Pose correction method and system for underground terminal equipment

Abstract

The invention provides a pose correction method and device for underground terminal equipment, and relates to the technical field of intelligent mines. The method comprises the following steps: acquiring first positioning information of underground terminal equipment and first geographic magnetic declination data corresponding to the first positioning information; acquiring magnetic interference data around the first positioning information; determining correction information of the underground terminal equipment according to the magnetic interference data and the first geographic magnetic declination data; and correction information is sent to the underground terminal equipment, and the correction information is used for correcting the pose of the underground terminal equipment. After the first geographic magnetic declination data is determined, the magnetic interference data of the underground complex environment is monitored, and then the correction information used for correcting the underground terminal equipment is obtained according to the magnetic interference data and the first geographic magnetic declination data and is fed back to the underground terminal equipment, so that the underground terminal equipment can perform pose calibration, and the accuracy of pose calibration is improved. The positioning information with high precision is obtained, and the attitude measurement error of underground terminal equipment can be eliminated.

Description

Technical Field

[0001] The present application relates to the field of intelligent mining technology, and in particular to a posture correction method and system for underground terminal equipment. Background Art

[0002] Coal resources are of vital importance to national energy security and economic development. In recent years, with the advancement of intelligent mine construction, technologies such as artificial intelligence, the Internet of Things, and 5G communications have been widely applied in the coal industry. Portable devices that miners can carry are becoming an essential component of intelligent mining systems.

[0003] When the terminal device is in an above-ground environment, the terminal device's position and posture can be detected using accelerometers and magnetic field sensors. However, when the terminal device is in an underground environment, the complexity and variability of the underground environment often affect the terminal device's position and posture detection, resulting in errors in the terminal device's position and posture detection. Summary of the Invention

[0004] The purpose of this application is to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, the first purpose of this application is to propose a posture correction method for downhole terminal equipment, which can correct the posture of downhole terminal equipment and improve the posture detection accuracy of downhole terminal equipment.

[0006] The second purpose of this application is to propose a posture correction method for underground terminal equipment.

[0007] The third purpose of this application is to propose a posture correction system for downhole terminal equipment.

[0008] The third objective of this application is to provide an electronic device.

[0009] The fourth object of this application is to provide a computer-readable storage medium.

[0010] A fifth object of this application is to provide a computer program product.

[0011] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a posture correction method for an underground terminal device, which is executed by a server. The method includes:

[0012] Acquire first positioning information of an underground terminal device and first geographic magnetic declination data corresponding to the first positioning information;

[0013] Acquiring magnetic interference data around the first positioning information;

[0014] determining correction information of the downhole terminal device according to the magnetic interference data and the first geographic magnetic declination data;

[0015] The correction information is sent to the downhole terminal equipment, wherein the correction information is used to correct the posture of the downhole terminal equipment.

[0016] To achieve the above-mentioned purpose, a second embodiment of the present application proposes a posture correction method for a downhole terminal device, which is executed by the downhole terminal device. The method includes:

[0017] Sending first positioning information to the server, where the first positioning information is used to determine corresponding first geographic magnetic declination data;

[0018] receiving correction information sent by the server, wherein the correction information is determined based on magnetic interference data surrounding the first positioning information and the first geographic magnetic declination data;

[0019] The posture of the downhole terminal equipment is corrected based on the correction information.

[0020] To achieve the above-mentioned purpose, the third embodiment of the present application proposes a posture correction system for downhole terminal equipment, including a service end and downhole terminal equipment;

[0021] The downhole terminal device is used to send first positioning information to the service end;

[0022] The server is configured to receive the first positioning information and obtain first geographic magnetic declination data corresponding to the first positioning information;

[0023] The server is configured to obtain magnetic interference data around the first positioning information, and determine correction information for the downhole terminal device based on the magnetic interference data and the first geographic magnetic declination data;

[0024] The service end sends the correction information to the downhole terminal device;

[0025] The downhole terminal device is used to receive the correction information and correct the posture of the downhole terminal device based on the correction information.

[0026] To achieve the above objectives, the fourth embodiment of the present application provides a server, which includes:

[0027] A first acquisition module is configured to acquire first positioning information of an underground terminal device and first geographic magnetic declination data corresponding to the first positioning information;

[0028] A second acquisition module is used to acquire magnetic interference data around the first positioning information;

[0029] a determination module, configured to determine correction information of the downhole terminal device based on the magnetic interference data and the first geographic magnetic declination data;

[0030] A sending module is used to send the correction information to the downhole terminal equipment, and the correction information is used to correct the posture of the downhole terminal equipment.

[0031] To achieve the above-mentioned purpose, a fifth embodiment of the present application provides a downhole terminal device, the downhole terminal device comprising:

[0032] A sending module, configured to send first positioning information to a server, wherein the first positioning information is used to determine corresponding first geographic magnetic declination data;

[0033] a receiving module, configured to receive correction information sent by the server, wherein the correction information is determined based on magnetic interference data surrounding the first positioning information and the first geographic magnetic declination data;

[0034] A correction module is used to correct the posture of the downhole terminal equipment based on the correction information.

[0035] To achieve the above-mentioned purpose, the sixth embodiment of the present application proposes an electronic device, comprising: a processor; and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the processor can execute the posture correction method of the downhole terminal equipment described in any of the above-mentioned embodiments.

[0036] To achieve the above-mentioned purpose, the seventh embodiment of the present application proposes a computer-readable storage medium on which a computer program is stored, and the computer instructions are used to enable the computer to execute the posture correction method of the downhole terminal equipment described in any of the above-mentioned embodiments.

[0037] To achieve the above-mentioned purpose, the eighth embodiment of the present application proposes a computer program product, including a computer program, which, when executed by a processor, implements the posture correction method of the downhole terminal equipment described in any of the above-mentioned embodiments.

[0038] The present application provides a method and system for correcting the posture of a downhole terminal device, which obtains first positioning information of the downhole terminal device and first geographic magnetic declination data corresponding to the first positioning information; obtains magnetic interference data around the first positioning information; determines correction information of the downhole terminal device based on the magnetic interference data and the first geographic magnetic declination data; and sends correction information to the downhole terminal device, wherein the correction information is used to correct the posture of the downhole terminal device. In the present application, the service end can determine the corresponding first geographic magnetic declination data based on the position of the downhole terminal device. Furthermore, considering the influence of the complex downhole environment, the magnetic interference data can be monitored, and then the correction information for correcting the downhole terminal device can be obtained based on the magnetic interference data and the first geographic magnetic declination data, and the correction information is fed back to the downhole terminal device, so that the downhole terminal device can perform posture calibration, obtain positioning information with higher accuracy, and eliminate posture measurement errors of the downhole terminal device.

[0039] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0041] Figure 1 A flow chart of a method for correcting the posture of an underground terminal device provided in an embodiment of the present application;

[0042] Figure 2 A flow chart of another method for correcting the posture of an underground terminal device provided in an embodiment of the present application;

[0043] Figure 3 A flow chart of another method for correcting the posture of an underground terminal device provided in an embodiment of the present application;

[0044] Figure 4 A schematic diagram of the structure of a server provided in an embodiment of the present application;

[0045] Figure 5 A schematic structural diagram of an underground terminal device provided in an embodiment of the present application;

[0046] Figure 6 A structural schematic diagram of a posture correction system for an underground terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0048] The posture correction method and system of the underground terminal equipment are explained below with reference to the accompanying drawings.

[0049] Figure 1 The present invention provides a flowchart of a method for correcting the posture of a downhole terminal device. The execution subject of the method for correcting the posture of a downhole terminal device may be a server.

[0050] like Figure 1 As shown, the posture correction method of the downhole terminal equipment may include but is not limited to the following steps:

[0051] S101, obtaining first positioning information of an underground terminal device and first geographic magnetic declination data corresponding to the first positioning information.

[0052] In some implementations, underground terminal devices offer real-time data collection, positioning, environmental monitoring, and personnel status awareness. They can interact efficiently with surface control centers, providing critical support for production safety and intelligent decision-making. Especially in complex underground environments, portable underground terminal devices effectively enhance miners' safety and work efficiency through precise early warning and communication capabilities.

[0053] In some embodiments, underground terminal equipment may include but is not limited to: mining intrinsically safe mobile phones, mining smart watches, portable locators, safety monitoring equipment and emergency protection equipment, etc.

[0054] In some embodiments, the downhole terminal device has a positioning function and can report its own first positioning information to the server through the installed client in real time or periodically. Accordingly, the server can receive the first positioning information reported by the client.

[0055] In some embodiments, the downhole terminal device includes a built-in positioning sensor. Optionally, the positioning sensor may include an accelerometer, an angular velocity meter, and a magnetometer. It is understood that the first positioning information is positioning information obtained by the downhole terminal device in its own coordinate system based on the positioning sensor. In this application, the downhole terminal device's own coordinate system may be referred to as the first coordinate system.

[0056] In some embodiments, the server collects geographic magnetic declination data of different downhole positioning information in advance, and constructs a mapping relationship table based on the association between different downhole positioning information and corresponding geographic magnetic declination data, and pre-stores the mapping relationship table in the memory of the server.

[0057] In some embodiments, after receiving the first positioning information sent by the downhole terminal device, the server can query the mapping relationship table in the memory according to the first positioning information to obtain the first geographic magnetic declination data corresponding to the first positioning information.

[0058] In some embodiments, in response to the existence of the first positioning information in the mapping relationship table, geographic magnetic declination data mapped to the first positioning information can be obtained from the mapping relationship table as the first geographic magnetic declination data corresponding to the first positioning information.

[0059] In some embodiments, in response to the first positioning information not existing in the mapping relationship table, two positioning information adjacent to the first positioning information are obtained from the mapping relationship table. Further, based on the first positioning information and the two adjacent positioning information, the geographic magnetic declination data corresponding to the two adjacent positioning information are interpolated to obtain the first geographic magnetic declination data corresponding to the first positioning information.

[0060] S102: Acquire magnetic interference data around the first positioning information.

[0061] A variety of magnetic minerals exist in underground environments, which can continuously interfere with magnetic field sensor readings, exacerbating posture detection errors. Furthermore, during the mining process, large underground mining equipment can also interfere with the magnetic field. As can be seen above, the magnetic interference data surrounding the first positioning information may include, but is not limited to: first magnetic interference data generated by the operation of underground mining equipment surrounding the first positioning information, second magnetic interference data generated by the minerals surrounding the first positioning information, and so on.

[0062] In some embodiments, the server can monitor the operating status of underground mining equipment to obtain operating data of the underground mining equipment. Optionally, the underground mining equipment can include but is not limited to: electromechanical equipment, coal mining machines, roadheaders, etc.

[0063] In some embodiments, the server can determine the underground mining equipment around the first positioning information based on the first positioning information. Optionally, the server can determine the second positioning information of the underground mining equipment based on the operating data of the underground mining equipment. Further, the first positioning information and the second positioning information are matched to determine the underground mining equipment around the first positioning information.

[0064] In some embodiments, the first magnetic interference data generated during the operation of the underground mining equipment may be determined based on the operation data of the underground mining equipment around the first positioning information.

[0065] In some embodiments, the server may pre-collect geological information of the area where the coal mine is located, determine mineral distribution information around the first positioning information based on the address information, and further determine second magnetic interference data around the first positioning information based on the mineral distribution information.

[0066] In some embodiments, the first magnetic interference data and the second magnetic interference data are fused to obtain the magnetic interference data surrounding the first positioning information. Alternatively, the first magnetic interference data and the second magnetic interference data may be weighted to obtain the magnetic interference data surrounding the first positioning information.

[0067] In some embodiments, although the minerals in the coal mining area can generate magnetic interference data, the second magnetic interference data generated is relatively small and the interference generated can be ignored. In this case, the server can correct the first geographic magnetic declination data based on the first magnetic interference data to determine the second geographic magnetic declination data.

[0068] S103, determining correction information of the downhole terminal equipment according to the magnetic interference data and the first geographic magnetic declination data.

[0069] S104, sending correction information to the downhole terminal equipment.

[0070] In some embodiments, after the magnetic interference data is acquired, since the magnetic interference data will affect the geographic magnetic declination data, the first geographic magnetic declination data is corrected according to the magnetic interference data to obtain the second geographic magnetic declination data after interference.

[0071] In some embodiments, geographic declination data represents the angle between magnetic north and geographic true north, typically expressed in degrees. If the geographic declination data is east (+), the magnetic north direction of the downhole terminal device needs to be rotated clockwise by the corresponding angle; if the geographic declination data is west (-), the magnetic north direction of the downhole terminal device needs to be rotated counterclockwise.

[0072] In some embodiments, the server can directly use the second geographic magnetic declination data as correction information for the downhole terminal device. Furthermore, the server can send the second geographic magnetic declination data to the downhole terminal device. Furthermore, after receiving the second geographic magnetic declination data, the downhole terminal device can determine the angle between the magnetic north direction and the geographic true north direction as the angle that needs to be corrected for the downhole terminal device's first coordinate system. The downhole terminal device can then be adjusted based on the angle, specifically by rotating the downhole terminal device according to the angle between the magnetic north direction and the geographic true north direction to adjust its posture.

[0073] In some embodiments, the server can determine the angle between magnetic north and true geographic north based on the second geographic declination data, and further transmit the angle between magnetic north and true geographic north as correction information to the downhole terminal device. After receiving the second geographic declination data, the downhole terminal device can adjust its position based on the angle between magnetic north and true geographic north, i.e., adjust its posture based on the angle between magnetic north and true geographic north.

[0074] In some embodiments, the server can construct a rotation matrix based on the second geographic declination data and send the rotation matrix as correction information to the downhole terminal device. Furthermore, after receiving the rotation matrix, the downhole terminal device applies the rotation matrix to the downhole terminal device's first coordinate system to obtain the downhole terminal device's position information in the geographic coordinate system.

[0075] Alternatively, the server may send the correction information to the downhole terminal device via existing signaling. For example, the correction information may occupy a blank information field of the existing signaling. Alternatively, the server may send the correction information to the downhole terminal device in a newly added signaling.

[0076] In some embodiments, the target position information of the downhole terminal device may include positioning information and posture information of the downhole terminal device in a geographic coordinate system.

[0077] In some embodiments, the downhole terminal device's attitude information may include the downhole terminal device's roll angle, pitch angle, and yaw angle. It should be understood that the roll angle, pitch angle, and yaw angle represent the angles between the downhole terminal device and the X, Y, and Z axes of the geographic coordinate system, respectively. In other words, the roll angle, pitch angle, and yaw angle describe the rotation angles of the downhole terminal device around its own X, Y, and Z axes, respectively. These three angles can be used to determine the device's attitude in the geographic coordinate system.

[0078] It is understandable that the server can also correct the first positioning information reported by the downhole terminal device based on the correction information, and thus obtain accurate posture information of the downhole terminal device.

[0079] In an embodiment of the present application, the service end can determine the corresponding first geographic magnetic declination data based on the position of the downhole terminal equipment. Furthermore, considering the influence of the complex downhole environment, the magnetic interference data can be monitored, and then accurate second geographic magnetic declination data can be obtained based on the magnetic interference data and the first geographic magnetic declination data. Accurate correction information for correcting the downhole terminal equipment can be obtained and fed back to the downhole terminal equipment, so that the downhole terminal equipment can perform posture calibration, obtain positioning information with higher accuracy, and eliminate the posture measurement error of the downhole terminal equipment.

[0080] Figure 2 A flowchart of another method for correcting the posture of a downhole terminal device provided in an embodiment of the present application is provided. The method for correcting the posture of a downhole terminal device may be performed by the downhole terminal device.

[0081] like Figure 2 As shown, the posture correction method of the downhole terminal equipment may include but is not limited to the following steps:

[0082] S201: Send first positioning information to a server, where the first positioning information is used to determine corresponding first geographic magnetic declination data.

[0083] In some embodiments, the downhole terminal device has a positioning function and can report its own first positioning information to the server through the installed client in real time or periodically. Accordingly, the server can receive the first positioning information reported by the client.

[0084] In some embodiments, the downhole terminal device includes a built-in positioning sensor. Optionally, the positioning sensor may include an accelerometer, an angular velocity meter, and a magnetometer. It is understood that the first positioning information is positioning information obtained by the downhole terminal device in its own coordinate system based on the positioning sensor. In this application, the downhole terminal device's own coordinate system may be referred to as the first coordinate system.

[0085] Regarding the process of the server obtaining the corresponding first geographic magnetic declination data based on the first positioning information, please refer to the relevant content in the above embodiment, which will not be repeated here.

[0086] S202: Receive correction information sent by the server, where the correction information is determined based on magnetic interference data around the first positioning information and the first geographic magnetic declination data.

[0087] S203, correcting the posture of the downhole terminal device based on the correction information.

[0088] In some embodiments, the magnetic interference data around the first positioning information may include but is not limited to: first magnetic interference data generated by underground mining equipment around the first positioning information during operation, second magnetic interference data generated by minerals around the first positioning information, etc.

[0089] In some embodiments, the server can monitor the operating status of the underground mining equipment to obtain the operating data of the underground mining equipment. Optionally, the underground mining equipment can include but is not limited to: electromechanical equipment, mining equipment, etc.

[0090] In some embodiments, the server can determine the underground mining equipment around the first positioning information based on the first positioning information. Optionally, the server can determine the second positioning information of the underground mining equipment based on the operating data of the underground mining equipment. Further, the first positioning information and the second positioning information are matched to determine the underground mining equipment around the first positioning information.

[0091] In some embodiments, the first magnetic interference data generated during the operation of the underground mining equipment may be determined based on the operation data of the underground mining equipment around the first positioning information.

[0092] In some embodiments, the server may pre-collect geological information of the area where the coal mine is located, determine mineral distribution information around the first positioning information based on the address information, and further determine second magnetic interference data around the first positioning information based on the mineral distribution information.

[0093] In some embodiments, the first magnetic interference data and the second magnetic interference data are fused to obtain the magnetic interference data surrounding the first positioning information. Alternatively, the first magnetic interference data and the second magnetic interference data may be weighted to obtain the magnetic interference data surrounding the first positioning information.

[0094] In some embodiments, although the minerals in the coal mining area can generate magnetic interference data, the second magnetic interference data generated is relatively small and the interference generated can be ignored. In this case, the server can correct the first geographic magnetic declination data based on the first magnetic interference data to determine the second geographic magnetic declination data.

[0095] In some embodiments, after the magnetic interference data is acquired, since the magnetic interference data will affect the geographic magnetic declination data, the first geographic magnetic declination data is corrected according to the magnetic interference data to obtain the second geographic magnetic declination data after interference.

[0096] In some embodiments, geographic declination data represents the angle between magnetic north and geographic true north, typically expressed in degrees. If the geographic declination data is east (+), the magnetic north direction of the downhole terminal device needs to be rotated clockwise by the corresponding angle; if the geographic declination data is west (-), the magnetic north direction of the downhole terminal device needs to be rotated counterclockwise.

[0097] In some embodiments, the server can directly use the second geographic magnetic declination data as correction information for the downhole terminal device. Furthermore, the server can send the second geographic magnetic declination data to the downhole terminal device. Furthermore, after receiving the second geographic magnetic declination data, the downhole terminal device can determine the angle between the magnetic north direction and the geographic true north direction as the angle that needs to be corrected for the downhole terminal device's first coordinate system. The downhole terminal device can then be adjusted based on the angle, specifically by rotating the downhole terminal device according to the angle between the magnetic north direction and the geographic true north direction to adjust its posture.

[0098] In some embodiments, the server can determine the angle between magnetic north and true geographic north based on the second geographic declination data, and further transmit the angle between magnetic north and true geographic north as correction information to the downhole terminal device. After receiving the second geographic declination data, the downhole terminal device can adjust its position based on the angle between magnetic north and true geographic north, i.e., adjust its posture based on the angle between magnetic north and true geographic north.

[0099] In some embodiments, the server can construct a rotation matrix based on the second geographic declination data and send the rotation matrix as correction information to the downhole terminal device. Furthermore, after receiving the rotation matrix, the downhole terminal device applies the rotation matrix to the downhole terminal device's first coordinate system to obtain the downhole terminal device's position information in the geographic coordinate system.

[0100] Alternatively, the server may send the correction information to the downhole terminal device via existing signaling. For example, the correction information may occupy a blank information field of the existing signaling. Alternatively, the server may send the correction information to the downhole terminal device in a newly added signaling.

[0101] In some embodiments, the target position information of the downhole terminal device may include positioning information and posture information of the downhole terminal device in a geographic coordinate system.

[0102] In some embodiments, the posture information of the downhole terminal device may include roll, pitch and yaw angles of the downhole terminal device, etc. It is understood that the roll, pitch and yaw angles respectively represent the angles between the downhole terminal device and the XYZ axes in the geographic coordinate system.

[0103] In an embodiment of the present application, after the downhole terminal device receives the correction information from the server, the downhole terminal device performs posture calculation or correction on the first positioning monitored by its own magnetometer, accelerometer, angular velocity meter and other sensors based on the correction information, so that the downhole terminal device can obtain real-time and accurate posture information, effectively improving the positioning accuracy and reliability of posture estimation in complex environments.

[0104] Figure 3 This is a flow chart of another method for correcting the posture of an underground terminal device provided in an embodiment of the present application. Figure 3 As shown, the posture correction method of the downhole terminal equipment may include but is not limited to the following steps:

[0105] S301, the underground terminal equipment sends an online notification message to the server.

[0106] In some embodiments, after the downhole terminal device goes online, the downhole terminal device can send online notification information to the server through the client. Optionally, the server can receive the online notification information sent by the downhole terminal device.

[0107] S302: The server sends a first request to the geographic information database.

[0108] S303: The server receives a mapping relationship table sent by the geographic information database, wherein the mapping relationship table includes mapping relationships between different downhole positioning information and geographic magnetic declination data.

[0109] In some embodiments, the geographic information database can update and maintain the film and television relationship table.

[0110] S304, the server sends a second request to the downhole terminal device.

[0111] In some embodiments, the first request is used to request positioning information of the downhole terminal device.

[0112] S305: The underground terminal device reports the first positioning information to the server.

[0113] S306: The server determines corresponding first geographic magnetic declination data according to the first positioning information.

[0114] S307: The server sends a third request to the underground mining equipment around the first positioning information.

[0115] In some embodiments, the second request is for requesting operating data of underground mining equipment surrounding the first positioning information.

[0116] S308, the server receives the operating data of the underground mining equipment.

[0117] S309: The server determines magnetic interference data based on the operating data.

[0118] S310: The server corrects the first geographic magnetic declination data according to the magnetic interference data to obtain second geographic magnetic declination data.

[0119] S311, the service end sends correction information determined according to the second geographic magnetic declination data to the downhole terminal device.

[0120] S312, the downhole terminal equipment performs posture correction according to the second geographic magnetic declination data to determine the target posture information of the downhole terminal equipment.

[0121] It can be understood that, during the process of the downhole terminal equipment going online, steps S303 to S310 are a cyclic process, which continuously updates the posture information of the downhole terminal equipment to maintain the posture accuracy of the downhole terminal equipment.

[0122] In the embodiment of the present application, the server side can dynamically update the magnetic interference data taking into account the influence of the underground environment, and then correct the first geographic magnetic declination data based on the magnetic interference data to obtain high-precision second geographic magnetic declination data. Furthermore, by utilizing the linkage between the server side and the underground terminal equipment, it is possible to respond to changes in the equipment's operating status and geographical location in a timely manner, and push the latest correction information in real time, which is more real-time. Moreover, the embodiment of the present application can be applied to complex geological environments such as coal mines, and at the same time provides a general solution for other scenarios with magnetic field interference, and has a wide range of applicability. The server side can centrally process complex computing tasks, and the client on the underground terminal equipment only needs to perform lightweight calculations, which reduces the computing pressure of the terminal equipment and improves the overall reliability of the system.

[0123] Figure 4 This is a structural diagram of a server provided in an embodiment of the present application. The server is used to execute the posture correction method of the downhole terminal device provided in the above embodiment. Figure 4 As shown, the server 400 includes: a first acquisition module 401 , a second acquisition module 402 , a determination module 403 and a sending module 404 .

[0124] A first acquisition module 401 is configured to acquire first positioning information of an underground terminal device and first geographic magnetic declination data corresponding to the first positioning information;

[0125] A second acquisition module 402 is configured to acquire magnetic interference data around the first positioning information;

[0126] A determination module 403 is configured to determine correction information of the downhole terminal device based on the magnetic interference data and the first geographic magnetic declination data;

[0127] The sending module 404 is used to send the correction information to the downhole terminal device, and the correction information is used to correct the posture of the downhole terminal device.

[0128] In some embodiments, the second acquisition module 402 is further configured to:

[0129] determining underground mining equipment located around the first positioning information;

[0130] Magnetic interference data of the underground mining equipment is determined according to the operation data of the underground mining equipment as first magnetic interference data around the first positioning information.

[0131] In some embodiments, the second acquisition module 402 is further configured to:

[0132] Monitoring the status of the underground mining equipment and obtaining operating data of the underground mining equipment;

[0133] determining second positioning information of the underground mining equipment based on the operating data of the underground mining equipment;

[0134] The first positioning information and the second positioning information are matched to determine underground mining equipment located around the first positioning information.

[0135] In some embodiments, the second acquisition module 402 is further configured to:

[0136] Determining mineral distribution information around the first positioning information based on geological information of the area where the coal mine is located;

[0137] Second magnetic interference data around the first positioning information is determined based on the mineral distribution information.

[0138] In some embodiments, the determination module 403 is further configured to:

[0139] Correcting the first geographic magnetic declination data according to at least one of the first magnetic interference data and the second magnetic interference data to determine the second geographic magnetic declination data;

[0140] Correction information of the downhole terminal equipment is determined based on the second geographic magnetic declination data.

[0141] In some embodiments, the first acquisition module 401 is further configured to:

[0142] Obtain the mapping relationship table between geographic magnetic declination data and positioning information from the memory;

[0143] According to the first positioning information, the mapping relationship table is queried to obtain first geographic magnetic declination data corresponding to the first positioning information.

[0144] In some embodiments, the first acquisition module 401 is further configured to:

[0145] In response to the first positioning information not existing in the mapping relationship table, acquiring two positioning information adjacent to the first positioning information from the mapping relationship table;

[0146] According to the first positioning information and the two adjacent positioning information, an interpolation operation is performed on the geographic magnetic declination data corresponding to the two adjacent positioning information to obtain the first geographic magnetic declination data.

[0147] In some embodiments, the first acquisition module 401 is further configured to:

[0148] Before obtaining the first positioning information of the downhole terminal equipment and the first geographic magnetic declination data corresponding to the first positioning information, in response to receiving the online notification information sent by the downhole terminal equipment, a first request is sent to the geographic information database; the mapping relationship table sent by the geographic information database is received, and the mapping relationship table is stored in the memory of the server.

[0149] In an embodiment of the present application, the service end can determine the corresponding first geographic magnetic declination data based on the position of the downhole terminal equipment. Furthermore, considering the influence of the complex downhole environment, the magnetic interference data can be monitored, and then accurate second geographic magnetic declination data can be obtained based on the magnetic interference data and the first geographic magnetic declination data. Accurate correction information for correcting the downhole terminal equipment can be obtained and fed back to the downhole terminal equipment, so that the downhole terminal equipment can perform posture calibration, obtain positioning information with higher accuracy, and eliminate the posture measurement error of the downhole terminal equipment.

[0150] Figure 5 This is a schematic diagram of the structure of another downhole terminal device provided in an embodiment of the present application. Figure 5 As shown, the downhole terminal device 500 includes: a sending module 501, a receiving module 502 and a correction module 503,

[0151] A sending module 501 is configured to send first positioning information to a server, where the first positioning information is used to determine corresponding first geographic magnetic declination data;

[0152] a receiving module 502, configured to receive correction information sent by the server, wherein the correction information is determined based on magnetic interference data surrounding the first positioning information and the first geographic magnetic declination data;

[0153] The correction module 503 is used to correct the posture of the downhole terminal device based on the correction information.

[0154] In an embodiment of the present application, after the downhole terminal device receives the correction information from the server, the downhole terminal device performs posture calculation or correction on the first positioning monitored by its own magnetometer, accelerometer, angular velocity meter and other sensors based on the correction information, so that the downhole terminal device can obtain real-time and accurate posture information, effectively improving the positioning accuracy and reliability of posture estimation in complex environments.

[0155] Figure 6 This is a structural diagram of a posture correction system for an underground terminal device provided in an embodiment of the present application. Figure 6 As shown, the posture correction system 600 of the downhole terminal equipment includes Figure 4 The server 400 and Figure 5 The downhole terminal equipment 500 is shown.

[0156] The downhole terminal device 500 is used to send the first positioning information to the service end;

[0157] The server 400 is configured to receive the first positioning information and obtain first geographic magnetic declination data corresponding to the first positioning information;

[0158] The server 400 is configured to obtain magnetic interference data around the first positioning information, and determine correction information for the downhole terminal device based on the magnetic interference data and the first geographic magnetic declination data;

[0159] The server 400 sends the correction information to the downhole terminal device;

[0160] The downhole terminal device 500 is used to receive the correction information and correct the posture of the downhole terminal device based on the correction information.

[0161] In the embodiment of the present application, the server side can dynamically update the magnetic interference data taking into account the influence of the underground environment, and then correct the first geographic magnetic declination data based on the magnetic interference data to obtain high-precision second geographic magnetic declination data. Furthermore, by utilizing the linkage between the server side and the underground terminal equipment, it is possible to respond to changes in the equipment's operating status and geographical location in a timely manner, and push the latest correction information in real time, which is more real-time. Moreover, the embodiment of the present application can be applied to complex geological environments such as coal mines, and at the same time provides a general solution for other scenarios with magnetic field interference, and has a wide range of applicability. The server side can centrally process complex computing tasks, and the client on the underground terminal equipment only needs to perform lightweight calculations, which reduces the computing pressure of the terminal equipment and improves the overall reliability of the system.

[0162] Since the device provided in the embodiment of the present application corresponds to the methods provided in the above-mentioned embodiments, the implementation of the method is also applicable to the device provided in this embodiment and will not be described in detail in this embodiment.

[0163] In the embodiments provided above, the methods and devices provided in the embodiments of the present application are introduced. In order to implement the various functions of the methods provided in the embodiments of the present application, the electronic device may include a hardware structure and a software module, and implement the aforementioned functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. One of the aforementioned functions may be executed in the form of a hardware structure, a software module, or a hardware structure plus a software module.

[0164] In order to implement the above embodiments, the present application also proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method provided by the above embodiments.

[0165] In order to implement the above embodiments, the present application also proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.

[0166] In order to implement the above embodiments, the present application also proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.

[0167] The collection, storage, use, processing, transmission, provision and application of user personal information involved in this application are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0168] It is important to note that personal information collected from users should be used for legitimate and reasonable purposes and should not be shared or sold beyond these legitimate uses. Furthermore, such collection / sharing should be conducted only after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization that includes the relevant user information before using the feature. Furthermore, any necessary steps must be taken to safeguard and secure access to such personal information and ensure that others with access to personal information comply with its privacy policy and procedures.

[0169] This application contemplates providing implementation options for users to selectively block the use or access of personal information data. Specifically, this application contemplates providing hardware and / or software to prevent or block access to such personal information data. Risks can be minimized by limiting data collection and deleting data once it is no longer needed. Furthermore, where applicable, such personal information can be de-identified to protect user privacy.

[0170] In the descriptions of the foregoing embodiments, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent.

[0171] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0172] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0173] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0174] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0175] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0176] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0177] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A posture correction method for underground terminal equipment, characterized in that: Executed by the server, the method includes: Acquire first positioning information of an underground terminal device and first geographic magnetic declination data corresponding to the first positioning information; Acquiring magnetic interference data around the first positioning information; determining correction information of the downhole terminal device according to the magnetic interference data and the first geographic magnetic declination data; The correction information is sent to the downhole terminal equipment, wherein the correction information is used to correct the posture of the downhole terminal equipment.

2. The method according to claim 1, characterized in that The acquiring magnetic interference data around the first positioning information includes: determining underground mining equipment located around the first positioning information; Magnetic interference data of the underground mining equipment is determined according to the operation data of the underground mining equipment as first magnetic interference data around the first positioning information.

3. The method according to claim 2, characterized in that The determining of the underground mining equipment located around the first positioning information includes: Monitoring the status of the underground mining equipment and obtaining operating data of the underground mining equipment; determining second positioning information of the underground mining equipment based on the operating data of the underground mining equipment; The first positioning information and the second positioning information are matched to determine underground mining equipment located around the first positioning information.

4. The method according to any one of claims 1 to 3, characterized in that The acquiring magnetic interference data around the first positioning information includes: Determining mineral distribution information around the first positioning information based on geological information of the area where the coal mine is located; Second magnetic interference data around the first positioning information is determined based on the mineral distribution information.

5. The method according to claim 4, characterized in that Determining correction information of the downhole terminal device according to the magnetic interference data and the first geographic magnetic declination data includes: Correcting the first geographic magnetic declination data according to at least one of the first magnetic interference data and the second magnetic interference data to determine the second geographic magnetic declination data; Correction information of the downhole terminal equipment is determined based on the second geographic magnetic declination data.

6. The method according to any one of claims 1 to 5, characterized in that The process of acquiring the first geographic magnetic declination data corresponding to the first positioning information includes: Obtain the mapping relationship table between geographic magnetic declination data and positioning information from the memory; According to the first positioning information, the mapping relationship table is queried to obtain first geographic magnetic declination data corresponding to the first positioning information.

7. The method according to claim 6, characterized in that The querying the mapping relationship table according to the first positioning information to obtain first geographic magnetic declination data corresponding to the first positioning information includes: In response to the first positioning information not existing in the mapping relationship table, acquiring two positioning information adjacent to the first positioning information from the mapping relationship table; According to the first positioning information and the two adjacent positioning information, an interpolation operation is performed on the geographic magnetic declination data corresponding to the two adjacent positioning information to obtain the first geographic magnetic declination data.

8. The method according to claim 5, characterized in that Before obtaining the first positioning information of the downhole terminal device and the first geographic magnetic declination data corresponding to the first positioning information, the method further includes: In response to receiving the online notification information sent by the downhole terminal equipment, sending a first request to the geographic information database; Receive the mapping relationship table sent by the geographic information database, and store the mapping relationship table in the memory of the server.

9. A method for correcting the posture of an underground terminal device, characterized in that: Executed by downhole terminal equipment, the method includes: Sending first positioning information to the server, where the first positioning information is used to determine corresponding first geographic magnetic declination data; receiving correction information sent by the server, wherein the correction information is determined based on magnetic interference data surrounding the first positioning information and the first geographic magnetic declination data; The posture of the downhole terminal equipment is corrected based on the correction information.

10. A posture determination system for an underground mobile device, characterized in that: Including service end and downhole terminal equipment; The downhole terminal device is used to send first positioning information to the service end; The server is configured to receive the first positioning information and obtain first geographic magnetic declination data corresponding to the first positioning information; The server is configured to obtain magnetic interference data around the first positioning information, and determine correction information for the downhole terminal device based on the magnetic interference data and the first geographic magnetic declination data; The service end sends the correction information to the downhole terminal device; The downhole terminal device is used to receive the correction information and correct the posture of the downhole terminal device based on the correction information.

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