CN112098931A - Tunnel positioning system and ranging method based on light strip - Google Patents

Abstract

The invention discloses a tunnel positioning system based on light strips. The positioning system comprises: at least one light strip assembly, each light strip assembly includes: a light strip main body, a communication bus is arranged in the light strip main body; at least one positioning beacon , at least one positioning beacon is arranged on the main body of the light strip and is connected to the communication bus, and each positioning beacon is used to obtain the positioning signal of the device to be positioned; the positioning relay base station, which is connected to one end of the main body of the light strip, is connected to one end of the main body of the light strip. The communication bus is connected to obtain the positioning signal; the carrier router is connected to the positioning relay base station in each light strip assembly to obtain the positioning signal; the background server is connected to the carrier router to obtain the positioning signal, according to the positioning signal Calculate the positioning result. Therefore, the tedious work of installing the positioning collector separately is omitted, and the all-round monitoring of the device to be positioned in the tunnel can be realized, and at the same time, the precise positioning of the device to be positioned can be guaranteed. In addition, a ranging method is also proposed.

Description

Tunnel positioning system and ranging method based on light strip

technical field

The invention relates to the technical field of tunnel positioning systems, in particular to a tunnel positioning system and a ranging method based on light strips.

Background technique

In recent years, with the development of society and economy and the advancement of science and technology, the development of urban rail transit and integrated pipe gallery construction in China has been changing rapidly. However, the current underground construction tunnels are deep and long, and there is no communication network coverage and mature application of personnel positioning technology. As a result, after the accident, rescuers cannot accurately obtain the specific conditions in the tunnel, which makes rescue difficult, inefficient and costly. , virtually increasing the casualties and property losses caused by the accident.

Most of the existing tunnel positioning technology adopts the method of arranging and positioning base stations in tunnels at multiple points, that is, a positioning base station is arranged at intervals (about 100-200 meters) in a linear tunnel, and the base station is connected with the base station through optical cables. Wired connection, or wireless bridge through wireless bridge, so as to achieve the purpose of data backhaul. However, this tunnel positioning technology has problems such as high operation cost, cumbersome installation, wiring and power collection process, and low positioning accuracy.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a light strip-based tunnel positioning system and a ranging method that can achieve high-precision positioning at a lower cost in view of the above problems.

A light strip-based tunnel positioning system, the light strip-based tunnel positioning system includes:

At least one light strip assembly, each of said light strip assemblies comprising:

a main body of the light strip, a communication bus is arranged in the main body of the light strip;

at least one positioning beacon, the at least one positioning beacon is arranged on the main body of the light strip and connected to the communication bus, and each positioning beacon is used to obtain the positioning signal of the device to be positioned;

a positioning relay base station, which is connected to one end of the main body of the light strip and connected to the communication bus for acquiring the positioning signal;

a carrier router, connected to the positioning relay base station in each of the light strip assemblies, for acquiring the positioning signal;

A background server, connected to the carrier router, is used for acquiring the positioning signal, and calculating a positioning result according to the positioning signal.

In one embodiment, the light strip-based tunnel positioning system further includes:

The lighting cable is respectively connected with each of the positioning relay base station and the carrier router, and is used to provide power for the light strip assembly, the light strip body, the beacon and the carrier router.

In one of the embodiments, 3. The light strip-based tunnel positioning system according to claim 1, wherein the light strip-based tunnel positioning system further comprises: a human-computer interaction connected with the background server terminal;

The background server is configured to send the positioning result to the human-computer interaction terminal.

In one embodiment, the carrier router includes: a first micro-control unit, a first carrier module, an Ethernet module and a first power supply;

a first power supply, which is respectively connected to the first micro-control unit, the first carrier module and the Ethernet module, and is used for the first micro-control unit, the first carrier module and the Ethernet module module power supply;

a first micro-control unit, connected to the first carrier module and the Ethernet module respectively, and used to control the first carrier module to receive a positioning signal sent by the positioning relay base station in the at least one light strip assembly and controlling the Ethernet module to upload all the positioning signals to the background server.

In one of the embodiments, each of the positioning relay base stations includes: a second carrier module, a second power supply, a second micro-control unit, and a first communication interface;

The second power supply is connected to the second carrier module, the second micro-control unit and the first communication interface respectively, and is used for the second carrier module, the second micro-control unit and the first communication interface. a communication interface for power supply;

The second micro-control unit is connected to the second carrier module and the first communication interface respectively, and is used to control the first communication interface to receive the positioning signal sent by the positioning beacon on each connected light strip body and control the The second carrier module sends the positioning signal to the first carrier module of the carrier router.

In one of the embodiments, the at least one light strip assembly is equidistantly arranged in a tunnel where the device to be positioned is located.

In one embodiment, the positioning beacons are arranged on the light strip body at equal distances.

In one of the embodiments, the background server is further specifically used for:

The signal strength of the positioning signal is acquired, and the signal strength is calculated based on the signal strength indication technology to obtain the positioning result.

A ranging method, applied to the above-mentioned light strip-based tunnel positioning system, the method comprising:

Obtain the positioning identification and positioning signal of at least one positioning beacon;

The positioning position where the positioning beacon corresponding to the positioning identification is located is acquired, and a positioning result is calculated according to the positioning position and the positioning signal.

In one embodiment, the method further includes:

Record the installation position of the positioning relay base station in each of the light strip assemblies;

Enter the installation location into the background server;

The acquiring the positioning position where the positioning beacon corresponding to the positioning identifier is located further includes:

The installation position of the positioning relay base station to which the positioning beacon is connected is obtained, and the positioning position is obtained according to the installation position.

The invention provides a tunnel positioning system and a distance measuring method based on light strips, which combines the positioning beacon and the light strip components, so that the installation of the positioning strips can be realized at the same time when the lighting strips are laid in the initial stage of tunnel construction. , eliminating the tedious work of installing the positioning collector separately. At the same time, since the light strip components are laid in the tunnel throughout the whole process, the all-round monitoring of the device to be located in the tunnel can be realized under the condition that the number and location of the positioning beacons are reasonable. At the same time, since the positioning signals collected by multiple positioning beacons are comprehensively analyzed, the precise positioning of the device to be positioned can also be guaranteed.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

in:

1 is a schematic diagram of a tunnel positioning system based on a light strip in one embodiment;

2 is a schematic diagram of a light strip assembly in one embodiment;

3 is a schematic diagram of a carrier router in one embodiment;

FIG. 4 is a schematic flowchart of a ranging method in one embodiment.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in FIG. 1 , FIG. 1 is a schematic diagram of a light strip-based tunnel positioning system in an embodiment. The light strip-based tunnel positioning system includes: at least one light strip assembly 100 , a carrier router 200 and a background server 300 . It can be understood that, in order to achieve power supply, the light strip-based tunnel positioning system further includes: lighting cables 400, respectively connected to the carrier router 200 and the positioning relay base station 110 in each light strip assembly 100, so as to provide the carrier router 200 and the positioning relay base station 110 in each light strip assembly 100. The light strip assembly 100 is powered. The lighting cable 400 includes live wires L1, L2, L3 and neutral wire N. The carrier router 200 and each light strip assembly 100 are respectively connected to the live wire L3 and the neutral wire N. More specifically, as shown in FIG. 2 , each light strip assembly 100 includes: a light strip body 120 , at least one positioning beacon 121 , and a positioning relay base station 110 .

The main body 120 of the light strip is provided with a communication bus 122 , and the communication bus 122 is used to transmit the positioning signal collected by the positioning beacon 121 to the positioning relay base station 110 . Wherein, the communication bus 122 in this embodiment adopts the RS485 communication bus. At least one positioning beacon 121 is disposed on the light strip main body 120 and is connected to the communication bus 122, and each positioning beacon 121 is used to obtain the positioning signal of the device 500 to be positioned (there are several in the figure, in other implementation scenarios, only there is one). The number of positioning beacons 121 in each light strip assembly 100 is based on the maximum distance of the positioning signals that can be obtained by the positioning beacons 121 , and the positioning beacons 121 should be set so as to cover the range of the positioning signals that can be obtained. the entire tunnel. For example, when the maximum distance of the positioning signal that can be obtained by the positioning beacon 121 is S/2, the interval between the two positioning beacons 121 set on the light strip main body 120 should not exceed S. The positioning relay base station 110 is connected to one end of the light strip main body 120 and is connected to the communication bus 122 for acquiring the positioning signals collected by all the positioning beacons 121 on the light strip main body 120 . Specifically, after one or more positioning beacons 121 obtain the positioning signal sent by the device 500 to be positioned, all the positioning beacons 121 that have obtained the positioning signal send the positioning signal to the positioning relay base station 110 through the communication bus 122 .

In a specific embodiment, as shown in FIG. 2 , each positioning relay base station 110 includes: a second carrier module 111 , a second power supply 112 , a second micro-control unit 113 and a first communication interface 114 . The second power supply 112 is connected to the second carrier module 111 , the second micro-control unit 113 and the first communication interface 114 respectively, and is used for the second carrier module 111 , the second micro-control unit 113 and the first communication interface 114 Power supply; the second micro-control unit 113 is connected with the second carrier module 111 and the first communication interface 114 respectively, and is used to control the first communication interface 114 to receive the positioning signal sent by the positioning beacon 121 on each connected light strip body 120 and controlling the second carrier module 111 to send a positioning signal to the carrier router 200 . The lighting cable 400 includes live wires L1 , L2 , L3 and neutral wire N. The positioning relay base station 110 is connected to the live line L3 and the neutral line N.

The carrier router 200 , as shown in FIG. 1 , is connected to the positioning relay base station 110 in each light strip assembly 100 , and is used for acquiring the positioning signal sent by the positioning relay base station 110 .

In a specific embodiment, as shown in FIG. 3 , the carrier router 200 includes: a first micro-control unit 210 , a first carrier module 220 , an Ethernet module 230 and a first power supply 240 . Wherein, the first power supply 240 is respectively connected with the first micro-control unit 210, the first carrier module 220 and the Ethernet module 230, and is used for supplying power to the first micro-control unit 210, the first carrier module 220 and the Ethernet module 230; The first micro-control unit 210 is connected with the first carrier module 220 and the Ethernet module 230 respectively, and is used to control the first carrier module 220 to receive the positioning signal sent by the positioning relay base station 110 in at least one light strip assembly 100 and control the Ethernet The module 230 uploads all positioning signals to the background server 300 .

The background server 300 is connected to the carrier router 200 through a network cable, and is used to obtain the positioning signals sent by all connected carrier routers 200, so as to realize the overall monitoring of the devices 500 to be positioned in multiple tunnels.

Further, an accurate positioning result of the device to be positioned 500 in the tunnel is calculated according to the positioning signal. Specifically, the signal strength of the positioning signal is analyzed, and the signal strength is converted into the relative distance of the device to be located 500 relative to the positioning beacon based on the signal strength indication technology (RSSI, Received Signal Strength Indication), and finally the positioning position where the positioning beacon is located is analyzed in combination with and the relative distance of the device to be located 500 relative to the positioning beacon, the positioning result of the device to be located 500 in the tunnel can be obtained. Exemplarily, a light strip assembly ABCD is arranged in the tunnel, and the positioning beacon abcd in each light strip assembly can determine the identity of the corresponding light strip assembly according to the received positioning signal. For example, according to the positioning signal, the identification of the light strip assembly can be determined as A, and further the identification of the positioning beacon can be determined as b and c, so that the positioning beacon b and the positioning beacon c of the device to be positioned in the light strip assembly A can be determined. between. Further, based on the signal strength indication technology, the relative distance D1 of the device to be located from the location beacon b is determined according to the signal strength of the location signal returned by the location beacon b, and the relative distance D2 of the device to be located from the location beacon c is similarly determined. . When the measured positioning position of the positioning beacon b is Db, the positioning result is Db+D1; or, when the measured positioning position of the positioning beacon c is Dc, the positioning result is Dc-D2 (when the positioning beacon b when it is closer to the starting point of the tunnel).

In a specific embodiment, in order to obtain the positioning result by subsequent calculation, at least one light strip assembly 100 is equidistantly arranged in the tunnel where the device 500 to be positioned is located, so that the position of the light strip assembly 100 in the tunnel can be quickly determined. Exemplarily, the light strip assembly 100 is provided with a light strip assembly 100 every 200 meters from the tunnel entrance, and the installation position of the light strip assembly 100 can be obtained according to the serial number identification of the light strip assembly 100 . Further, the positioning beacons are arranged on the light strip main body 120 at equal distances, for example, a positioning beacon is arranged every 50 meters. Therefore, when the positioning position of the positioning beacon is used subsequently, it can be obtained only according to the serial number identification of the light strip assembly 100 and the serial number identification of the positioning beacon.

In a specific embodiment, as shown in FIG. 1 , in order to facilitate viewing of the positioning result, the above-mentioned light strip-based tunnel positioning system further includes: a human-computer interaction terminal connected to the background server 300 . Specifically, when the human-computer interaction terminal sends a result query request to the background server 300, the background server 300 sends the positioning result corresponding to the device to be located 500 in the tunnel to the human-computer interaction terminal. Or, the background server 300 may periodically send the positioning result to the human-computer interaction terminal, for example, every 1 hour.

The above-mentioned tunnel positioning system based on light strips combines the positioning beacon with the light strip components, so that when the lighting strips are laid in the early stage of tunnel construction, the installation of the positioning strips can be realized at the same time, eliminating the need for separate installation and positioning The tedious work of the collector. At the same time, since the light strip components are laid in the tunnel throughout the whole process, the all-round monitoring of the device to be located in the tunnel can be realized under the condition that the number and location of the positioning beacons are reasonable. At the same time, since the positioning signals collected by multiple positioning beacons are comprehensively analyzed, the precise positioning of the device to be positioned can also be guaranteed.

As shown in FIG. 4 , which is a schematic flowchart of a ranging method in an embodiment, which is applied to the above-mentioned light strip-based tunnel positioning system, the steps provided by the ranging method in this embodiment include:

Step 402: Obtain a positioning identifier and a positioning signal of at least one positioning beacon.

A plurality of positioning beacons are arranged in the light strip main body of each light strip assembly, and different positioning beacons are distinguished by positioning marks. For example, the positioning beacons in each light strip assembly can be divided into positioning beacons 1, positioning beacons 2, positioning beacons 3, etc., wherein the serial number of the positioning beacons is the positioning identification.

In order to determine the positioning result of the device to be positioned, the device to be positioned needs to send a positioning signal to a nearby positioning beacon. However, each positioning beacon can only obtain the positioning signal within a certain distance range, so the positioning beacon far away from the positioning signal cannot obtain the positioning signal, and the positioning is only obtained within the positioning beacon within the signal receiving range. Signal. The background server obtains the positioning signals received by the positioning beacons and the positioning identifiers of these positioning beacons.

Step 404: Obtain the positioning position where the positioning beacon corresponding to the positioning identifier is located, and calculate the positioning result according to the positioning position and the positioning signal.

The positioning position of the positioning beacon depends on the installation position of the light strip assembly and the relative position of the positioning beacon in the light strip assembly. Therefore, it is necessary to first determine the installation position of the light strip assembly and the relative position of the positioning beacon. Specifically, in the construction stage of the tunnel, when installing at least one light strip assembly equidistantly in the tunnel to be positioned, it is necessary to record the installation position of the positioning relay base station in each light strip assembly, and record all the installation positions in the backend server. Therefore, it is convenient to directly call data during subsequent ranging. During ranging, the installation position of the positioning relay base station can be directly determined according to the serial number identification of the positioning relay base station, and the relative position of the positioning beacon in the light strip assembly can be directly determined according to the serial number identification of the signal identification. Combined with the positioning relay base station The installation position and the relative position of the positioning beacon can obtain the positioning position where the positioning beacon is located.

Further, based on the different signal strengths of the positioning signals detected by the positioning beacons at different distances from the device to be located, the background server analyzes the signal strength of the positioning signal and converts the signal strength into the relative signal strength of the device to be located based on the signal strength indication technology. Based on the relative distance of the positioning beacon, and finally combining and analyzing the positioning position of the positioning beacon and the relative distance of the device to be positioned relative to the positioning beacon, the positioning result of the device to be positioned in the tunnel can be obtained. Exemplarily, when the relative distance between the device to be located and the beacon located at 200m from the positioning position is 20m, and the relative distance from the beacon located at 250m is 30m, the positioning result can be obtained as the distance to the tunnel opening 220 .

The above-mentioned tunnel positioning method based on light strips can ensure the precise positioning of the device to be positioned by acquiring the positioning positions and positioning signals of multiple positioning beacons, and performing comprehensive analysis based on the signal strength indication technology.

It should be noted that the above-mentioned tunnel positioning system and ranging method based on light strips belong to a general inventive concept, and the contents in the embodiments of the tunnel positioning system and ranging method based on light strips are applicable to each other.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above examples only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (10)

1. A tunnel positioning system based on light strips, characterized in that, the tunnel positioning system based on light strips comprises: At least one light strip assembly, each of said light strip assemblies comprising: a main body of the light strip, a communication bus is arranged in the main body of the light strip; at least one positioning beacon, the at least one positioning beacon is arranged on the main body of the light strip and connected to the communication bus, and each positioning beacon is used to obtain the positioning signal of the device to be positioned; a positioning relay base station, which is connected to one end of the main body of the light strip and connected to the communication bus for acquiring the positioning signal; a carrier router, connected to the positioning relay base station in each of the light strip assemblies, for acquiring the positioning signal; A background server, connected to the carrier router, is used for acquiring the positioning signal, and calculating a positioning result according to the positioning signal. 2. The tunnel positioning system based on light strips according to claim 1, wherein the tunnel positioning system based on light strips further comprises: A lighting cable is connected to each of the light strip assemblies and the carrier router respectively, and is used to provide power for the positioning relay base station, the main body of the light strip, the beacon and the carrier router. 3. The tunnel positioning system based on light strips according to claim 1, wherein the tunnel positioning system based on light strips further comprises: a human-computer interaction terminal connected with the background server; The background server is configured to send the positioning result to the human-computer interaction terminal. 4. The light strip-based tunnel positioning system according to claim 1, wherein the carrier router comprises: a first micro-control unit, a first carrier module, an Ethernet module and a first power supply; a first power supply, which is respectively connected to the first micro-control unit, the first carrier module and the Ethernet module, and is used for the first micro-control unit, the first carrier module and the Ethernet module module power supply; a first micro-control unit, connected to the first carrier module and the Ethernet module respectively, and used to control the first carrier module to receive a positioning signal sent by the positioning relay base station in the at least one light strip assembly and controlling the Ethernet module to upload all the positioning signals to the background server. 5. The tunnel positioning system based on light strips according to claim 4, wherein each of the positioning relay base stations comprises: a second carrier module, a second power supply, a second micro-control unit and a first communication interface ; The second power supply is connected to the second carrier module, the second micro-control unit and the first communication interface respectively, and is used for the second carrier module, the second micro-control unit and the first communication interface. a communication interface for power supply; The second micro-control unit is connected to the second carrier module and the first communication interface respectively, and is used to control the first communication interface to receive the positioning signal sent by the positioning beacon on each connected light strip body and control the The second carrier module sends the positioning signal to the first carrier module of the carrier router. 6 . The light strip-based tunnel positioning system according to claim 1 , wherein the at least one light strip assembly is equidistantly arranged in the tunnel where the device to be positioned is located. 7 . 7 . The tunnel positioning system based on a light strip according to claim 6 , wherein the positioning beacons are arranged on the main body of the light strip at equal distances. 8 . 8. The light-strip-based tunnel positioning system according to claim 1, wherein the background server is also specifically used for: The signal strength of the positioning signal is acquired, and the signal strength is calculated based on the signal strength indication technology to obtain the positioning result. 9. A ranging method, applied to the light strip-based tunnel positioning system according to claims 1-8, wherein the method comprises: Obtain the positioning identification and positioning signal of at least one positioning beacon; The positioning position where the positioning beacon corresponding to the positioning identification is located is acquired, and a positioning result is calculated according to the positioning position and the positioning signal. 10. The method of claim 9, wherein the method further comprises Record the installation position of the positioning relay base station in each of the light strip assemblies; Enter the installation location into the background server; The acquiring the positioning position where the positioning beacon corresponding to the positioning identifier is located further includes: The installation position of the positioning relay base station to which the positioning beacon is connected is obtained, and the positioning position is obtained according to the installation position.

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