the wireless rangefinder 18 moves to position B', and at this position, it receives the second wireless signal emitted by the transceiver. Since the angular velocity of the rotation of the outer frame 15 is much smaller than the propagation speed of the wireless signal, the change between position B and position B' can be ignored, that is, it can be considered that at position B, the wireless rangefinder 18 not only emits the first wireless signal but also receives the second wireless signal.

[0070] After receiving the first wireless signal, the transceiver immediately transmits the second wireless signal. Since the propagation speeds of the two wireless signals are the same, the two wireless signals have traveled a total distance between A and B within the time period from t2 to t1. Therefore, the distance between A and B can be calculated using Formula 1.

[0071] As Figure 2 shown, the coordinate value z2 of A on the z-axis is z2 = z1 + Δz. In the formula, Δz is the projection length of line segment AB in the vertical direction. Since the angle between line segment AB and the plane where the x-axis and y-axis are located (i.e., the horizontal plane) is α, then Δz = L × sinα. So, z2 = z1 + L × sinα (Formula 2).

[0072] The projection of line segment AB in the plane where the x-axis and y-axis are located (i.e., the horizontal plane) is line segment A0B0. Then the length of line segment A0B0 is equal to L × cosα. The coordinate value x2 of A on the x-axis is x2 = x1 + Δx. In the formula, Δx is the projection length of line segment A0B0 on the x-axis. Since the angle between line segment A0B0 and the x-axis is β, then Δx = the length of line segment A0B0 × cosβ = L × cosα × cosβ. It can be obtained that x2 = x1 + L × cosα × cosβ (Formula 3). Of course, x2 can also be calculated through the angle γ. Since the angle between line segment A0B0 and the y-axis is γ, then Δx = the length of line segment A0B0 × sinγ = L × cosα × sinγ. It can be obtained that x2 = x1 + L × cosα × sinγ (Formula 4).

[0073] Similarly, the coordinate value y2 of A on the y-axis is y2 = y1 + Δy. In the formula, Δy is the projection length of line segment A0B0 on the y-axis. Since the angle between line segment A0B0 and the x-axis is β, then Δy = the length of line segment A0B0 × sinβ = L × cosα × sinβ. It can be obtained that y2 = y1 + L × cosα × sinβ (Formula 5). Of course, y2 can also be calculated through the angle γ. Since the angle between line segment A0B0 and the y-axis is γ, then Δy = the length of line segment A0B0 × cosγ = L × cosα × cosγ. It can be obtained that y2 = y1 + L × cosα × cosγ (Formula 6).

[0074] In the three-dimensional coordinate positioning method for underground space in the present invention, the specific steps for determining the coordinates (x1, y1, z1) of the wireless rangefinder 18 at position B according to the coordinate system o-xyz are as follows:

[0075] Measure the distance L' between B and the center of the rotor 10.

[0076] Obtain the angle δ between the connection line Bo between B and the center of the rotor 10 (i.e., the origin of the coordinate system o-xyz) and the plane where the x-axis and y-axis are located (i.e., the horizontal plane). Then the coordinate value z1 of B on the z-axis is calculated according to Formula 7:

[0077] z1 = L' × sinδ (Equation Seven)

[0078] Obtain the angles between the projection line B0o of the connection line Bo between B and the center of the rotor 10 on the plane where the x-axis and y-axis are located and the x-axis and y-axis as ε and θ respectively. Then, the coordinate value x1 of B on the x-axis is calculated according to Equation Eight or Equation Nine:

[0079] x1 = L' × cosδ × cosε (Equation Eight)

[0080] x1 = L' × cosδ × sinθ (Equation Nine)

[0081] The coordinate value y1 of B on the y-axis is calculated according to Equation Ten or Equation Eleven:

[0082] y1 = L' × cosδ × sinε (Equation Ten)

[0083] y2 = L' × cosδ × cosθ (Equation Eleven)

[0084] Thus, the coordinates of B (x1, y1, z1) are obtained.

[0085] In this embodiment, the wireless rangefinder 18 is fixedly arranged on the outer frame 15. When the outer frame 15 rotates around the rotor 10 with the inner frame axis 14 as the axis, the points on the outer frame 15 all make circular motions around the inner frame axis 14. That is to say, the distance from each point on the outer frame 15 to a certain point on the inner frame axis 14 will not change as the outer frame 15 makes circular motions. Since the center of the rotor 10 is at the midpoint of the inner frame axis 14, the distance from each point on the outer frame 15 to the center of the rotor 10 will not change either. Therefore, the distance from the wireless rangefinder 18 fixedly arranged on the outer frame 15 to the center of the rotor 10 will not change. When the wireless rangefinder 18 is fixed on the outer frame 15, the distance L' between it and the center of the rotor 10 can be measured, and L' will not change as the outer frame 15 rotates around the rotor 10. Similarly, when the wireless rangefinder 18 is fixed on the inner frame 13, the distance between it and the center of the rotor 10 will not change as the inner frame 13 rotates around the rotor 10.

[0086] In the three-dimensional coordinate positioning method for underground spaces in the present invention, after measuring the coordinates (x2, y2, z2) of the point A to be positioned, the outer frame is moved from the initial position to the second position and the coordinates (x 21 , y 21 , z 21 ) of the point A to be positioned are measured again. Then, the outer frame is moved from the second position to the third position and the coordinates (x 22 , y 22 , z 22) …… until the outer frame is moved from the (n - 1)-th position to the n-th position and the coordinates (x 2(n-1) , y 2(n-1) , z 2(n-1) ) of the point A to be located are measured again. Then, the average values of the coordinates of the point A to be located are calculated according to Formula XII, Formula XIII, and Formula XIV respectively

[0087]

[0088] Thus, the average values of the coordinates of the point A to be located are obtained

[0089] Through multiple measurements, the coordinates of the point A to be located, that is, the coordinates of the transceiver, can be determined more precisely

[0090] The difference between the three-dimensional coordinate positioning device and method for underground space of the present invention and the prior art lies in that when the present invention is used, there are two usage scenarios: one is when the point to be located is within the visual range of the surveyor. For example, when the surveyor is in a mine roadway and needs to determine the coordinates of a certain point within the visual range, the surveyor only needs to place the transceiver at the point to be located, and then the coordinates of the position where the transceiver is located, that is, the point to be located, can be conveniently and accurately measured by using the gyroscope and the wireless rangefinder 18; the other is when the point to be located is outside the visual range of the surveyor. For example, when a mine collapses and there are trapped workers, the surveyor needs to measure the specific position of the trapped workers. This specific position is the point to be located, which is outside the visual range of the surveyor. Usually, the workers in the mine are equipped with transceivers. In this way, when a mine collapse occurs and there are trapped workers, the trapped workers can activate the transceivers they are equipped with, and the surveyor can conveniently and accurately measure the specific position coordinates of the transceivers used by the trapped workers by using the gyroscope and the wireless rangefinder 18, that is, the specific position of the trapped workers can be determined, which is convenient for carrying out rescue work. Thus, it can be seen that the present invention can conveniently and accurately determine the three-dimensional coordinates of a certain point in the underground space

[0091] In the above usage scenario one, that is, when the point to be located is within the visual range of the surveyor, the wireless rangefinder 18 can be a radar wave rangefinder or a laser rangefinder in the electromagnetic wave rangefinder, and of course, an optical rangefinder can also be selected. Here, taking the wireless rangefinder 18 as a laser rangefinder as an example for illustration, the laser rangefinder can emit a first laser signal to the transceiver, and the transceiver will emit a second laser signal to the laser rangefinder after receiving the first laser signal. In actual use, the second laser signal is usually the first laser signal reflected by the transceiver. The first laser signal is the above-mentioned first wireless signal, and the second laser signal is the above-mentioned second wireless signal, and their propagation speeds are the same, both being 3×10 8 m / s

[0092] In the above usage scenario two, that is, when the point to be located is outside the visual range of the surveyor, the wireless rangefinder 18 can select an ultrasonic rangefinder or a vibration wave rangefinder among the mechanical wave rangefinders. Here, taking the wireless rangefinder 18 selecting an ultrasonic rangefinder as an example for illustration, the ultrasonic rangefinder can transmit a first ultrasonic signal to the transceiver, and after receiving the first ultrasonic signal, the transceiver will transmit a second ultrasonic signal to the ultrasonic rangefinder. The first ultrasonic signal is the above-mentioned first wireless signal, and the second ultrasonic signal is the above-mentioned second wireless signal, and their propagation speeds are the same. The propagation speed of ultrasonic waves is a constant, and its propagation speed in air (at 15 degrees Celsius) is 340 m / s. In actual use, the actual propagation speed of ultrasonic waves in scenario two can be measured first, and then the coordinates of the point to be located can be measured using the present invention.

[0093] It should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "front", "rear", "left", "right", "middle", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 should not be construed as a limitation to the present invention.

[0094] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "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 directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0095] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A three-dimensional coordinate positioning device for underground space, characterized in that: It includes a gyroscope, a wireless rangefinder and a transceiver. The gyroscope includes a rotor and a frame mounted on the periphery of the rotor. The frame can rotate around the rotor. The wireless rangefinder is fixedly mounted on the frame. The wireless rangefinder can transmit a first wireless signal to the transceiver, and the transceiver can transmit a second wireless signal to the wireless rangefinder after receiving the first wireless signal.

2. The three-dimensional coordinate positioning device for underground space according to claim 1, characterized in that: It further includes a reflector. The axis of the reflector coincides with the connection line between the wireless rangefinder and the center of the rotor. Multiple antennas are array-mounted on the reflector.

3. The three-dimensional coordinate positioning device for underground space according to claim 2, characterized in that: The reflector is arc-shaped. The center of the arc of the reflector coincides with the center of the rotor. Multiple antennas are arranged in a linear array on the reflector.

4. The three-dimensional coordinate positioning device for underground space according to claim 3, characterized in that: The frame includes an inner frame and an outer frame. The rotor is rotatably mounted inside the inner frame through a rotating shaft. The rotating shaft is coaxial with the rotor. The inner frame is rotatably mounted inside the outer frame through an inner frame shaft. The inner frame shaft is perpendicular to the rotating shaft. The outer frame is rotatably mounted inside a housing through an outer frame shaft. The outer frame shaft is perpendicular to the inner frame shaft. Angle sensors are provided at the connection between the rotating shaft and the inner frame, the connection between the inner frame and the outer frame, and the connection between the outer frame and the housing.

5. The three-dimensional coordinate positioning device for underground space according to claim 4, characterized in that: Both the inner frame and the outer frame are circular. One end of the wireless rangefinder is fixed on the outer frame, and the other end of the wireless rangefinder passes through the housing. The back of the reflector is fixed to the end of the wireless rangefinder passing through the housing. Multiple antennas are arranged on the front of the reflector, and the arrangement direction of multiple antennas is coaxial with the outer frame.

6. The three-dimensional coordinate positioning device for underground space according to claim 1, wherein: The wireless rangefinder is a mechanical wave rangefinder, an electromagnetic wave rangefinder or an optical rangefinder.

7. The three-dimensional coordinate positioning device for underground space according to claim 2, wherein: The mechanical wave rangefinder is an ultrasonic rangefinder or a vibration wave rangefinder.

8. The three-dimensional coordinate positioning device for underground space according to claim 2, characterized in that: The electromagnetic wave rangefinder is a radar wave rangefinder or a laser rangefinder.

9. A three-dimensional coordinate positioning method for underground space according to any one of claims 1-5, characterized in that: The method includes the following steps: Set a transceiver at the point A to be located; Taking the center of the rotor as the origin, the rotating shaft as the Z axis, establish the X axis and the Y axis in the plane passing through the center of the rotor and perpendicular to the rotating shaft to construct a three-dimensional coordinate system; Start the rotor, and record the initial three-dimensional coordinates of the wireless rangefinder after the direction of the rotating shaft remains unchanged in the inertial space; Rotate the housing so that the wireless rangefinder can not only transmit the first wireless signal to the transceiver, but also enable the transceiver to transmit the second wireless signal to the wireless rangefinder after receiving the first wireless signal, and at the same time the second wireless signal can be received by the wireless rangefinder at position B; Record the first angle output by the angle sensor on the inner frame and the second angle output by the angle sensor on the outer frame after the wireless rangefinder rotates from the initial position to position B; According to the initial three-dimensional coordinates, the first angle and the second angle, obtain the three-dimensional coordinates of the wireless rangefinder at position B; According to the time used to transmit the first signal, the time used to receive the second signal and the signal propagation speed, obtain the transmission distance between the point A to be located and position B; According to the three-dimensional coordinates of position B and the transmission distance, obtain the three-dimensional coordinates of the point A to be determined.

10. The three-dimensional coordinate positioning method for underground space according to claim 9, wherein: After obtaining the three-dimensional coordinates of the wireless rangefinder at position B, screen the antenna on the reflector with the strongest received signal, and take the three-dimensional coordinates where the antenna with the strongest received signal is located as the three-dimensional coordinates of position B.

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