Object positioning method for underground working area, electronic equipment and storage medium

Abstract

The invention discloses an object positioning method for an under-mine operation area, electronic equipment and a storage medium. The method is applied to a first base station deployed in a target vehicle, and a first module of the first base station is used for sending a distance measurement request signal to first positioning equipment held by an operation object in an under-mine operation area and receiving a distance measurement feedback signal. A positioning module of a first base station executes the following method: determining first distance information according to a ranging request signal and a ranging feedback signal within a first preset duration; when it is detected that the first distance information meets a preset distance condition, taking the operation object as a to-be-positioned object, and determining an object motion state and a target distance according to the first distance information; determining the motion state of the vehicle according to at least one piece of second distance information in the received distance measurement data; according to the vehicle motion state, the object motion state and the target distance, the target position information of the to-be-positioned object is determined, and the accuracy and reliability of object positioning are improved.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to an object positioning method, electronic device, and storage medium for use in underground mining operations. Background Technology

[0002] To ensure the safety of miners working underground, personnel location is typically performed. However, in traditional ranging and positioning processes, when personnel carrying positioning equipment are traveling in vehicles, the confined space of the vehicle makes it difficult to locate them, thus compromising their safety.

[0003] Currently, there are two main methods for detecting and locating personnel boarding vehicles in mines. One method involves installing Radio Frequency Identification (RFID) readers in the vehicles and RFID antennas in the positioning devices. Once a person carrying the positioning device boards the vehicle, their location can be confirmed. However, due to the relatively small space in vehicles, a large number of people boarding can lead to an excessive number or density of RFID antennas, and obstruction by people's bodies can interfere with the signal, resulting in unstable readings and difficulty in accurately identifying personnel. Another method involves installing Bluetooth beacons inside the vehicle to determine if a person is inside by detecting the signal strength of Bluetooth signals from surrounding objects. However, Bluetooth signals are susceptible to interference, leading to inaccurate detection. Furthermore, both methods can misidentify pedestrians outside the vehicle as passengers, making it difficult to guarantee the reliability of personnel detection. Summary of the Invention

[0004] This invention provides a method, electronic device, and storage medium for object positioning in underground mining areas, enabling vehicle-mounted detection and precise positioning of work objects in underground mining areas, thereby improving the accuracy and reliability of object positioning.

[0005] According to one aspect of the present invention, a method for object positioning in an underground mining area is provided, applied to a first base station deployed at a first preset location of a target vehicle. The first base station includes a first module and a positioning module. The first module is used to send a ranging request signal to a first positioning device held by the object in the underground mining area and to receive a ranging feedback signal from the first positioning device. Based on the ranging request signal and the ranging feedback signal, the positioning module performs the following method: The first distance information is determined based on the ranging request signals and ranging feedback signals under multiple first ranging time slices within a first preset time period; When the first distance information is detected to meet the preset distance conditions, the work object is taken as the object to be located, and the object motion state and target distance of the object to be located relative to the target vehicle are determined according to the first distance information of the object to be located. The system receives ranging data forwarded by a second positioning device and analyzes at least one second distance information in the ranging data to determine the vehicle movement status of the target vehicle. The second positioning device is a positioning device deployed at a second preset location of the target vehicle. The second distance information is determined by a second base station based on ranging signals exchanged with the second positioning device within a first preset time period. The second base station is a base station deployed in the underground mining area. The number of second distance information is consistent with the number of base stations of the second base station. Based on the vehicle's motion state, the object's motion state, and the target distance, the target location information of the object to be located is determined; wherein, the target location information includes at least: the relative positional relationship between the object to be located and the target vehicle, and the object's position in the underground mining area.

[0006] According to another aspect of the present invention, an object positioning device for underground mining operations is provided, the device comprising: The first distance information determination module is used to determine the first distance information based on the ranging request signals and ranging feedback signals under multiple first ranging time slices within a first preset time period; The object motion state determination module is used to determine the object to be located relative to the target vehicle and the object motion state and target distance of the object to be located when the first distance information is detected to meet the preset distance conditions. The vehicle motion state determination module is used to receive ranging data forwarded by the second positioning device and analyze at least one second distance information in the ranging data to determine the vehicle motion state of the target vehicle; wherein, the second positioning device is a positioning device deployed at a second preset position of the target vehicle, the second distance information is determined by the second base station based on the ranging signals exchanged with the second positioning device within a first preset time period, the second base station is a base station deployed in the underground mining area, and the number of second distance information is consistent with the number of base stations of the second base station; The target location information determination module is used to determine the target location information of the object to be located based on the vehicle's motion state, the object's motion state, and the target distance; wherein, the target location information includes at least: the relative positional relationship between the object to be located and the target vehicle, and the object's location in the underground mining area.

[0007] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory that is communicatively connected to at least one processor; wherein, The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform an object positioning method for an underground working area according to any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the object positioning method for an underground working area according to any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, characterized in that, when executed by a processor, the computer program implements an object positioning method for an underground working area as described in any embodiment of the present invention.

[0010] The technical solution of this invention is applied to a first base station deployed at a first preset location of a target vehicle. The first base station includes a first module and a positioning module. The first module is used to send a ranging request signal to a first positioning device held by a work object in the mining operation area and to receive a ranging feedback signal from the first positioning device. Based on the ranging request signal and the ranging feedback signal, the positioning module performs the following processing: Based on the ranging request signal and the ranging feedback signal under multiple first ranging time slices within a first preset time period, first distance information is determined to judge the motion state of the work object relative to the target vehicle. When the first distance information is detected to meet a preset distance condition, the work object is designated as the object to be located, with a focus on the motion state of the object to be located. Based on the first distance information of the object to be located, the object motion state and target distance of the object to be located relative to the target vehicle are determined. Ranging data forwarded by a second positioning device is received, and at least one second distance information in the ranging data is analyzed to determine the vehicle motion state of the target vehicle. Based on the vehicle's motion status, the object's motion status, and the target distance, the target location information of the object to be located is determined. This information is used to determine whether the object is inside the target vehicle and its location within the underground working area. This solves the problems of inaccurate and unreliable vehicle-mounted detection and personnel positioning in existing technologies, enabling vehicle-mounted detection and precise positioning of work objects in underground working areas, thus improving the accuracy and reliability of object positioning.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of a scene structure for an object positioning method in an underground mining area provided by an embodiment of the present invention; Figure 2 This is a flowchart of an object positioning method for underground mining operations provided by an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the object state changes of a task object provided in an embodiment of the present invention; Figure 4 This is an example diagram of the fitting curves corresponding to multiple objects to be located provided in the embodiments of the present invention; Figure 5 This is a flowchart of an object positioning method for underground mining operations provided by an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an object positioning device for underground mining operations provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of an electronic device that implements the object positioning method for underground mining areas according to embodiments of the present invention. Detailed Implementation

[0014] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0015] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0016] It should also be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals involved in this invention are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0017] Before introducing the embodiments of the present invention, the corresponding application scenarios of the present invention can be described first. See [link to relevant documentation]. Figure 1 , Figure 1 This is a schematic diagram of the scene architecture for object positioning in underground mining areas provided by the present invention. Figure 1 This includes: a first base station 1 deployed at a first preset location of the target vehicle, a first positioning device 2 held by the target object, a second positioning device 3 deployed at a second preset location of the target vehicle, a second base station 4 deployed in the underground working area, and a target display terminal 5. It should be noted that... Figure 1 This is for illustrative purposes only. The first positioning device 2 held by the target object can be inside or outside the target vehicle.

[0018] The first base station can be understood as a vehicle-mounted positioning base station deployed in the target vehicle. The first preset location can be a pre-set location inside the target vehicle for deploying the first base station. The first base station includes a first module and a positioning module. The first module is used to send a ranging request signal to the first positioning device held by the work object in the mining operation area, and to receive the ranging feedback signal fed back by the first positioning device. The positioning module is used to execute the method provided in the embodiments of the present invention based on the ranging request signal and the ranging feedback signal.

[0019] The underground work area can be understood as the area where corresponding work is performed underground in a mine. For example, the underground work area can be a roadway area. Correspondingly, the work object is the personnel performing the work. To ensure the safety of the work object, the work object carries or wears a first positioning device to achieve real-time and accurate positioning of the work object through a base station. Since the work object can be outside or inside the target vehicle, to ensure the accuracy of the work object's positioning information, this invention uses a first base station and a first positioning device to perform distance measurement.

[0020] The second positioning device can be a positioning device deployed at a second preset location on the target vehicle. The second preset location can be a pre-set position on the target vehicle. In this embodiment of the invention, the second positioning device is used to perform distance measurement with a second base station to determine the movement state of the target vehicle. Optionally, to ensure distance measurement accuracy, the second preset location can be... Figure 1 The top position of the target vehicle is shown.

[0021] The second base station can be a base station deployed in the underground mining area, used for ranging with the first and second positioning devices. In this embodiment of the invention, the second base station is mainly used for ranging with the second positioning device to determine whether the target vehicle is moving.

[0022] The target display terminal may receive ranging information determined by a first base station and ranging information determined by a second base station. In this embodiment of the invention, the target display terminal is mainly used to receive and display the target location information determined by the first base station.

[0023] Combination Figure 1 The specific application scenarios of the embodiments of the present invention are described below. The technical solution provided by the embodiments of the present invention can be applied to the situation of vehicle detection and positioning of work objects in the mining operation area. By measuring the distance between the first base station 1 and the first positioning device 2, the motion state of the work object holding the first positioning device 2 relative to the target vehicle and the target distance are determined. By measuring the distance between the second base station 4 and the second positioning device 3, the motion state of the target vehicle is determined. Based on the object motion state, the target distance, and the vehicle motion state, it is determined whether the work object holding the first positioning device 2 is inside or outside the target vehicle, and the corresponding object position is determined. This achieves vehicle detection and accurate positioning of the work object, thereby ensuring the safety of the work object in the mine.

[0024] Example 1 Figure 2This is a flowchart of an object positioning method for underground mining areas provided in Embodiment 1 of the present invention. This embodiment is applicable to situations involving vehicle detection and positioning of work objects within a mining area. The method can be executed by an object positioning device for underground mining areas, which can be implemented in hardware and / or software. This object positioning device can be configured in electronic devices such as mobile phones, computers, or servers. Figure 2 As shown, the method includes: S110. Determine the first distance information based on the ranging request signals and ranging feedback signals under multiple first ranging time slices within the first preset time period.

[0025] It should be noted that the first base station can perform ranging processing with all working objects in the mining area. Since the object positioning method for each working object is similar, the following explanation focuses on the processing of one working object.

[0026] The first preset duration can be a pre-set time period. Within the first preset duration, the first base station can perform multiple ranging operations with the first positioning device held by the work object. The time slice corresponding to each ranging operation is taken as the first ranging time slice. During each ranging operation, the first module of the first base station sends a ranging request signal to the first positioning device to initiate the ranging operation. Correspondingly, after receiving the ranging request signal, the first positioning device generates a ranging feedback signal based on the ranging request signal and feeds it back to the first module. This allows the first module of the first base station to transmit the ranging request signal and the corresponding signal transmission time, the received ranging feedback signal and the corresponding signal reception time to the positioning module. This enables the positioning module to determine the first distance based on the time of initiating the ranging request signal, the time of receiving the ranging feedback signal, and the preset signal transmission speed (usually the speed of light). That is, the first distance information can include the first distance corresponding to each first ranging time slice. The first distance can represent the distance between the first base station located inside the target vehicle and the work object holding the first positioning device, i.e., the distance between the first base station inside the target vehicle and the work object.

[0027] Specifically, when the positioning module receives ranging request signals and ranging feedback signals from multiple first ranging time slices within a first preset time period sent by the first module, it determines the first distance to each first ranging time slice based on the ranging request signal, the signal transmission time corresponding to the ranging request signal, the ranging feedback signal, and the signal reception time corresponding to the ranging feedback signal. The first distances from multiple first ranging time slices are used as first distance information to determine the relative motion state of the work object. It should be noted that the first distance information may also include: the signal transmission time, the signal reception time, and the device identifier of the first positioning device within each first ranging time slice.

[0028] S120. When the first distance information is detected to meet the preset distance conditions, the work object is taken as the object to be located, and the object motion state and target distance of the object to be located relative to the target vehicle are determined according to the first distance information of the object to be located.

[0029] The preset distance condition can be a pre-set condition that the first distance information needs to meet. Optionally, if all the first distances in the first distance information are less than the preset distance value, the first distance information is determined to meet the preset distance condition. The preset distance value is a pre-set standard distance between the first base station and the first positioning device. For example, the preset distance value can be D0, where D0 can be 50 meters. The object to be located is the work object whose first distance information meets the preset distance condition.

[0030] The object motion state is used to characterize the motion state of the object to be located relative to the target vehicle. Optionally, the object motion state can include: relative motion state and relative stationary state. The relative motion state means the object to be located is moving relative to the target vehicle. The relative stationary state means the object to be located is stationary relative to the target vehicle. The target distance can be understood as the effective distance between the object to be located and the first base station of the target vehicle.

[0031] Specifically, when all the first distances in the first distance information are less than the preset distance value, it is determined that the first distance information meets the preset distance condition. At this time, the work object is taken as the object to be located. Based on the first distance information of the object to be located, the object motion state and target distance of the object to be located relative to the target vehicle are determined.

[0032] For example, see Figure 1 and Figure 3 , Figure 3The in-vehicle positioning base station in the text corresponds to the first base station 1 mentioned above. The first base station 1 can measure distances with the first positioning devices 2 within its preset ranging range based on Ultra Wide Band (UWB) communication technology to determine multiple first distances with each first positioning device 2 within a first preset time period. When multiple first distances are all less than 50 meters, the work object holding the first positioning device 2 is marked as being in a nearby state, that is, the work object is determined as the object to be located. The first distance information with the object to be located is then determined, wherein the first distance information includes: the device identifier of the first positioning device and the first distance under multiple first ranging time slices.

[0033] In this embodiment of the invention, the first distance information includes at least: the first distance under multiple first ranging time slices within a first preset time period. Optionally, the method for determining the object motion state and target distance of the object to be located based on the first distance information may be: performing Kalman filtering on multiple first distances to determine an average distance value; performing data fitting processing on multiple first distances and corresponding first ranging time slices to determine a fitting curve; determining the object motion state of the object to be located and the distance value to be processed corresponding to the object motion state based on the slope and intercept of the fitting curve; and substituting the average distance value and the distance value to be processed into the target distance determination function corresponding to the object motion state to determine the target distance.

[0034] Kalman filtering is used to perform minimum variance estimation on multiple first distances to determine the average distance value based on the multiple estimates. The fitted curve is used to characterize the first distance as it changes over the time corresponding to the first ranging time slice.

[0035] The slope of the curve can be used to characterize the rate of change of the fitted curve. The curve intercept can be understood as the distance information corresponding to the time interval of zero in the fitted curve. For example, if the fitted curve is y=kt+b, then b represents the curve intercept corresponding to the embodiment of the present invention. The distance value to be processed can be understood as the distance value corresponding to the curve intercept and the object's motion state. The target distance determination function is used to determine the target distance corresponding to the object to be located. The target distance determination function is different for different object motion states.

[0036] Specifically, Kalman filtering is applied to multiple first distances to determine the average distance value. Data fitting is then performed on the multiple first distances and their corresponding first ranging time slices to obtain a fitted curve. The object motion state of the target object is determined based on the slope of the fitted curve. The distance to be processed is determined based on the object motion state and the intercept of the fitted curve. The target distance determination function corresponding to the object motion state is then invoked, and the corresponding average distance value and the distance to be processed are substituted into the target distance determination function to determine the target distance.

[0037] The above-mentioned method uses linear fitting to determine the motion state of the object to be located relative to the target vehicle while holding the first positioning device. It has strong anti-interference ability and can effectively solve the problem of ranging jitter caused by other working objects on the target vehicle blocking the distance.

[0038] Optionally, the method for determining the object motion state and the distance value to be processed of the object to be located based on the slope and intercept of the fitted curve can be as follows: when the slope of the fitted curve exceeds a preset slope threshold, the object motion state is determined to be a relative motion state, and the distance value to be processed corresponding to the relative motion state is determined to be the first value; when the slope of the fitted curve does not exceed a preset slope threshold, the object motion state is determined to be a relatively stationary state; and the intercept of the fitted curve is used as the distance value to be processed corresponding to the relatively stationary state.

[0039] It should be noted that curve slopes can have positive and negative values. In this embodiment of the invention, the curve slope represents the absolute value of the slope of the fitted curve. The preset slope threshold can be a pre-set standard value for the curve slope. The relative motion state is used to characterize the motion of the object to be located relative to the target vehicle. The relative stationary state is used to characterize the movement of the object to be located relative to the target vehicle. The first value can be zero.

[0040] Specifically, when the slope of the fitted curve exceeds a preset slope threshold, the object's motion state is determined to be a relative motion state. The distance value to be processed corresponding to the relative motion state is then determined as the first value. Conversely, when the slope of the fitted curve does not exceed a preset slope threshold, the object's motion state is determined to be a relatively stationary state. The intercept of the fitted curve corresponding to the relatively stationary state is taken as the distance value to be processed for the relatively stationary state.

[0041] For example, combining the above example, Kalman filtering is applied to multiple first distances to obtain the filtered average distance value d0. As can be seen in practical applications, the distance change between the object to be located inside the target vehicle and the first base station of the target vehicle is significantly different when the target vehicle is in motion. Therefore, linear fitting is performed based on multiple first distances. For example, the first distances from the 4 to 10 most recent first ranging time slices are selected for fitting, and the fitting curve with the smallest mean square error is taken as the final fitting curve.

[0042] For example, the first distance under four first ranging time slices is selected for fitting to obtain the first fitted curve. The first distance under eight first ranging time slices is then selected for fitting to obtain the second fitted curve. If the root mean square error of the second fitted curve is less than that of the first fitted curve, then the second fitted curve is used as the final fitted curve. See also... Figure 4 , Figure 4 The figures show fitted curves for multiple objects to be located. The yellow fitted curve represents the distance changes for objects located inside the target vehicle. The other colored fitted curves represent the distance changes for objects located outside the target vehicle when the vehicle is moving back and forth and stopping in the underground working area. According to the fitted curves, the distance between objects inside the target vehicle and the first base station of the target vehicle fluctuates but remains within a certain range, while the distance between objects outside the target vehicle and the first base station of the target vehicle shows a clear oblique trend.

[0043] Therefore, based on the slope of the fitted curve, the motion state of the object to be located is determined. A preset slope threshold can be 0.5. When the absolute value of the slope of the fitted curve is greater than 0.5, the object to be located is determined to be moving relative to the target vehicle, and the distance to be processed is set to 0. When the absolute value of the slope of the fitted curve is less than 0.5, the object to be located is determined to be stationary relative to the target vehicle, and 'b' in the fitted curve y=kt+b is taken as the distance to be processed d1.

[0044] When the object to be located is determined to be moving relative to the target vehicle, the target distance can be d0; correspondingly, when the object to be located is stationary relative to the target vehicle, the target distance can be (d0+d1) / 2.

[0045] S130: Receive the ranging data forwarded by the second positioning device, and analyze at least one second distance information in the ranging data to determine the vehicle motion state of the target vehicle.

[0046] The second positioning device is a positioning device deployed at a second preset location of the target vehicle. The second distance information is determined by the second base station based on the ranging signals exchanged with the second positioning device within a first preset time period. The second base station may include a second module and a ranging module. The second module in the second base station is used to send a ranging request signal to the second positioning device and receive a ranging feedback signal from the second positioning device. The ranging module is used to process the ranging request signals and ranging feedback signals corresponding to multiple ranging measurements taken by the first module within the first preset time period to determine the second distance corresponding to the multiple ranging measurements within the first preset time period. That is, the second distance information may include at least the second distance corresponding to multiple second ranging time slices within the first preset time period. The second ranging time slice may be the duration of each ranging measurement. The second distance may be the distance between the second base station and the second positioning device of the target vehicle, that is, the distance between the target vehicle and the second positioning device.

[0047] The second base station is deployed in the underground mining area. It performs ranging processing with the second positioning device and sends the determined second distance information to the second positioning device. Correspondingly, the second positioning device forwards the second distance information sent by at least one second base station to the first base station. That is, the number of second distance information points is consistent with the number of second base stations. Vehicle motion state can be understood as the driving state of the target vehicle. Optionally, the vehicle motion state can include: a driving state and a stationary state.

[0048] Specifically, within a first preset time period, while the first base station and the first positioning device are performing ranging processing, the second base station is also performing ranging processing with the second positioning device. Since there may be at least one second base station in the mining area, for each second base station, a ranging request signal is sent to the second positioning device via its second module, so that the second positioning device can respond with a corresponding ranging response signal based on the ranging request signal. The ranging module of the second base station determines the second distance information based on the ranging request signals and ranging response signals under multiple second ranging time slices within the first preset time period and sends the second distance information to the second positioning device. Correspondingly, the second positioning device forwards the received at least one piece of second distance information to the positioning module of the first base station.

[0049] When the positioning module receives ranging data forwarded by the second positioning device, it parses the ranging data to determine at least one second distance information. The at least one second distance information is then processed to determine the vehicle's motion state.

[0050] Optionally, to avoid the problem that the second positioning device is not at the second preset position of the target vehicle during the target vehicle's movement, such as if the second positioning device falls, thus causing the second positioning device to be unable to forward ranging data, in this embodiment of the invention, ranging processing of the second positioning device can be performed based on the first module and the positioning module of the first base station. Specifically, The first module sends a ranging request signal to the second positioning device at a preset ranging frequency, and receives a ranging feedback signal from the second positioning device based on the ranging request signal. The positioning module determines the distance between the second positioning device and the first base station based on the ranging request signal and the ranging feedback signal. If this distance is less than a preset standard distance, the second positioning device is determined to be at a second preset position; if the distance is greater than the preset standard distance, the second positioning device is determined not to be at the second preset position, and an early warning message is generated. Based on the early warning message, the second positioning device is then monitored and adjusted. The standard distance can be a distance determined based on the first and second preset positions.

[0051] It should be noted that in real-world application scenarios, new underground mining operation areas may exist, which may not be covered by the second base station. To ensure vehicle detection and positioning of objects within these underground operation areas, inertial navigation equipment can be deployed on target vehicles within these areas to determine their motion status. Specifically, For mining operation areas where no second base station is deployed, the vehicle acceleration and angular velocity of the target vehicle within a first preset time period are obtained based on the inertial navigation equipment deployed at the third preset position of the target vehicle, so as to determine the vehicle motion state based on the vehicle acceleration and angular velocity.

[0052] The third preset position can be a pre-defined location for deploying the inertial navigation equipment. The inertial navigation equipment (INS) uses built-in accelerometers and gyroscopes to measure the target vehicle's acceleration and angular velocity in real time. Vehicle acceleration characterizes the rate of change of the target vehicle's speed. Vehicle angular velocity represents the angle the target vehicle rotates per unit time.

[0053] Specifically, the vehicle acceleration and angular velocity of the target vehicle are collected by the inertial navigation equipment deployed at the third preset location within the first preset time period, and the vehicle motion state of the target vehicle is determined to be either in a driving state or a stationary state based on the vehicle acceleration and angular velocity.

[0054] S140. Determine the target location information of the object to be located based on the vehicle's motion state, the object's motion state, and the target distance.

[0055] The target location information includes at least: the relative positional relationship between the object to be located and the target vehicle, and the object's location within the underground mining area. The relative positional relationship indicates whether the object is inside or outside the target vehicle. The object's location can be its specific position within the underground mining area.

[0056] Specifically, based on the vehicle's motion state, the object's motion state, and the target distance, a comprehensive analysis is conducted to determine the relative positional relationship between the object to be located and the target vehicle, as well as the object's location.

[0057] Optionally, in order to enable users to accurately determine the object location of the object to be located and its relative positional relationship with the target vehicle, this embodiment of the invention further includes: sending the target location information to the target display terminal and displaying it.

[0058] The target display terminal is used to display the object's position and relative positional relationship. For example... Figure 1 The target display terminal 5 is shown in the figure.

[0059] Specifically, after the positioning module of the second base station determines the target location information, it can send the target location information to the target display terminal so that the target display terminal can display the target location information.

[0060] The technical solution of this embodiment is applied to a first base station deployed at a first preset location of a target vehicle. The first base station includes a first module and a positioning module. The first module is used to send a ranging request signal to a first positioning device held by the work object in the mining operation area and to receive a ranging feedback signal from the first positioning device. Based on the ranging request signal and the ranging feedback signal, the positioning module performs the following processing: Based on the ranging request signal and the ranging feedback signal under multiple first ranging time slices within a first preset time period, first distance information is determined to judge the motion state of the work object relative to the target vehicle. When the first distance information is detected to meet a preset distance condition, the work object is designated as the object to be located, with a focus on the motion state of the object to be located. Based on the first distance information of the object to be located, the object motion state and target distance of the object to be located relative to the target vehicle are determined. Ranging data forwarded by a second positioning device is received, and at least one second distance information in the ranging data is analyzed to determine the vehicle motion state of the target vehicle. Based on the vehicle's motion status, the object's motion status, and the target distance, the target location information of the object to be located is determined. This information is used to determine whether the object is inside the target vehicle and its location within the underground working area. This solves the problems of inaccurate and unreliable vehicle-mounted detection and personnel positioning in existing technologies, enabling vehicle-mounted detection and precise positioning of work objects in underground working areas, thus improving the accuracy and reliability of object positioning.

[0061] Example 2 Figure 5 This is a flowchart of an object positioning method for underground mining operations provided in Embodiment 2 of the present invention. This embodiment is a preferred embodiment of the above embodiments. For specific implementation details, please refer to the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here. Figure 5 As shown, the method includes: S210. Determine the first distance information based on the ranging request signals and ranging feedback signals under multiple first ranging time slices within the first preset time period.

[0062] S220. When the first distance information is detected to meet the preset distance conditions, the work object is taken as the object to be located, and the object motion state and target distance of the object to be located relative to the target vehicle are determined according to the first distance information of the object to be located.

[0063] S230: Receive the ranging data forwarded by the second positioning device, and analyze at least one second distance information in the ranging data to determine the vehicle motion state of the target vehicle.

[0064] The second positioning device is a positioning device deployed at the second preset location of the target vehicle. The second distance information is determined by the second base station based on the ranging signals exchanged with the second positioning device within the first preset time period. The second base station is a base station deployed in the underground mining area. The number of second distance information is consistent with the number of base stations of the second base station.

[0065] In this embodiment of the invention, the second distance information includes: the base station identifier of the second base station that interacts with the second positioning device using ranging signals, and the second distance under multiple second ranging time slices within a first preset duration. The second base station is a base station deployed within the mining operation area, such as a base station deployed in a tunnel. The base station identifier is used to uniquely identify the second base station. The second ranging time slice can be the time period corresponding to each ranging measurement between the second base station and the second positioning device within the first preset duration.

[0066] Optionally, the method for determining the vehicle motion state based on the second distance information in the ranging data can be as follows: for at least one second distance information, if all the second distances in the second distance information fall within a preset distance range and the distance change information corresponding to the second distance information meets a preset change condition, the second distance information is determined as the distance information to be used; for at least one distance information to be used, the base station identifier is filtered based on the distance fluctuation information corresponding to the distance information to be used to determine the third base station; wherein, the third base station is a base station among at least one second base station; the distance information to be used corresponding to the third base station is determined as the third distance information; the vehicle motion state is determined based on the third distance information, the first preset speed threshold, and the second preset speed threshold.

[0067] The preset distance range can be a pre-set standard range corresponding to the second distance. Distance change information can be understood as the change in the second distance within a first preset time period corresponding to the time change of the second ranging time slice. The preset change condition can be a pre-set condition that the distance change information needs to meet. Optionally, if the distance change information shows that the second distance decreases with the time change of the second ranging time slice, then the distance change information is determined to meet the preset change condition.

[0068] The distance information to be used refers to the second distance information where the distance change information meets the preset change conditions and all second distances fall within the preset distance range. Distance fluctuation information is used to characterize the fluctuation changes of multiple second distances within a first preset time period. The third base station can be a base station selected from at least one second base station. The third distance information is the distance information to be used by the third base station.

[0069] The first preset speed threshold can be a pre-set standard value for vehicle speed. This first preset speed threshold is related to determining whether the target vehicle is moving. The second preset speed threshold is also a pre-set standard value for vehicle speed. This second preset speed threshold is related to determining whether the target vehicle is stationary.

[0070] Specifically, for at least one second base station deployed in the underground mining area, the second positioning device can perform distance measurements with each of the at least one second base station to obtain at least one second distance information. Correspondingly, the positioning module of the first base station will receive at least one second distance information. The base station identifiers of the second base stations corresponding to different second distance information are different.

[0071] For at least one second distance information, when all the second distances in the current second distance information are within a preset distance range and the distance change information of the second distances in the current second distance information meets the preset change conditions, the current second distance information is determined as the distance information to be used, thereby obtaining at least one distance information to be used.

[0072] For at least one distance information to be used, the base station identifiers of the second base station corresponding to each distance information to be used are filtered based on the distance fluctuation information to determine the third base station. The distance information to be used by the third base station is then used as the third distance information, and the vehicle motion state is determined based on the third distance information, the first preset speed threshold, and the second preset speed threshold.

[0073] For example, in combination Figure 1 To illustrate, taking the underground working area as the target roadway as an example, the second positioning device 3 performs ranging processing with at least one second base station 4 within the target roadway via UWB communication. For each ranging process, the second base station 4 determines the second distance information corresponding to the second positioning device 3 and sends this information to the second positioning device 3. Based on this, the second positioning device 3 can receive at least one piece of second distance information. This second distance information includes at least: the base station ID (base station identifier) ​​of the second base station 4 and the second distance under multiple second ranging time slices within a first preset time period.

[0074] Each second distance information is filtered to obtain filtered second distance information. For at least one filtered second distance information, if all second distances in the second distance information fall within a preset distance range, and the second distances decrease over time as the second ranging time slice changes, then this second distance information is used as the distance information to be used.

[0075] For at least one distance information to be used, the distance information with the smallest fluctuation of the second distance is taken as the third distance information, and the second base station corresponding to the third distance information is taken as the third base station. The third distance information corresponding to the third base station is used as the basis for subsequent judgment of the vehicle's motion status.

[0076] Optionally, the method for determining the vehicle motion state based on the third distance information, the first preset speed threshold, and the second preset speed threshold can be as follows: based on the second distance under multiple second ranging time slices in the third distance information, determine the distance difference corresponding to each two ranging processes; based on the distance difference corresponding to each two ranging processes and the second ranging time slice, determine the vehicle speed change information of the target vehicle within a first preset time period; when the vehicle speed change information is consistent with the first preset speed condition, determine the vehicle motion state as a driving state, wherein the first preset speed condition is related to the first preset speed threshold; when the vehicle speed change information is consistent with the second preset speed condition, determine the vehicle motion state as a stopped state, wherein the second preset speed condition is related to the second preset speed threshold.

[0077] The distance difference can be the difference between the second distances in every two ranging processes. Optionally, to better represent subsequent vehicle speed change information, the difference between the second distances in two adjacent second ranging time slices can be used as the distance difference. The vehicle speed change information is determined based on multiple vehicle speeds within a first preset time period. The vehicle speed within the first preset time period is determined based on the distance difference and the duration corresponding to the second ranging time slice.

[0078] The first preset speed condition can be determined based on a first preset speed threshold. Optionally, if the vehicle speed in the vehicle speed change information gradually increases over time and exceeds the first preset speed threshold, then the vehicle speed change information is determined to meet the first preset speed condition. Correspondingly, the second preset speed condition is determined based on a second preset speed threshold. Optionally, if the vehicle speed in the vehicle speed change information gradually decreases over time and is less than the second preset speed threshold, then the vehicle speed change information is determined to meet the second preset speed condition. Optionally, the first preset speed threshold and the second preset speed threshold can be determined based on the average movement speed of vehicles in the underground working area and preset safety regulations. For example, the first preset speed threshold can be 4 m / s, and the second preset speed threshold can be 2 m / s, thereby avoiding misjudgments caused by slow vehicle movement.

[0079] Specifically, since the second distance between the second positioning device and the third base station typically decreases first and then increases, the vehicle speed of the target vehicle can be determined by the distance change. For the second distance under multiple second ranging time slices in the third distance information, the corresponding vehicle speed is determined based on the distance difference between two adjacent second ranging time slices and the corresponding duration of the second ranging time slice, thereby determining multiple vehicle speeds within a first preset time period. Based on the multiple vehicle speeds, the vehicle speed change information of the target vehicle within the first preset time period is determined.

[0080] If the vehicle speed in the vehicle speed change information gradually increases over time and exceeds a first preset speed threshold, then the vehicle speed change information is determined to meet the first preset speed condition, and the target vehicle is determined to be in a moving state. Conversely, if the vehicle speed in the vehicle speed change information gradually decreases over time and is less than a second preset speed threshold, then the vehicle speed change information is determined to meet the second preset speed condition, and the target vehicle is determined to be in a stationary state.

[0081] S240. When the object is in a relatively stationary state, if the vehicle is in a stopped state and the target distance is less than the first preset distance, or if the vehicle is in a moving state and the target distance is less than the second preset distance, then the object to be located is determined as the target object.

[0082] The first preset distance can be a pre-set standard distance between the first base station of the target vehicle in a stationary state and the target object to be located in a relatively stationary state. The second preset distance can be a pre-set standard distance between the first base station of the target vehicle in a moving state and the target object to be located in a relatively stationary state. Optionally, since the target distance between the first base station of the target vehicle in a moving state and the target object to be located in a relatively stationary state is usually larger than the target distance between the first base station of the target vehicle in a stationary state and the target object to be located in a relatively stationary state, the second preset distance can be set to be greater than the first preset distance. For example, if the first preset distance is D1, the second preset distance can be 1.5 × D1. The target object can be the target object to be located that needs further determination of whether it is on the target vehicle.

[0083] Specifically, when the object is in a relatively stationary state, if the vehicle is in a stopped state and the target distance is less than a first preset distance, or if the vehicle is in a moving state and the target distance is less than a second preset distance, then the object to be located is determined as the target object.

[0084] For example, see Figure 3Taking a preset duration of 5 seconds as an example, when the target vehicle is stationary and the object to be located is relatively stationary, if the target distance within 5 seconds is less than distance D1, the object to be located is marked as pending, i.e., it is considered the target object. When the target vehicle is moving and the object to be located is relatively stationary, if the target distance within 5 seconds is less than 1.5 × D1, the object to be located is marked as pending, i.e., it is considered the target object.

[0085] S250. Based on the ranging request signals and ranging feedback signals under multiple third ranging time slices within the second preset time period, determine the fourth distance information with respect to the target object, and determine the object motion state corresponding to the fourth distance information; wherein, the fourth distance information includes at least: the fourth distance corresponding to each third ranging time slice.

[0086] The second preset duration can be pre-set and represents the time required for multiple distance measurements to be taken on the target object after it has been identified as the target object. It should be noted that if the target vehicle is in motion, the second preset duration can be determined based on the preset vehicle travel distance and speed. For example, the second preset duration could be 5 seconds or the duration required for the target vehicle to travel another 15 meters.

[0087] The third ranging time slice can be the duration of each ranging measurement between the first base station and the first positioning device of the target object within the second preset time period. The fourth distance information includes at least the fourth distance corresponding to each third ranging time slice. The fourth distance is the distance between the first base station and the first positioning device of the target object in the corresponding third ranging time slice. The object motion state corresponding to the fourth distance information is the motion state of the target object within the second preset time period.

[0088] Specifically, after identifying the object to be located as the target object, the first module of the first base station sends a ranging request signal to the first positioning device held by the target object during multiple third ranging time slices within a second preset time period, and receives ranging feedback signals corresponding to the ranging request signals. A fourth distance is determined based on the time of initiating the ranging request signal, the time of receiving the ranging feedback signal, and the preset signal transmission speed for each third ranging time slice. Based on the fourth distances under multiple third ranging time slices, the fourth distance information with the target object is determined, and the object motion state of the target object relative to the target vehicle within the second preset time period is determined.

[0089] S260. When multiple fourth distances are all less than the third preset distance, and the motion state of the object corresponding to the fourth distance information is relatively stationary, it is determined that the target object is located inside the target vehicle.

[0090] The third preset distance can be a pre-set standard distance between the target object and the first base station of the target vehicle within the second preset time period. Optionally, the third preset distance can be the same as the first preset distance; for example, the third preset distance can also be D1.

[0091] Specifically, when all fourth distances are less than the third preset distance within the second preset time period, and the object motion state of the target object is relatively stationary within the second preset time period, it is determined that the target object is located inside the target vehicle.

[0092] For example, in combination Figure 3 To continue the explanation, after marking the object to be located as being in a pending state (i.e., as the target object), if the target vehicle is in motion, observation can continue for another 5 seconds or until the target vehicle has traveled another 15 meters. This includes the fourth distance between the target object and the target vehicle, and the object's motion relative to the target vehicle. If the fourth distance is less than the third preset distance D1, and the object's motion remains relatively stationary, then the target object is determined to be inside the target vehicle. Alternatively, if the target vehicle travels another 30 meters, and the object's motion remains relatively stationary during this period, then the target object is determined to be inside the target vehicle.

[0093] It should be noted that if the object to be located is in a relatively stationary state, the vehicle is in a stopped state, and the target distance is less than the first preset distance within the first preset time period, in order to avoid misjudgment, it can be processed in the above manner to accurately determine whether the target object is located inside the target vehicle. Alternatively, it can be determined directly that the target object is located inside the target vehicle without going through the processing corresponding to the second preset time period.

[0094] It should also be noted that when the distance between the target object and the first base station inside the target vehicle exceeds the preset distance value D0 corresponding to the preset distance condition for a third preset time period, or when the first base station is unable to measure the distance with the first positioning device of the target object, the target object will be adjusted to an invalid state.

[0095] When the target vehicle is stationary, if the target object's motion state is relative motion, and the distance between the target object's first positioning device and the target vehicle's first base station gradually increases, and this distance continues for a fourth preset duration greater than the first preset distance D1, the target object is set to an invalid state.

[0096] S270. Determine the object location of the target object based on multiple fourth distances.

[0097] Specifically, based on multiple fourth distances, the exact location of the target object inside the target vehicle is determined, and based on the location of the target vehicle within the underground working area, the location of the target object and other objects within the underground working area is determined.

[0098] The technical solution of this embodiment is applied to a first base station deployed at a first preset location of a target vehicle. The first base station includes a first module and a positioning module. The first module is used to send a ranging request signal to a first positioning device held by the work object in the mining operation area and to receive a ranging feedback signal from the first positioning device. Based on the ranging request signal and the ranging feedback signal, the positioning module performs the following processing: Based on the ranging request signal and the ranging feedback signal under multiple first ranging time slices within a first preset time period, first distance information is determined to judge the motion state of the work object relative to the target vehicle. When the first distance information is detected to meet a preset distance condition, the work object is designated as the object to be located, with a focus on the motion state of the object to be located. Based on the first distance information of the object to be located, the object motion state and target distance of the object to be located relative to the target vehicle are determined. The ranging data forwarded by the second positioning device is received, and one second distance information in the ranging data is analyzed to determine the vehicle motion state of the target vehicle. When the object's motion state is relatively stationary, if the vehicle's motion state is stopped and the target distance is less than a first preset distance, or if the vehicle's motion state is moving and the target distance is less than a second preset distance, then the object to be located is identified as the target object. After identifying the target object, further judging the fourth distance and the object's motion state within a second preset time period can avoid misjudging a work object located outside the target vehicle as a target object inside the target vehicle, thus improving the accuracy of vehicle-based detection. Based on multiple fourth distances, the object's location is determined. This embodiment of the invention adds a first base station to the target vehicle and communicates with the first positioning device based on the first base station to achieve stable distance measurement of work objects inside the metal compartment (target vehicle). This solves the problem in the prior art where positioning is impossible or the positioning signal drifts due to personnel inside the vehicle, and accurately determines the object's location. Distance measurement using UWB communication eliminates the need for Wi-Fi / 5G communication modules required by the prior art, reducing the overall communication complexity and cost, and achieving vehicle-based detection and precise positioning of work objects in the mining area, improving the accuracy and reliability of object positioning.

[0099] Example 3 Figure 6 This is a schematic diagram of an object positioning device for underground mining operations provided in Embodiment 3 of the present invention. Figure 6 As shown, the device includes: a first distance information determination module 310, an object motion state determination module 320, a vehicle motion state determination module 330, and a target position information determination module 340.

[0100] The first distance information determination module 310 is used to determine first distance information based on distance request signals and distance feedback signals under multiple first distance measurement time slices within a first preset time period; the object motion state determination module 320 is used to, when detecting that the first distance information meets a preset distance condition, take the work object as the object to be located, and determine the object motion state and target distance of the object to be located relative to the target vehicle based on the first distance information of the object to be located; the vehicle motion state determination module 330 is used to receive distance measurement data forwarded by the second positioning device, and analyze at least one second distance information in the distance measurement data to determine the vehicle motion state of the target vehicle; wherein, the first The second positioning device is a positioning device deployed at a second preset position of the target vehicle. The second distance information is determined by a second base station based on the ranging signals exchanged with the second positioning device within a first preset time period. The second base station is a base station deployed in the underground mining area. The number of second distance information is consistent with the number of base stations of the second base station. The target position information determination module 340 is used to determine the target position information of the object to be positioned based on the vehicle's movement state, the object's movement state, and the target distance. The target position information includes at least the relative positional relationship between the object to be positioned and the target vehicle, and the object position of the object to be positioned in the underground mining area.

[0101] The technical solution of this embodiment is applied to a first base station deployed at a first preset location of a target vehicle. The first base station includes a first module and a positioning module. The first module is used to send a ranging request signal to a first positioning device held by the work object in the mining operation area and to receive a ranging feedback signal from the first positioning device. Based on the ranging request signal and the ranging feedback signal, the positioning module performs the following processing: Based on the ranging request signal and the ranging feedback signal under multiple first ranging time slices within a first preset time period, first distance information is determined to judge the motion state of the work object relative to the target vehicle. When the first distance information is detected to meet a preset distance condition, the work object is designated as the object to be located, with a focus on the motion state of the object to be located. Based on the first distance information of the object to be located, the object motion state and target distance of the object to be located relative to the target vehicle are determined. Ranging data forwarded by a second positioning device is received, and at least one second distance information in the ranging data is analyzed to determine the vehicle motion state of the target vehicle. Based on the vehicle's motion status, the object's motion status, and the target distance, the target location information of the object to be located is determined. This information is used to determine whether the object is inside the target vehicle and its location within the underground working area. This solves the problems of inaccurate and unreliable vehicle-mounted detection and personnel positioning in existing technologies, enabling vehicle-mounted detection and precise positioning of work objects in underground working areas, thus improving the accuracy and reliability of object positioning.

[0102] Based on the above embodiments, optionally, the first distance information includes at least: first distances under multiple first ranging time slices within a first preset time period; the object motion state determination module includes: a motion state and target distance determination unit, including: an average distance value determination subunit, used to perform Kalman filtering on multiple first distances to determine an average distance value; a data fitting subunit, used to perform data fitting on multiple first distances and corresponding first ranging time slices to determine a fitting curve; a distance value to be processed determination subunit, used to determine the object motion state of the object to be located and the distance value to be processed corresponding to the object motion state based on the slope and intercept of the fitting curve; and a target distance determination subunit, used to substitute the average distance value and the distance value to be processed into a target distance determination function corresponding to the object motion state to determine the target distance.

[0103] Optionally, the distance-to-be-processed value determination subunit is used to determine the object's motion state as a relative motion state when the slope of the fitted curve exceeds a preset slope threshold, and to determine the distance-to-be-processed value corresponding to the relative motion state as a first value; and to determine the object's motion state as a relatively stationary state when the slope of the fitted curve does not exceed the preset slope threshold; and to use the curve intercept of the fitted curve as the distance-to-be-processed value corresponding to the relatively stationary state.

[0104] Optionally, the second distance information includes: the base station identifier of the second base station that interacts with the second positioning device using ranging signals, and the second distance under multiple second ranging time slices within a first preset time period. The vehicle motion state determination module includes: a distance information to be used determination unit, used to determine the second distance information as distance information to be used when, for the at least one second distance information, all the second distances in the second distance information belong to a preset distance range and the distance change information corresponding to the second distance information meets a preset change condition; a third base station determination unit, used to filter the base station identifier based on the distance fluctuation information corresponding to the at least one distance information to be used to determine the third base station; wherein, the third base station is a base station among at least one of the second base stations; a third distance information determination unit, used to determine the distance information to be used corresponding to the third base station as the third distance information; and a vehicle motion state determination unit, used to determine the vehicle motion state based on the third distance information, a first preset speed threshold, and a second preset speed threshold.

[0105] Optionally, the vehicle motion state determination unit is configured to: determine the distance difference between each two ranging processes based on the second distances under multiple second ranging time slices in the third distance information; determine the vehicle speed change information of the target vehicle within a first preset time period based on the distance difference between each two ranging processes and the second ranging time slices; determine the vehicle motion state as a driving state when the vehicle speed change information is consistent with a first preset speed condition, wherein the first preset speed condition is related to a first preset speed threshold; and determine the vehicle motion state as a stopped state when the vehicle speed change information is consistent with a second preset speed condition, wherein the second preset speed condition is related to a second preset speed threshold.

[0106] Optionally, the target location information determination module is used to determine the object to be located as the target object when the object's motion state is relatively stationary, if the vehicle's motion state is stationary and the target distance is less than a first preset distance, or the vehicle's motion state is moving and the target distance is less than a second preset distance; determine fourth distance information relative to the target object based on ranging request signals and ranging feedback signals under multiple third ranging time slices within a second preset time period, and determine the object's motion state corresponding to the fourth distance information; wherein, the fourth distance information includes at least: a fourth distance corresponding to each third ranging time slice; when multiple fourth distances are all less than the third preset distance and the object's motion state corresponding to the fourth distance information is relatively stationary, determine that the target object is located inside the target vehicle; and determine the object position of the target object based on the multiple fourth distances.

[0107] Optionally, the device further includes a location information sending module for sending target location information to the target display terminal and displaying it.

[0108] Optionally, the device further includes: another vehicle motion state determination module, used to, for mining operation areas where the second base station is not deployed, acquire the vehicle acceleration and vehicle angular velocity of the target vehicle within a first preset time period based on an inertial navigation device deployed at a third preset position of the target vehicle, so as to determine the vehicle motion state based on the vehicle acceleration and the vehicle angular velocity.

[0109] The object positioning device for underground mining areas provided in the embodiments of the present invention can execute the object positioning method for underground mining areas provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0110] Example 4 Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0111] like Figure 7As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0112] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0113] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as object localization methods for underground mining areas.

[0114] In some embodiments, the object location method for underground working areas can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the object location method for underground working areas described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the object location method for underground working areas by any other suitable means (e.g., by means of firmware).

[0115] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] Computer programs for implementing the object location method for underground mining areas according to the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0117] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication unit 19, or installed from storage unit 18, or installed from ROM 12. When the computer program is executed by processor 11, it performs the functions defined in the methods of the embodiments of the present invention.

[0118] Example 5 Embodiment 5 of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute an object positioning method for an underground mining operation area. The method is applied to a first base station deployed at a first preset location of a target vehicle. The first base station includes a first module and a positioning module. The first module is used to send a ranging request signal to a first positioning device held by the object in the underground mining operation area and to receive a ranging feedback signal from the first positioning device. Based on the ranging request signal and the ranging feedback signal, the positioning module executes the following method: The first distance information is determined based on the ranging request signals and ranging feedback signals under multiple first ranging time slices within a first preset time period; When the first distance information is detected to meet the preset distance condition, the work object is taken as the object to be located, and the object motion state and target distance of the object to be located relative to the target vehicle are determined according to the first distance information of the object to be located. The system receives ranging data forwarded by a second positioning device and analyzes at least one second distance information in the ranging data to determine the vehicle movement state of the target vehicle. The second positioning device is a positioning device deployed at a second preset location of the target vehicle. The second distance information is determined by a second base station based on ranging signals exchanged with the second positioning device within a first preset time period. The second base station is a base station deployed in the underground mining area. The number of second distance information points is consistent with the number of base stations of the second base station. Based on the vehicle's motion state, the object's motion state, and the target distance, the target location information of the object to be located is determined; wherein, the target location information includes at least: the relative positional relationship between the object to be located and the target vehicle, and the object's position within the mining operation area.

[0119] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0120] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0121] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0122] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0123] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0124] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for object positioning in underground mining areas, characterized in that, A first base station is deployed at a first preset location of a target vehicle. The first base station includes a first module and a positioning module. The first module is used to send a ranging request signal to a first positioning device held by the working object in the mining area and to receive a ranging feedback signal from the first positioning device. Based on the ranging request signal and the ranging feedback signal, the positioning module performs the following method: The first distance information is determined based on the ranging request signals and ranging feedback signals under multiple first ranging time slices within a first preset time period; When the first distance information is detected to meet the preset distance condition, the work object is taken as the object to be located, and the object motion state and target distance of the object to be located relative to the target vehicle are determined according to the first distance information of the object to be located. The system receives ranging data forwarded by a second positioning device and analyzes at least one second distance information in the ranging data to determine the vehicle movement state of the target vehicle. The second positioning device is a positioning device deployed at a second preset location of the target vehicle. The second distance information is determined by a second base station based on ranging signals exchanged with the second positioning device within a first preset time period. The second base station is a base station deployed in the underground mining area. The number of second distance information points is consistent with the number of base stations of the second base station. Based on the vehicle's motion state, the object's motion state, and the target distance, the target location information of the object to be located is determined; wherein, the target location information includes at least: the relative positional relationship between the object to be located and the target vehicle, and the object's position within the mining operation area.

2. The method according to claim 1, characterized in that, The first distance information includes at least: the first distance under multiple first ranging time slices within a first preset time period. The step of determining the object motion state and target distance of the object to be located relative to the target vehicle based on the first distance information of the object to be located includes: Kalman filtering is applied to multiple first distances to determine the average distance value; Perform data fitting processing on multiple first distances and corresponding first ranging time slices to determine the fitting curve; Based on the slope and intercept of the fitted curve, the motion state of the object to be located and the distance value to be processed corresponding to the motion state are determined. The average distance value and the distance value to be processed are substituted into the target distance determination function corresponding to the motion state of the object to determine the target distance.

3. The method according to claim 2, characterized in that, The step of determining the object motion state of the object to be located and the corresponding distance value to be processed based on the slope and intercept of the fitted curve includes: When the slope of the fitted curve exceeds a preset slope threshold, the motion state of the object is determined to be a relative motion state, and the distance to be processed corresponding to the relative motion state is determined to be a first value. When the slope of the fitted curve does not exceed a preset slope threshold, the motion state of the object is determined to be a relatively stationary state. The intercept of the fitted curve is used as the distance value to be processed corresponding to the relatively static state.

4. The method according to claim 1, characterized in that, The second distance information includes: the base station identifier of the second base station that interacts with the second positioning device using ranging signals, and the second distance under multiple second ranging time slices within a first preset time period. Analyzing at least one piece of second distance information in the ranging data to determine the vehicle motion state of the target vehicle includes: For the at least one second distance information, when all the second distances in the second distance information belong to a preset distance range and the distance change information corresponding to the second distance information meets a preset change condition, the second distance information is determined as the distance information to be used; For at least one of the distance information to be used, the base station identifier is filtered based on the distance fluctuation information corresponding to the distance information to be used to determine the third base station; wherein, the third base station is at least one of the second base stations; The distance information to be used corresponding to the third base station is determined as the third distance information; The vehicle's motion state is determined based on the third distance information, the first preset speed threshold, and the second preset speed threshold.

5. The method according to claim 4, characterized in that, The step of determining the vehicle's motion state based on the third distance information, the first preset speed threshold, and the second preset speed threshold includes: Based on the second distance under multiple second ranging time slices in the third distance information, determine the distance difference corresponding to each two ranging processes; Based on the distance difference between each two ranging processes and the second ranging time slice, the vehicle speed change information of the target vehicle within the first preset time period is determined; When the vehicle speed change information is consistent with the first preset speed condition, the vehicle motion state is determined to be a driving state, wherein the first preset speed condition is related to the first preset speed threshold. When the vehicle speed change information is consistent with the second preset speed condition, the vehicle motion state is determined to be a stopped state, wherein the second preset speed condition is related to the second preset speed threshold.

6. The method according to claim 1, characterized in that, The step of determining the target location information of the object to be located based on the vehicle's motion state, the object's motion state, and the target distance includes: When the object is in a relatively stationary state, if the vehicle is in a stopped state and the target distance is less than a first preset distance, or if the vehicle is in a moving state and the target distance is less than a second preset distance, then the object to be located is determined as the target object. Based on the ranging request signals and ranging feedback signals under multiple third ranging time slices within a second preset time period, a fourth distance information with respect to the target object is determined, and the object motion state corresponding to the fourth distance information is determined; wherein, the fourth distance information includes at least: the fourth distance corresponding to each third ranging time slice; When multiple fourth distances are all less than the third preset distance, and the object movement state corresponding to the fourth distance information is relatively stationary, it is determined that the target object is located inside the target vehicle; The object position of the target object is determined based on multiple fourth distances.

7. The method according to claim 1, characterized in that, Also includes: The target location information is sent to the target display terminal and displayed.

8. The method according to claim 1, characterized in that, The method further includes: For mining operation areas where the second base station is not deployed, the vehicle acceleration and angular velocity of the target vehicle within a first preset time period are obtained based on the inertial navigation device deployed at the third preset position of the target vehicle, so as to determine the motion state of the vehicle based on the vehicle acceleration and the vehicle angular velocity.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the object positioning method for an underground working area as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the object positioning method for any one of claims 1-8 in a mining operation area.

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