Downhole positioning method, smart wearable device, positioning system, medium and product

Abstract

This disclosure provides a downhole positioning method, including: acquiring the signal strength of a satellite signal; and determining the position of a smart wearable device based on the signal strength of the satellite signal and a pre-calibrated correspondence between downhole three-dimensional coordinates and signal strength. This disclosure also provides a smart wearable device, a downhole positioning system, and a medium and product.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to an downhole positioning method, a smart wearable device, a positioning system, a medium, and a product. Background Technology

[0002] Current smart wearable devices primarily rely on technologies such as Ultra Wide Band (UWB), WiFi, Bluetooth, and Radio Frequency Identification (RFID) for positioning. However, for equipment used in underground operations, current positioning technologies suffer from drawbacks such as poor signal strength, low positioning accuracy, and latency in rain, snow, waterlogged conditions, and underground environments. Improving the positioning accuracy and reducing latency of smart wearable devices underground are urgent problems to be solved. Summary of the Invention

[0003] This disclosure provides a downhole positioning method, a smart wearable device, a positioning system, a medium, and a product.

[0004] In a first aspect, embodiments of this disclosure provide a downhole positioning method, including:

[0005] Obtain the signal strength of the satellite signal;

[0006] The location of the smart wearable device is determined based on the signal strength of the satellite signal and the pre-calibrated correspondence between the downhole three-dimensional coordinates and the signal strength.

[0007] In a second aspect, embodiments of this disclosure provide a smart wearable device, comprising:

[0008] Antenna, used to receive satellite signals;

[0009] A communication module, electrically connected to the antenna, is used to determine the signal strength of the satellite signal;

[0010] The positioning module is used to determine the location of the smart wearable device based on the signal strength of the satellite signal and the pre-calibrated correspondence between the downhole three-dimensional coordinates and the signal strength.

[0011] Thirdly, embodiments of this disclosure provide a downhole positioning system, including:

[0012] Smart wearable devices, including the smart wearable devices provided in the embodiments of this disclosure.

[0013] The intelligent operation backend is connected to the intelligent wearable device via a signal, and is used to receive location information sent by the intelligent wearable device and send instructions to the intelligent wearable device.

[0014] Fourthly, embodiments of this disclosure provide a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the downhole positioning method provided in this disclosure.

[0015] Fifthly, embodiments of this disclosure provide a computer program product, which includes a computer program that, when executed by a processor, implements the downhole positioning method provided in this disclosure.

[0016] The downhole positioning method in this embodiment determines the location of the smart wearable device based on the signal strength of satellite signals and the pre-calibrated correspondence between the downhole three-dimensional coordinates and the signal strength. Satellite signals have higher signal quality, stronger anti-interference ability, and wider coverage in the well compared to UWB, WiFi, Bluetooth, and RFID signals. Therefore, determining the location of the smart wearable device in the well based on satellite signals is more accurate. Moreover, even if the ground communication network is interrupted, communication can still be maintained, which is helpful for disaster relief work. Attached Figure Description

[0017] In the accompanying drawings of the embodiments disclosed herein:

[0018] Figure 1 A flowchart of a downhole positioning method provided in this disclosure embodiment;

[0019] Figure 2 A flowchart illustrating another downhole positioning method provided in this disclosure embodiment;

[0020] Figure 3 A flowchart illustrating yet another downhole positioning method provided in this disclosure embodiment;

[0021] Figure 4 A flowchart illustrating yet another downhole positioning method provided in this disclosure embodiment;

[0022] Figure 5 This disclosure provides a schematic diagram of the structure of a smart wearable device according to an embodiment;

[0023] Figure 6 This is a schematic diagram showing different calibration depths within the downhole passage in an embodiment of this disclosure;

[0024] Figure 7 This is a diagram showing the relationship between the planar coordinates and signal strength in any horizontal plane within the downhole channel in this embodiment of the present disclosure;

[0025] Figure 8 This is a schematic diagram of the structure of a downhole positioning system provided in an embodiment of the present disclosure;

[0026] Figure 9 This is a schematic diagram of another downhole positioning system provided in an embodiment of the present disclosure;

[0027] Figure 10 A schematic diagram of the working principle of a relay base station provided in an embodiment of this disclosure;

[0028] Figure 11 This is a schematic diagram of the structure of a relay base station provided in an embodiment of the present disclosure;

[0029] Figure 12 This is a schematic diagram illustrating the operation of a relay base station and a smart wearable device according to an embodiment of this disclosure. Detailed Implementation

[0030] To enable those skilled in the art to better understand the technical solutions of this disclosure, the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0031] The present disclosure will be described more fully below with reference to the accompanying drawings; however, the embodiments shown may be embodied in different forms, and the present disclosure should not be construed as limited to the embodiments set forth below. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will enable those skilled in the art to fully understand the scope of the disclosure.

[0032] The accompanying drawings of the embodiments disclosed herein are provided to further illustrate the embodiments of this disclosure and form part of the specification. They are used together with the detailed embodiments to explain this disclosure and do not constitute a limitation thereof. The above and other features and advantages will become more apparent to those skilled in the art from the description of the detailed embodiments with reference to the accompanying drawings.

[0033] This disclosure may be described with reference to plan and / or cross-sectional views using the ideal schematic diagrams of this disclosure. Therefore, the example illustrations may be modified according to manufacturing techniques and / or tolerances.

[0034] Where there is no conflict, the various embodiments of this disclosure and the features thereof in the embodiments may be combined with each other.

[0035] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the disclosure. The term "and / or" as used in this disclosure includes any and all combinations of one or more of the associated enumerated entries. The singular forms "a" and "the" as used in this disclosure are also intended to include the plural forms, unless the context clearly indicates otherwise. The terms "comprising," "made of," etc., as used in this disclosure specify the presence of the stated feature, integral, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof.

[0036] Unless otherwise specified, all terms used in this disclosure (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined in this disclosure.

[0037] This disclosure is not limited to the embodiments shown in the accompanying drawings, but includes modifications to the configuration based on the manufacturing process. Therefore, the areas illustrated in the drawings are schematic, and the shapes of the areas shown illustrate specific shapes of the areas of an element, but are not intended to be limiting.

[0038] Downhole positioning typically uses communication signals such as UWB, Bluetooth, WiFi, and RFID. However, UWB signals have limited transmission capacity, leading to inaccurate positioning when encountering obstacles. Bluetooth signals are prone to transmission delays and stuttering when transmitting large amounts of data. In damp, dusty, or vibrating underground environments, WiFi and RFID signals are susceptible to signal blind spots. Furthermore, the complex underground environment is prone to reflection, refraction, and absorption, causing inaccurate positioning. Additionally, interference between different devices operating on the same frequency can also affect positioning accuracy.

[0039] In a first aspect, embodiments of this disclosure provide a downhole positioning method, which employs the downhole positioning system provided in embodiments of this disclosure and can accurately determine the location of a smart wearable device.

[0040] Figure 1 This is a flowchart illustrating a downhole positioning method provided in an embodiment of this disclosure. Figure 1 As shown, the downhole positioning method provided in this embodiment includes:

[0041] Step S101: Obtain the signal strength of the satellite signal.

[0042] The signal strength of satellite signals can be read by the communication module in smart wearable devices.

[0043] Step S102: Determine the location of the smart wearable device based on the signal strength of the satellite signal and the pre-calibrated correspondence between the downhole three-dimensional coordinates and the signal strength.

[0044] The positioning module in a smart wearable device can demodulate the current location of the smart wearable device based on stored parameters, where the parameters are position parameters used to demodulate the coordinate position. This disclosure does not limit the specific form of the parameters.

[0045] The downhole positioning method in this embodiment determines the location of the smart wearable device in the well based on the signal strength of satellite signals and the pre-calibrated correspondence between the three-dimensional coordinates and signal strength in the well. Compared with UWB, WiFi, Bluetooth, and RFID signals, satellite signals have higher signal quality, stronger anti-interference ability, and wider coverage in the well. Therefore, determining the location of the smart wearable device in the well based on satellite signals is more accurate. Moreover, even if the ground communication network is interrupted, communication can still be maintained, which is helpful for disaster relief work.

[0046] In some embodiments, the correspondence between downhole three-dimensional coordinates and signal intensity is obtained through the following steps: acquiring the signal intensity at different calibration depths within the downhole channel and establishing a correspondence between depth coordinates and signal intensity; for any calibration depth, acquiring the signal intensity at different calibration plane coordinates within the horizontal plane where the calibration depth is located and establishing a correspondence between plane coordinates and signal intensity; and establishing a correspondence between downhole three-dimensional coordinates and signal intensity based on the correspondence between depth coordinates and signal intensity, as well as the correspondence between plane coordinates and signal intensity.

[0047] For example, suppose there are two underground tunnels, each with a known depth, used as the calibration depth. Each tunnel has a relay base station. A smart wearable device is used to individually test the signal strength of the satellite signals relayed by each relay base station, obtaining the correspondence between depth coordinates and signal strength. For any relay base station, the signal strength at different calibration plane coordinates within the horizontal plane where the base station is located is obtained, and then a correspondence between plane coordinates and signal strength is established. Based on the correspondence between depth coordinates and signal strength, and the correspondence between plane coordinates and signal strength, a correspondence between the underground three-dimensional coordinates and signal strength is established.

[0048] In some embodiments, after acquiring the signal strength of the satellite signal, the method further includes establishing a signal connection between the smart wearable device and the relay base station corresponding to the first satellite signal if the signal strength of the first satellite signal is greater than the signal strength of the second satellite signal. The first satellite signal and the second satellite signal are satellite signals forwarded by relay base stations located at different locations.

[0049] The first satellite signal and the second satellite signal are satellite signals relayed by two adjacent relay base stations. The smart wearable device determines which relay base station to switch to based on the signal strength of the first and second satellite signals. When the signal strength of the first satellite signal is greater than that of the second satellite signal, the smart wearable device switches to the relay base station corresponding to the first satellite signal.

[0050] Figure 2This is a flowchart illustrating an embodiment of an underground positioning method provided in this disclosure. Taking an example where a first relay base station is located at the wellhead and a second relay base station is located within the underground tunnel, the method pre-sets handover thresholds. The first relay base station corresponds to a first signal handover threshold, and the second relay base station corresponds to a second handover threshold. The first handover threshold is determined by pre-calibrating the signal strength of the first relay base station at different locations. The second handover threshold is determined by pre-setting the signal strength of the second relay base station at different locations.

[0051] like Figure 2 As shown, downhole positioning methods include:

[0052] Step S201: Obtain the signal strength S1 when the smart wearable device is not connected to the first relay base station.

[0053] Step S202: Determine whether the signal strength S1 has reached the first switching threshold. If not, proceed to step S203; otherwise, proceed to step S206.

[0054] Step S203: The smart wearable device does not connect to the first relay base station (the relay base station set at the wellhead).

[0055] Step S204: The smart wearable device acquires satellite signals from multiple satellites.

[0056] Step S205: The smart wearable device determines its current location (X0, Y0, H0) based on multiple satellite signals.

[0057] Step S206: The smart wearable device connects to the first relay base station.

[0058] Step S207: The smart wearable device acquires the signal strength S2 of the satellite signal.

[0059] Step S208: Determine whether the signal strength S2 is greater than the signal strength S1. If yes, proceed to step S209; otherwise, continue to step S203.

[0060] Step S209: The smart wearable device maintains access to the first relay base station.

[0061] Step S210: Continue to acquire the signal strength S2 of the satellite signal.

[0062] Step S211: Determine whether the signal strength S2 has reached the second switching threshold. If not, proceed to step S212; if yes, proceed to step S215.

[0063] Step S212: The smart wearable device maintains access to the first relay base station.

[0064] Step S213: Obtain the signal strength of the satellite signal forwarded by the first relay base station, as well as the correspondence between the signal strength and the horizontal plane coordinates and altitude.

[0065] Step S214: Determine the current position (X1, Y1, H1) of the smart wearable device based on the correspondence between the signal strength of the satellite signal and the horizontal plane coordinates and altitude.

[0066] Step S215: The smart wearable device connects to the second relay base station (the relay base station set up in the underground tunnel).

[0067] Step S216: Obtain the signal strength S3 of the satellite signal relayed by the second relay base station.

[0068] Step S217: Determine whether the signal strength S3 is greater than the signal strength S2. If yes, proceed to step S218; otherwise, continue to step S212.

[0069] Step S218: The smart wearable device maintains access to the second relay base station.

[0070] Step S219: The smart wearable device obtains the correspondence between the three-dimensional coordinates downhole and the signal strength.

[0071] Step S220: Based on the correspondence between the signal strength S3 of the satellite signal relayed by the second relay base station and the three-dimensional coordinates and signal strength in the well, determine the position (X2, Y2, H2) of the smart wearable device in the well.

[0072] If the location of the smart wearable device is between the calibrated coordinate points, the specific location of the smart wearable device can be determined by interpolation.

[0073] In some embodiments, determining the location of the smart wearable device in the well based on the signal strength of the satellite signal and the pre-calibrated correspondence between the three-dimensional coordinates in the well and the signal strength includes: determining the coordinate range of the smart wearable device in the well based on the signal strength of the satellite signal and the pre-calibrated correspondence between the three-dimensional coordinates in the well and the signal strength; and determining the location of the smart wearable device in the well based on the coordinate range using an interpolation method.

[0074] As previously stated, the correspondence between downhole 3D coordinates and signal strength is established based on the calibrated coordinate points and the signal strength of the satellite signal measured at those points. When the smart wearable device is located precisely at the calibrated coordinate point, its exact position can be determined based on this correspondence. When the smart wearable device is located between two coordinate points, the coordinate interval between the two points can be obtained first, and then interpolation can be used to determine the device's position downhole.

[0075] In some embodiments, the coordinate interval includes two or more downhole three-dimensional calibration coordinate points.

[0076] Based on a coordinate interval, the location of the smart wearable device in the well is determined by interpolation, including: based on two or more three-dimensional calibration coordinate points in the well, at least one three-dimensional interpolated coordinate point is interpolated in the coordinate interval; the three-dimensional interpolated coordinate point whose signal strength is closest to that of the satellite signal is determined as the location of the smart wearable device in the well.

[0077] For example, the coordinate interval includes the calibration coordinate point (X1, Y1) and the calibration coordinate point (X1, Y5). Using interpolation, three interpolated coordinate points are inserted between the calibration coordinate points (X1, Y1) and (X1, Y5), such as (X1, Y2), (X1, Y3) and (X1, Y4). If the signal strength of the interpolated coordinate point (X1, Y3) is closest to the signal strength of the satellite signal, then the interpolated coordinate point (X1, Y3) is the specific location of the smart wearable device underground.

[0078] In some embodiments, when the location of the smart wearable device is stable, an alarm message is generated based on the location of the smart wearable device, the number of other smart wearable devices within a preset distance range, and a preset number threshold.

[0079] After determining the location of the smart wearable device, the intelligent operation backend uses that location as the center to determine the number of smart wearable devices within a preset radius. If there are no other smart wearable devices within this radius, a single-person alarm message is sent to that smart wearable device. If the intelligent operation backend determines that the number of smart wearable terminals unable to report satellite signals exceeds a preset threshold, an emergency alarm is issued. If the intelligent operation backend determines that the number of smart wearable terminals unable to report satellite signals is less than or equal to the preset threshold, an alert signal is sent to the smart wearable device, which emits a weak vibration alert, and the intelligent operation backend displays the device number of the malfunctioning smart wearable device.

[0080] In some embodiments, alarm information includes one or more of the following: individual soldier reminder information, weak signal information, equipment failure information, and emergency alarm information.

[0081] Figure 3 A flowchart illustrating another downhole positioning method provided in this disclosure. Figure 3 As shown, downhole positioning methods include:

[0082] Step S301: Obtain the signal strength of the satellite signal.

[0083] Step S302: Based on the signal strength of the satellite signal and the correspondence between the three-dimensional coordinates and the signal strength in the well, determine the coordinate range (Xa, Xb), (Ya, Yb) and (Ha, Hb) of the smart wearable device in the well.

[0084] Step S303: Determine the specific location (X1, Y1, H1) of the smart wearable device using interpolation and coordinate intervals, and report the specific location to the smart system backend.

[0085] Step S304: Should we continue reading the signal strength? If yes, proceed to step S302; otherwise, proceed to step S304.

[0086] If the signal strength of the smart wearable device can be read continuously, then reading the signal strength of the smart wearable device can be stopped; if the signal strength of the smart wearable device cannot be read continuously, then reading the signal strength of the smart wearable device should continue. For example, if the signal strength of the smart wearable device can be read 10 times continuously, then reading the signal strength of the smart wearable device should be stopped; otherwise, reading the signal strength of the smart wearable device should continue.

[0087] Step S305: Obtain the signal strength of other smart transmission devices near the current location of the smart wearable device.

[0088] Step S306: Is the number of smart wearable devices that cannot report satellite signals greater than a preset threshold? If yes, proceed to step S307; otherwise, proceed to step S308.

[0089] Step S307: The intelligent operation backend issues an emergency alarm message.

[0090] In step S308, the intelligent operation backend sends a weak signal message to the intelligent wearable device, and at the same time, the intelligent operation backend displays a device fault message.

[0091] To better understand this disclosure, the workflow of the intelligent operation backend, relay base station, and intelligent wearable device is described below.

[0092] Figure 4 A flowchart illustrating another downhole positioning method provided in this disclosure. Figure 4 As shown, downhole positioning methods include:

[0093] Step S401: Set the process flow in the intelligent operation background.

[0094] The embodiments disclosed herein do not limit the specific steps of the workflow.

[0095] Step S402: The intelligent operation backend issues instructions.

[0096] The instructions include, but are not limited to, instructions for accessing a relay base station and instructions for switching relay base stations.

[0097] In step S403, the smart wearable device determines whether it has received a relay base station command. If not, proceed to step S404; if yes, proceed to step S412.

[0098] In step S403, the smart wearable device determines whether the instruction sent by the relay base station is an instruction to access the relay base station or an instruction not to access the relay base station. If not, step S404 is executed; if yes, step S407 is executed.

[0099] Step S404: The smart wearable device does not connect to the relay base station.

[0100] When the smart wearable device is not connected to the relay base station, it continues to receive satellite signals transmitted by the satellite.

[0101] In step S405, the smart wearable device obtains the signal strength of the satellite signal at the calibration coordinate point and sends the calibration coordinate point and the signal strength of the satellite signal to the smart operation backend.

[0102] In step S406, the smart wearable device processes the signal strength of multiple calibration coordinate points and satellite signals in batches, obtains the correspondence between calibration coordinate points and signal strength, and sends the correspondence between calibration coordinate points and signal strength to the smart operation backend.

[0103] Step S407: The smart wearable device connects to the relay base station.

[0104] When a smart wearable device connects to a relay base station, it receives satellite signals relayed by the base station. At this time, the smart wearable device knows which relay base station it is connecting to.

[0105] Step S408: The smart wearable device obtains the signal strength of the satellite signal at the calibrated coordinate point.

[0106] In step S409, the smart wearable device batch processes different calibration coordinate points and the signal strength of the calibration coordinate points to obtain the correspondence between the calibration coordinate points and the signal strength, and sends the correspondence between the calibration coordinate points and the signal strength to the smart operation backend.

[0107] It should be noted that when there are multiple relay base stations, smart wearable devices can measure the signal strength of each relay base station at different calibration coordinate points.

[0108] In step S410, the intelligent operation backend receives and stores the correspondence between the calibration coordinate points and the signal strength.

[0109] Step S411: The intelligent operation background sorts out and compares the signal strength of different relay base stations at different calibration coordinate points.

[0110] Step S412: Based on the comparison results, set the handover threshold between relay base stations and the handover threshold for whether to access a relay base station.

[0111] Step S413: The smart wearable device determines whether to connect to a relay base station and which relay base station to connect to based on the signal strength of the received satellite signal.

[0112] In step S414, the intelligent operation backend receives the signal strength reported by the intelligent wearable device and determines whether the message is a normal message, a soldier reminder message, or an emergency alarm message.

[0113] When the intelligent operation backend generates a normal status message for the smart wearable device, it can display "Device is normal" on the screen. When the intelligent operation backend generates a personal alert message, it sends the message to the smart wearable device, which receives it and alerts the staff in a preset manner. When the intelligent operation backend generates an emergency alarm message, it can display the emergency alarm message on the screen.

[0114] Secondly, embodiments of this disclosure provide a smart wearable device.

[0115] Figure 5 This disclosure provides a schematic diagram of the structure of a smart wearable device according to an embodiment. (See attached diagram.) Figure 5 As shown, the smart wearable device provided in this embodiment includes:

[0116] Antenna 11 is used to receive satellite signals.

[0117] Satellite signals refer to signals that can be received and recognized by satellites. For example, satellite signals are signals used by satellites operating in the same frequency band. Antenna 11 can receive satellite signals and also transmit satellite signals to satellites.

[0118] The communication module 12 is electrically connected to the antenna and is used to determine the signal strength of the satellite signal.

[0119] The communication module 12 includes software for signal strength detection, which can determine the signal strength based on the satellite signals received by the antenna 11. This embodiment does not limit the specific form of the software.

[0120] The communication module 12 can also demodulate the satellite signals received by the antenna 11, convert the signal to be transmitted into an electrical signal, perform debugging and amplification on the electrical signal, and transmit the amplified satellite signal to the satellite. After receiving the signal from the communication module 12, the satellite can amplify, frequency convert, and redirect the signal before retransmitting it. The communication module 12 can also calculate the time it takes for the satellite signal to travel from the satellite to the smart wearable device based on the timestamp information in the satellite signal.

[0121] The positioning module 13 is used to determine the location of the smart wearable device in the well based on the signal strength of the satellite signal and the pre-calibrated correspondence between the three-dimensional coordinates and the signal strength in the well.

[0122] The underground three-dimensional coordinates include the underground depth and different positions within a plane containing any given underground depth. For example, the underground three-dimensional coordinates can be represented using X, Y, and H, where X and Y represent the horizontal and vertical coordinates within a plane containing any given underground depth, and H represents the underground depth. "Underground" includes, but is not limited to, underground mine shafts.

[0123] Satellite signal strength varies at different locations underground. By pre-establishing the correspondence between underground three-dimensional coordinates and signal strength, and by finding the correspondence between the detected satellite signal strength and the underground three-dimensional coordinates, the location of the smart wearable device underground can be determined, thus enabling the positioning of the smart wearable device underground.

[0124] In some embodiments, the correspondence between downhole three-dimensional coordinates and signal intensity is obtained through the following steps:

[0125] The signal strength of satellite signals at different calibration depths within the downhole channel is obtained, and the correspondence between depth coordinates and signal strength is established. For any calibration depth, the signal strength of satellite signals at different planar coordinates within the plane containing that calibration depth is obtained, and the correspondence between planar coordinates and signal strength is established. Based on the correspondence between depth coordinates and signal strength, as well as the correspondence between planar coordinates and signal strength, the correspondence between downhole three-dimensional coordinates and signal strength is established.

[0126] For example, Figure 6 This is a schematic diagram showing different calibration depths within the downhole passage in an embodiment of this disclosure. For example... Figure 6As shown, the underground tunnel is typically a downward-sloping tunnel. The depth of the underground tunnel is pre-measured, and several known depths are used as calibration depths, such as calibration depths H0, -H1, ..., -H4. The difference between two adjacent calibration depths can be arbitrarily set, and this embodiment does not limit this. A smart wearable device is placed at each calibration depth to receive satellite signals and determine the signal strength based on the satellite signals. After obtaining the signal strength corresponding to each calibration depth, a correspondence between depth coordinates and satellite signal strength is established. As the calibration depth increases, the satellite signal strength decreases.

[0127] For example, Figure 7 This diagram illustrates the relationship between planar coordinates and signal strength within any horizontal plane in the underground passage, as shown in this embodiment. The horizontal axis represents the first direction, and the vertical axis represents the second direction. Figure 7 As shown, the distances in the first and second directions within any plane in the underground tunnel are pre-measured, and a smart wearable device is placed at a predetermined calibration plane coordinate position. The smart wearable device measures the signal strength at the calibration plane coordinate position. For example, the calibration coordinates in the first direction are -X5, -X4, -X3, -X2, -X1, X0, X1, X2, X3, X4, and X5, and the calibration coordinates in the second direction are -Y5, -Y4, -Y3, -Y2, ​​-Y1, Y0, Y1, Y2, Y3, Y4, and Y5. The calibration plane coordinates are the intersection points (calibration coordinate points) of the calibration coordinates in the first and second directions, such as (-X5, -Y5), (-X5, -Y4), (-X2, Y4), (X0, Y0), (X1, -Y3), (X3, Y5), and (X5, Y5), etc. By using smart wearable devices to measure the signal strength at the calibrated plane coordinate position, the correspondence between the plane coordinates and the signal strength in that horizontal plane can be obtained.

[0128] Based on the correspondence between depth coordinates and signal intensity, and the correspondence between the planar coordinates corresponding to different depths and signal intensity, a correspondence between downhole three-dimensional coordinates and signal intensity is established.

[0129] In this embodiment of the disclosure, if the satellite signal weakens in the underground tunnel, a relay base station can be used to amplify the satellite signal. When measuring the signal strength of the satellite signal, the correspondence between the plane coordinates and the signal strength is obtained with the relay base station as the center. That is, the relay base station is used as (X0, Y0). The farther away from the relay base station, the weaker the satellite signal strength.

[0130] In this embodiment of the disclosure, when the smart wearable device is exactly located at the calibration coordinate point, its position can be accurately determined based on the correspondence between the downhole three-dimensional coordinates and the signal strength. However, the smart wearable device may be located between two calibration coordinate points. In this case, interpolation can be used to determine the specific position of the smart wearable device.

[0131] In some embodiments, the positioning module includes a coarse positioning submodule 131 and a fine positioning submodule 132. The coarse positioning submodule 131 is used to determine the coordinate range of the smart wearable device in the well based on the signal strength of the satellite signal and the pre-calibrated correspondence between the three-dimensional coordinates in the well and the signal strength. The fine positioning submodule 132 is used to determine the position of the smart wearable device in the well based on the coordinate range using an interpolation method.

[0132] If the location of the smart wearable device is between the calibrated coordinate points, the precise positioning submodule 132 needs to use interpolation to determine the specific location of the smart wearable device.

[0133] In some embodiments, the precision positioning submodule is used to interpolate at least one three-dimensional interpolated coordinate point in the coordinate interval based on two or more downhole three-dimensional calibration coordinate points using an interpolation method; and to determine the three-dimensional interpolated coordinate point whose signal strength is closest to that of the satellite signal among the signal strengths corresponding to at least one three-dimensional interpolated coordinate point as the downhole position of the smart wearable device.

[0134] For example, the coordinate interval includes the calibration coordinate point (X1, Y1) and the calibration coordinate point (X3, Y3). Using interpolation, seven interpolated coordinate points are added between the calibration coordinate points (X1, Y1) and (X3, Y3), such as (X1, Y2), (X1, Y3), (X2, Y1), (X2, Y2), (X2, Y3), (X3, Y1), and (X3, Y2). If the signal strength of the interpolated coordinate point (X2, Y2) is closest to the signal strength of the satellite signal, then the interpolated coordinate point (X2, Y2) is the specific location of the smart wearable device underground.

[0135] In some embodiments, the smart wearable device further includes a reporting module for sending the location information of the smart wearable device to the smart operation backend, wherein the smart operation backend is used to manage the smart wearable device.

[0136] The intelligent operation backend is used to manage smart wearable devices, for example, by issuing alarm information based on the location of the smart wearable device.

[0137] After determining its location, the smart wearable device sends its location information to the intelligent operation backend via a reporting module. When there is only one smart wearable device in a certain area, the intelligent operation backend sends a single-person alert to that device. When there are multiple smart wearable devices in a certain area, the intelligent operation backend sends an emergency alert to all smart wearable devices in that area.

[0138] In some embodiments, the smart wearable device further includes an alarm module for issuing alarms based on alarm commands issued by the smart operation backend. The alarm module can issue different alarms for different alarm commands. For example, when the smart operation backend issues a single-soldier reminder alarm, the alarm module can issue a short, sharp sound. When the smart operation backend issues an emergency alarm, the alarm module can issue a continuous, piercing sound.

[0139] In this embodiment, the smart wearable device includes one or more of a smart mining lamp and a smartwatch. The satellite can be an existing satellite, such as the Tiantong satellite; this disclosure does not limit the type of satellite.

[0140] The smart wearable device in this embodiment utilizes a communication module to determine the signal strength of satellite signals. The positioning module determines the location of the smart wearable device underground based on the signal strength of the satellite signals and the pre-calibrated correspondence between the three-dimensional coordinates and the signal strength in the well. Compared with UWB, WiFi, Bluetooth, and RFID signals, satellite signals have higher signal quality, stronger anti-interference capabilities, and wider coverage underground. Therefore, determining the location of the smart wearable device underground based on satellite signals is more accurate. Moreover, even if the ground communication network is interrupted, communication can still be maintained, which is helpful for disaster relief work.

[0141] Thirdly, embodiments of this disclosure provide a downhole positioning system.

[0142] Figure 8 This is a schematic diagram of a downhole positioning system provided in an embodiment of this disclosure. Figure 8 As shown, the downhole positioning system provided in this embodiment includes:

[0143] The smart wearable device 41 adopts the smart wearable device provided in this embodiment. This smart wearable device can determine its position in the well based on the signal strength of the satellite signal and the pre-calibrated correspondence between the three-dimensional coordinates and the signal strength in the well.

[0144] The intelligent operation backend 42 is connected to the intelligent wearable device 41 via a signal connection. It is used to receive location information sent by the intelligent wearable device 41 and to send commands to the intelligent wearable device. The intelligent operation backend 42 and the intelligent wearable device 41 can be connected via a wired or wireless signal connection.

[0145] In some embodiments, the intelligent operation backend 42 and the intelligent wearable device 41 are connected via satellite signal. Since satellite signals have good quality, wide coverage, short latency, and are not easily affected by external environmental interference, the timeliness and accuracy of information interaction between the intelligent operation backend 42 and the intelligent wearable device 41 can be guaranteed.

[0146] When the smart wearable device 41 can directly receive satellite signals transmitted by the satellite, it can use data signals such as timestamps in the satellite signals to obtain the time it takes for the satellite signal to travel from the satellite to the smart wearable device, calculate the distance between the satellite and the smart wearable device, and obtain the position of the satellite from the satellite signals. By determining the distance between the satellite and the smart wearable device based on the satellite signals transmitted by multiple satellites (greater or equal to three), the specific position of the smart wearable device can be determined.

[0147] In some embodiments, such as Figure 9 As shown, the underground positioning system also includes: a relay base station 43, used to forward and amplify satellite signals, which is set at different depths within the underground tunnel and / or at different locations at the same depth within the underground tunnel.

[0148] Relay base station 43 can process and forward satellite signals, extending the satellite signal range. This can solve problems such as poor satellite signal quality, obstruction and reflection in underground tunnels, and help improve the reliability of smart wearable devices receiving satellite signals.

[0149] Figure 10 This is a schematic diagram illustrating the working principle of a relay base station provided in an embodiment of this disclosure. Figure 10 As shown, after receiving the satellite signal transmitted by the satellite 44, the relay base station 43 amplifies the satellite signal and forwards the amplified satellite signal. Multiple smart wearable devices 41 can receive the satellite signal forwarded by the relay base station 43.

[0150] Figure 11 This is a schematic diagram of the structure of a relay base station provided in an embodiment of this disclosure. Figure 11 As shown, the relay base station includes a low-noise amplifier 71, a down-conversion module 72, an intermediate frequency (IF) module 73, an up-conversion module 74, and a power amplifier 75. The low-noise amplifier 71 amplifies the received satellite signal. The down-conversion module 72 converts the amplified satellite signal into an IF signal. The IF module 73 filters the satellite signal to remove noise interference and further amplifies it. The up-conversion module 74 converts the amplified IF signal into a high-frequency signal. The power amplifier 75 amplifies the high-frequency signal. The amplified high-frequency signal is then received by the smart wearable device 41.

[0151] One or more relay base stations 43 can be set up within the underground tunnel. When the underground tunnel is deep, relay base stations 43 can be set up at different depths. When the area at the same depth is large, multiple relay base stations 43 can be set up at the same depth. If the spacing between relay base stations 43 is too small, it will waste hardware resources and prevent smart wearable devices from receiving satellite signals. Therefore, the spacing between relay base stations 43 should not affect the smart wearable devices' ability to receive satellite signals; the greater the distance, the better.

[0152] like Figure 9 As shown, this application scenario includes an underground tunnel, within which one or more relay base stations 43 (only one is shown in the figure) can be installed. The relay base station 43 and the smart wearable device 41 constitute a local area network for positioning within the underground tunnel.

[0153] In order to reduce the impact of extreme weather such as rain and snow on satellite signal quality, in some embodiments, a relay base station 43 is set at the wellhead of the underground passage. The relay base station 43 can demodulate and amplify the satellite signal.

[0154] For example, a relay base station 43 is set up at the wellhead of the underground passage, and the relay base station 43 is used for primary amplification; at the center of the horizontal projection of the working area, a relay base station 43 is set up at the intermediate value of the depth of the underground passage, and the relay base station 43 is used for secondary amplification. This can ensure that smart wearable devices in the underground passage can be covered by satellite signals.

[0155] Figure 12 This is a schematic diagram illustrating the operation of a relay base station and a smart wearable device according to an embodiment of this disclosure. Figure 12 As shown, a relay base station 43 is set at the median and maximum depth values ​​of the downhole working area, and the relay base station 43 is located at the center of the horizontal projection of the working area. The smart wearable device 41 can receive satellite signals relayed by the relay base station 43, but the signal strength of the satellite signals received by the smart wearable device 41 at different locations is different.

[0156] In some embodiments, the smart wearable device includes a reporting module for sending the location information of the smart wearable device to the smart operation backend.

[0157] The intelligent operation backend is also used to generate alarm information based on the location of the smart wearable device, the number of other smart wearable devices within a preset distance range, and a preset number threshold.

[0158] The preset quantity threshold can be set by the user. This disclosure does not limit the specific value of the preset quantity threshold. For example, the preset quantity threshold is 1.

[0159] After determining the location of the smart wearable device, the intelligent operation backend uses that location as the center to determine the number of smart wearable devices within a preset radius. If there are no other smart wearable devices within that radius, a single-person alarm message is sent to that smart wearable device.

[0160] In special circumstances, such as mine collapses, the location information of multiple smart wearable devices can be collected simultaneously. The coordinates of the smart wearable devices during normal operation are compared with the currently read coordinates. When certain conditions are met, the intelligent operation backend issues an alarm message and obtains relatively accurate current coordinates, which facilitates the positioning of smart wearable devices and the rescue of workers.

[0161] The downhole positioning system provided in this embodiment utilizes the smart wearable device provided in this embodiment, the signal strength of the communication satellite signal, and the pre-calibrated correspondence between the downhole three-dimensional coordinates and the signal strength to determine the downhole location of the smart wearable device. The location of the smart wearable device is then sent to the smart operation backend, which issues corresponding instructions based on the location of the smart wearable device. Since satellite signals have higher signal quality, stronger anti-interference capabilities, and wider coverage in the downhole channel compared to UWB, WiFi, Bluetooth, and RFID signals, determining the downhole location of the smart wearable device based on satellite signals is more accurate. Moreover, even if the ground communication network is interrupted, communication can still be maintained, which is helpful for disaster relief work.

[0162] Fourthly, embodiments of this disclosure also provide a computer-readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any one of the downhole positioning methods in embodiments of this disclosure.

[0163] Fifthly, this disclosure also provides a computer program product, which includes a computer program that, when executed by a processor, implements any one of the downhole positioning methods in this disclosure.

[0164] Among them, the processor is a device with data processing capabilities, including but not limited to the central processing unit (CPU); the memory is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) is connected between the processor and the memory, enabling information exchange between the memory and the processor, including but not limited to the data bus (Bus).

[0165] Those skilled in the art will understand that all or some of the steps, systems, and devices disclosed above, as functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0166] In hardware implementations, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be executed by several physical components working together.

[0167] Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit (CPU), digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technique for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH) or other disk storage; read-only optical disc (CD-ROM), digital versatile disc (DVD) or other optical disc storage; magnetic cartridges, magnetic tapes, disk storage or other magnetic storage; and any other media that can be used to store desired information and can be accessed by a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0168] This disclosure has disclosed exemplary embodiments, and although specific terminology has been used, it is for general illustrative purposes only and should not be construed as limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of this disclosure as set forth by the appended claims.

Claims

1. A downhole positioning method, comprising: Obtain the signal strength of the satellite signal; The location of the smart wearable device is determined based on the signal strength of the satellite signal and the pre-calibrated correspondence between the downhole three-dimensional coordinates and the signal strength.

2. The downhole positioning method according to claim 1, wherein, The determination of the location of the smart wearable device underground based on the signal strength of the satellite signal and the pre-calibrated correspondence between the three-dimensional coordinates and the signal strength includes: The coordinate range of the smart wearable device in the well is determined based on the signal strength of the satellite signal and the pre-calibrated correspondence between the three-dimensional coordinates in the well and the signal strength. Based on the coordinate range, the location of the smart wearable device underground is determined using interpolation.

3. The downhole positioning method according to claim 2, wherein, The coordinate interval includes two or more downhole three-dimensional calibration coordinate points; The step of determining the location of the smart wearable device underground using interpolation based on the coordinate interval includes: Based on two or more downhole three-dimensional calibration coordinate points, at least one three-dimensional interpolated coordinate point is added in the coordinate interval using the interpolation method. The three-dimensional interpolation coordinate point whose signal strength is closest to that of the satellite signal among the signal strengths corresponding to the at least one three-dimensional interpolation coordinate point is determined as the location of the smart wearable device underground.

4. The downhole positioning method according to claim 1, wherein, The correspondence between the downhole three-dimensional coordinates and the signal intensity is obtained through the following steps: Obtain the signal intensity at different calibration depths within the downhole channel, and establish the correspondence between depth coordinates and the signal intensity; For any given calibration depth, obtain the signal intensity at different calibration plane coordinates within the horizontal plane where the calibration depth is located, and establish the correspondence between the plane coordinates and the signal intensity; The correspondence between the downhole three-dimensional coordinates and the signal intensity is established based on the correspondence between the depth coordinates and the signal intensity, as well as the correspondence between the planar coordinates and the signal intensity.

5. The downhole positioning method according to any one of claims 1-4, wherein, After acquiring the signal strength of the satellite signal, the process also includes: When the signal strength of the first satellite signal is greater than that of the second satellite signal, the smart wearable device establishes a signal connection with the relay base station corresponding to the first satellite signal, wherein the first satellite signal and the second satellite signal are satellite signals forwarded by relay base stations located at different locations.

6. The downhole positioning method according to any one of claims 1-4, wherein, After determining the location of the smart wearable device underground based on the signal strength of the satellite signal and the pre-calibrated correspondence between the three-dimensional coordinates and the signal strength in the well, the process includes: When the position of the smart wearable device is stable, an alarm message is generated based on the position of the smart wearable device, the number of other smart wearable devices within a preset distance range, and a preset number threshold.

7. The downhole positioning method according to claim 6, wherein, The alarm information includes one or more of the following: individual soldier reminder information, weak signal information, equipment failure information, and emergency alarm information.

8. A smart wearable device, comprising: Antenna, used to receive satellite signals; A communication module, electrically connected to the antenna, is used to determine the signal strength of the satellite signal; The positioning module is used to determine the location of the smart wearable device based on the signal strength of the satellite signal and the pre-calibrated correspondence between the downhole three-dimensional coordinates and the signal strength.

9. The smart wearable device according to claim 8, wherein, The positioning module includes: The coarse positioning submodule is used to determine the coordinate range of the smart wearable device in the well based on the signal strength of the satellite signal and the pre-calibrated correspondence between the three-dimensional coordinates in the well and the signal strength. The precision positioning submodule is used to determine the position of the smart wearable device underground based on the coordinate interval using an interpolation method.

10. The smart wearable device according to claim 9, wherein, The precise positioning submodule is used to interpolate at least one three-dimensional interpolated coordinate point in the coordinate interval based on two or more downhole three-dimensional calibration coordinate points using the interpolation method; and to determine the three-dimensional interpolated coordinate point whose signal strength is closest to that of the satellite signal among the signal strengths corresponding to the at least one three-dimensional interpolated coordinate point as the downhole position of the smart wearable device.

11. A downhole positioning system, comprising: A smart wearable device, including the smart wearable device according to any one of claims 8-10; The intelligent operation backend is connected to the intelligent wearable device via a signal, and is used to receive location information sent by the intelligent wearable device and send instructions to the intelligent wearable device.

12. A computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the downhole positioning method of any one of claims 1 to 7.

13. A computer program product comprising a computer program that, when executed by a processor, implements the downhole positioning method according to any one of claims 1 to 7.

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