CN102733854A - Mine emergency wireless collection system and collection method based on remote distribution of flying machine - Google Patents
Mine emergency wireless collection system and collection method based on remote distribution of flying machine Download PDFInfo
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- CN102733854A CN102733854A CN2012102265455A CN201210226545A CN102733854A CN 102733854 A CN102733854 A CN 102733854A CN 2012102265455 A CN2012102265455 A CN 2012102265455A CN 201210226545 A CN201210226545 A CN 201210226545A CN 102733854 A CN102733854 A CN 102733854A
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Abstract
The invention relates to a mine emergency wireless collection system and a collecting method based on remote distribution of a flying machine. The mine emergency wireless collection system comprises the flying machine, a front end collection part and a portable terminal, wherein the flying machine comprises a main air bag, a power device and a balancer. When emergency situation happens underground, the flying machine which is provided with the front end collection part is remotely controlled to a preset area for distributing, the front end collection part is used for collecting environment information of the temperature, the methane concentration and the oxygen concentration in the preset area, and data information can be transmitted to the portable terminal through a wireless way; the portable terminal is used for displaying, storing and analyzing and is used for evaluating whether rescue workers are suitable to enter into the preset area or not; the front end collection part can be distributed in the front preset area by the rescue workers by utilizing the flying machine, and the forward advancing can be gradually carried out until a catastrophe field is reached. According to the mine emergency wireless collection system and the collecting method, disclosed by the invention, the remote distribution of the front end collection part is carried out by utilizing the flying machine and is safe and reliable; the real-time data transmission is carried out by adopting the wireless way; and the environment safety situation can be quickly and efficiently evaluated by the portable terminal system.
Description
Technical field
The present invention relates to the mine emergent radio communications field. particularly a kind of based on long-range mine emergent radio acquisition system and the acquisition method that lays of aircraft.
Background technology
For many years; After security incident appears in the mine; Because the original information gathering equipment in down-hole is cut off fully, downhole rescuing work is to emit life danger to gather on the spot through the rescue team member for the relevant parameter collection of zone of ignorance, can not directly analyze etc.In addition, since in confused situation, information gathering point collecting temperature, methane and oxygen information arrived in person, there are the problems such as personal safety that secondary disaster threatens the rescue personnel that take place again.
Summary of the invention
Technical problem to be solved by this invention is to deficiency of the prior art; Provide a kind of based on long-range mine emergent radio acquisition system and the acquisition method that lays of aircraft; Use this system and method can realize that the ambient parameter testing result receives through wireless mode fast under the case of emergency; Accurately convenient, checkout equipment is easy to carry.
For this reason, the invention provides a kind of based on long-range mine emergent radio acquisition system and the acquisition method that lays of aircraft:
A kind of based on the long-range mine emergent radio acquisition system that lays of aircraft, it is characterized in that comprising aircraft, front-end collection part and wireless portable data processing terminal;
(1) said aircraft comprises the power set of main gasbag, main gasbag rear end and the weight device of main gasbag bottom; The main gasbag medium adopts the helium composition;
Said power set: to aircraft flying power is provided through power set, accomplishes the input and the layout of front-end collection part; The flying speed of aircraft can be regulated through the power size, at the Remote end, the flight of aircraft is set and stops through the opening and closing power set; The power set of said aircraft are that rotation is adjustable;
Said weight device: be used for controlling the height of aircraft and front-end collection part, thereby accomplish the environmental information collection of differing heights; Weight device adopts electromagnetism counterweight mode;
(2) said front-end collection part comprises:
Main control unit one: be converted to the information that sensing element is gathered in real time environment of living in through A/D, packing data then is through wireless module one wireless transmission;
Wireless module one: the wireless transmission of accomplishing data;
Power supply one: be main control unit one and other module for power supply;
Sensing element: carry out the detection of ambient parameter, sensing element is temperature pick up, sensing methane concentration device and oxygen concentration sensor;
(3) wireless portable data processing terminal comprises:
Main control unit two: set up the radio communication with the front-end collection part, the reception environment data message shows and stores in the massage storage at display unit;
Wireless module two: the wireless transmission of mainly accomplishing data;
Power supply two: be main control unit two and other module for power supply;
Display unit: show and collect the ambient parameter that front end sends over;
Buzzer: when parameter transfinites, report to the police;
Massage storage: with collection in worksite to storage get up and carry out playback and processing so that take back ground.
The main gasbag material of said aircraft device adopts modified PVC, and said weight device adopts electromagnetism counterweight mode, falls magnetic through outage and abandons the counterweight iron block, and the counterweight iron block is made up of with unshakable in one's determination coil; The counterweight iron block is adsorbed on the weight device during work, and when needs changed the collection height, magnetic was eliminated in outage, loses balance weight iron, reaches requirement for height with this; Weight device carries the polylith balance weight iron, according to different requirement, loses different balance weight irons.
Said aircraft length is 2-3m, and diameter is 1.5-2.5m, and actual load is 1Kg, and the optimal visual flying height is 3～10m.
Said main control unit one program comprises following module: main program, receive sensing element sub-line of data journey, show sub-thread, send sub-thread; Said main control unit two programs comprise following module: main program, receiving front-end send the sub-thread of information, show sub-thread, judge the sub-thread of reporting to the police.
Said power supply one is a direct current 5V power supply with power supply two.
Said display device is a LCD display.
Said main control unit one comprises CPU one, memory cell one, clock module one;
Functions such as CPU one responsible control, computing, processing to the unit;
Memory cell one comprises SDRAM and FLASH, realizes the buffer memory of data;
Clock module one provides system clock for main control unit one;
Said main control unit two comprises CPU two, memory cell two, clock module two;
Functions such as the responsible control of CPU two processors, computing, processing to the unit;
Memory cell two comprises SDRAM and FLASH, realizes the buffer memory of data;
Clock module two provides system clock for system.
The method of utilizing mine environmental parameter emergent radio acquisition system to carry out information gathering is characterized in that may further comprise the steps:
When (1) rescue personnel gets into the catastrophe scene, start-up system;
(2) the aircraft device carries front-end collection and partly flies to presumptive area through Radio Link control, arranges and throws in, and fixes flight attitude, according to gathering the height that requires to be provided with the front-end collection part;
(3) front-end collection part log-on data is gathered, and collecting temperature, methane and oxygen concentration data start wireless transport module, with temperature, methane and oxygen concentration environmental data remote transmission;
(4) wireless portable data processing terminal reception environment data show data, and storage, and through data contrast and calculating, whether this presumptive area air ambient parameter of comprehensive assessment is fit to personnel gets into;
(5) if assessment result is fit to personnel to get into, then the rescue personnel get into should the zone; The long-range next one that lays is gathered aircraft to next presumptive area in this zone, and repeating step 1-4 is up to reaching the catastrophe scene.
The present invention compared with prior art has the following advantages: utilize aircraft to carry out the remote link remote control and throw in and arrange, greatly reduce and maybe the secondary that the rescue personnel causes be endangered; Adopt wireless communication technology, can carry out in real time mine accident site environment situation, rapidly, accurately detection.
Through accompanying drawing and case study on implementation, technical scheme of the present invention is done further detailed description below.
Description of drawings
Fig. 1 is a general structure sketch map of the present invention.
Fig. 2 is an aircraft apparatus structure sketch map of the present invention.
Fig. 3 is a front-end collection part hardware configuration sketch map of the present invention.
Fig. 4 is a wireless portable data processing terminal hardware configuration sketch map of the present invention.
Fig. 5 is wireless portable data processing terminal software realization flow figure of the present invention.
Description of reference numerals:
The 1-power set; The 2-weight device; The 3-main gasbag; The 4-helium;
The 5-tunnel; 6-wireless portable data processing terminal; The 7-wireless transmission link; 8-front-end collection part;
The 9-aircraft; 10-main control unit one; 11-main control unit two; 101-wireless module one;
The 102-sensing element; 103-memory cell one;
104-power supply one;
105-clock one;
106-wireless module two;
The 107-buzzer;
108-memory cell two;
The 109-mass memory;
110-LCD shows;
111-clock two;
112-power supply two;
113-CPU one;
114-CPU two;
The specific embodiment
Based on the long-range mine emergent radio acquisition system that lays of aircraft, comprise with the lower part:
(1) aircraft 9: the power set 1 of main gasbag 3, main gasbag 3 rear ends and the weight device 2 of main gasbag 3 bottoms.Main gasbag 3 medium adopt helium 4 compositions.Main gasbag 3 materials are modified PVC, can be effectively fire-retardant, and have certain anti-slight impact capacity.Power set 1 are accomplished the layout of front-end collection part 8 and are laid, and free movable in maximum flight range, and weight device 2 is used for being provided with the height of aircraft 9 and front-end collection part 8;
Power set 1: be used for flying power being provided, accomplish the input and the layout of tunnel 5 Inner Front End collecting parts 8 to aircraft 9;
Weight device 2: be used for being provided with the height of aircraft 9 and front-end collection part 8, thereby accomplish the information gathering of differing heights;
Said aircraft 9 length are 2-3m, and diameter is 1.5-2.5m, and actual load is 1Kg, and the optimal visual flying height is 3～10m.
(2) the front-end collection part 8, comprising:
Main control unit 1: be converted to the information that sensing element 102 is gathered environment of living in real time through A/D, packing data then is through wireless module one 101 wireless transmissions;
Power supply 1: be main control unit 1 and other module for power supply;
Wireless module 1: accomplish the transmission of data;
Sensing element 102: carry out the detection of ambient parameter;
(3) the wireless portable data processing terminal 6, comprising:
LCD display 110: show and collect the ambient parameter that front end sends over;
Buzzer 107: when parameter transfinites, report to the police;
Massage storage 109: with collection in worksite to storage get up and carry out playback and processing so that take back ground;
Main control unit one 10 programs comprise following module: main program, receive sensing element sub-line of data journey, show sub-thread, send sub-thread.
Comprise CPU 1, memory cell 1 and clock 1 in the main control unit 1; Functions such as CPU one 113 responsible controls, computing, processing to the unit;
Comprise CPU 2 114, memory cell 2 108 and clock 2 111 in the main control unit 2 11; Functions such as CPU 2 114 responsible controls, computing, processing to the unit;
Aircraft 9 mainly comprises: the power set 1 of main gasbag 3, main gasbag 3 rear ends and the weight device 2 of main gasbag 3 bottoms.Main gasbag 3 medium adopt helium 4 compositions, and its material is that modified PVC can be effectively fire-retardant, and has certain anti-slight impact capacity.Aircraft 9 length scale are about 2m, and diameter is about 1.5m, and the air bag volume is about 2.5m3, and actual load is 1Kg, and the optimal visual flying height is 3～10m.Power set 1 provide forward flight power for aircraft 9.Weight device 2 adopts electromagnetism counterweight mode, can require to be provided with the height of aircraft 9 and front-end collection part 8 according to the collection of front-end collection part 8.
Front-end collection part 8 adopts wireless module 1 to be connected with main control unit 1 through data-interface, and power supply 2 112 carries out embedded system development on embedded OS, is responsible for being converted to temperature, methane and oxygen concentration through A/D; Sensor 102 is gathered environmental information of living in real time, and packing data then is through wireless module one 101 wireless transmissions.
Wireless portable data processing terminal 6 adopts wireless module 2 106 to be connected with main control unit 2 11 through data-interface; Main control unit 2 11 carries out embedded system development on embedded Linux operating system; It is responsible for setting up the radio communication with acquisition front end, receives temperature, methane and oxygen concentration information, on LCD110, shows and stores in the massage storage 109; If temperature, methane and oxygen concentration concentration transfinite then report to the police; Trigger buzzer 107,, prevent that personal injury from taking place so that in time take measures.The GUI of wireless portable data processing terminal adopts embedded type GUI to realize.
During mine generation emergency, need in time obtain temperature, methane and the oxygen concentration concentration information of objective, so that launch rescue rapidly.
The method of carrying out mine temperature, methane and the information gathering of oxygen concentration environmental data based on the long-range mine emergent radio acquisition system that lays of aircraft is following:
When (1) rescue personnel gets into the catastrophe scene, start-up system;
(2) aircraft 9 devices carry front-end collection part 8 and fly to presumptive area through wireless transmission link 7 control, arrange and throw in, and fix flight attitude, according to gathering the height that requires to be provided with front-end collection part 8;
(3) front-end collection part 8 log-on data collections, collecting temperature, methane and oxygen concentration data start wireless module 1, with temperature, methane and oxygen concentration environmental data remote transmission;
(4) wireless portable data processing terminal 6 reception environment data show data, and storage, and through data contrast and calculating, whether this presumptive area air ambient parameter of comprehensive assessment is fit to personnel gets into;
(5) if assessment result is fit to personnel to get into, then the rescue personnel get into should the zone; The long-range next one that lays is gathered aircraft 9 to next presumptive area in this zone, and repeating step 1-4 is up to reaching the catastrophe scene.
Adopt wireless module 1 to be connected with CPU 1 through data-interface for front-end collection part 8, main control unit 1 carries out embedded system development on embedded OS, and major function comprises data acquisition, functions such as data demonstration and data transmission.The whole multithreading that adopts is realized modularization: main program, receive sub-thread (receiving the sensing element data), show sub-thread, send sub-thread.Design a host process software and three subprocess softwares.The workflow of acquisition front end part 8 is:
System initialization;
Obtain temperature, methane and oxygen concentration concentration information;
Carry out analog-to-digital conversion, store transformation result into memory cell 1;
Start and send thread, judge whether the data that collect exceed standard, and data in judged result and the memory cell 1 are sent;
At last, carry out at wireless portable data processing terminal 6 for the reception and the processing of data.
Wireless portable data processing terminal 6 adopts wireless module 2 106 to be connected with the CPU 2 114 of main control unit 2 11 through data-interface, and main control unit 2 11 carries out embedded system development on linux operating system.Wireless portable data processing terminal software comprises that data receive, and data show, functions such as storage and judgement warning.Wireless portable data processing terminal software equally also adopts multithreading to realize modularization: main program, receive sub-thread (temperature, methane and oxygen concentration environmental information data that receiving front-end sends), show sub-thread, judge the sub-thread of reporting to the police.Design a host process software and three subprocess softwares, the workflow of wireless portable data processing terminal 6 is:
System initialization;
Receive temperature, methane and oxygen concentration information data that acquisition front end is sent;
To receive data shows on LCD display 110;
Through background program data are calculated, whether triggered the warning thread;
Close thread, log off.
The present invention utilizes aircraft to carry out the remote link remote control and throws in and arrange, greatly reduces and maybe the secondary that the rescue personnel causes be endangered; Adopt wireless communication technology, can carry out in real time mine accident site environment situation, rapidly, accurately detection.Realize that the ambient parameter testing result receives through wireless mode fast under the case of emergency, accurately convenient, checkout equipment is easy to carry.
Claims (7)
1. one kind based on the long-range mine emergent radio acquisition system that lays of aircraft, it is characterized in that comprising aircraft, front-end collection part and wireless portable data processing terminal;
(1) said aircraft comprises the power set of main gasbag, main gasbag rear end and the weight device of main gasbag bottom; The main gasbag medium adopts the helium composition;
Said power set: to aircraft flying power is provided through power set, accomplishes the input and the layout of front-end collection part; The flying speed of aircraft can be regulated through the power size, at the Remote end, the flight of aircraft is set and stops through the opening and closing power set; The power set of said aircraft are that rotation is adjustable;
Said weight device: be used for controlling the height of aircraft and front-end collection part, thereby accomplish the environmental information collection of differing heights; Weight device adopts electromagnetism counterweight mode;
(2) said front-end collection part comprises:
Main control unit one: be converted to the information that sensing element is gathered in real time environment of living in through A/D, packing data then is through wireless module one wireless transmission;
Wireless module one: the wireless transmission of accomplishing data;
Power supply one: be main control unit one and other module for power supply;
Sensing element: carry out the detection of ambient parameter, sensing element is temperature pick up, sensing methane concentration device and oxygen concentration sensor;
(3) wireless portable data processing terminal comprises:
Main control unit two: set up the radio communication with the front-end collection part, the reception environment data message shows and stores in the massage storage at display unit;
Wireless module two: the wireless transmission of mainly accomplishing data;
Power supply two: be main control unit two and other module for power supply;
Display unit: show and collect the ambient parameter that front end sends over;
Buzzer: when parameter transfinites, report to the police;
Massage storage: with collection in worksite to storage get up and carry out playback and processing so that take back ground.
2. according to claim 1 based on the long-range mine emergent radio acquisition system that lays of aircraft; The main gasbag material that it is characterized in that said aircraft device adopts modified PVC; Said weight device adopts electromagnetism counterweight mode; Fall magnetic through outage and abandon the counterweight iron block, the counterweight iron block is made up of with unshakable in one's determination coil; The counterweight iron block is adsorbed on the weight device during work, and when needs changed the collection height, magnetic was eliminated in outage, loses balance weight iron, reaches requirement for height with this; Weight device carries the polylith balance weight iron, according to different requirement, loses different balance weight irons.
Mine environmental parameter emergent radio acquisition system according to claim 1 and 2 is characterized in that said aircraft length is 2-3m, and diameter is 1.5-2.5m, and actual load is 1Kg, and the optimal visual flying height is 3～10m.
3. mine environmental parameter emergent radio acquisition system according to claim 1 and 2 is characterized in that said main control unit one program comprises following module: main program, receive sensing element sub-line of data journey, show sub-thread, send sub-thread; Said main control unit two programs comprise following module: main program, receiving front-end send the sub-thread of information, show sub-thread, judge the sub-thread of reporting to the police.
4. mine environmental parameter emergent radio acquisition system according to claim 1 and 2 is characterized in that said power supply one and power supply two are direct current 5V power supply.
5. mine environmental parameter emergent radio acquisition system according to claim 1 and 2 is characterized in that said display device is a LCD display.
6. mine environmental parameter emergent radio acquisition system according to claim 1 and 2 is characterized in that said main control unit one comprises CPU one, memory cell one, clock module one;
Functions such as CPU one responsible control, computing, processing to the unit;
Memory cell one comprises SDRAM and FLASH, realizes the buffer memory of data;
Clock module one provides system clock for main control unit one;
Said main control unit two comprises CPU two, memory cell two, clock module two;
Functions such as the responsible control of CPU two processors, computing, processing to the unit;
Memory cell two comprises SDRAM and FLASH, realizes the buffer memory of data;
Clock module two provides system clock for system.
7. the method for utilizing claim 1 or 2 described mine environmental parameter emergent radio acquisition systems to carry out information gathering is characterized in that may further comprise the steps:
When (1) rescue personnel gets into the catastrophe scene, start-up system;
(2) the aircraft device carries front-end collection and partly flies to presumptive area through Radio Link control, arranges and throws in, and fixes flight attitude, according to gathering the height that requires to be provided with the front-end collection part;
(3) front-end collection part log-on data is gathered, and collecting temperature, methane and oxygen concentration data start wireless transport module, with temperature, methane and oxygen concentration environmental data remote transmission;
(4) wireless portable data processing terminal reception environment data show data, and storage, and through data contrast and calculating, whether this presumptive area air ambient parameter of comprehensive assessment is fit to personnel gets into;
(5) if assessment result is fit to personnel to get into, then the rescue personnel get into should the zone; The long-range next one that lays is gathered aircraft to next presumptive area in this zone, and repeating step 1-4 is up to reaching the catastrophe scene.
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| CN104345644A (en) * | 2013-07-29 | 2015-02-11 | 中科宇图天下科技有限公司 | Monitoring unmanned plane equipped with throwing sensing device and monitoring method |
| CN105118255A (en) * | 2015-08-06 | 2015-12-02 | 广州杰赛科技股份有限公司 | Spherical sensor and data acquisition method and system adopting same |
| CN106781370A (en) * | 2016-12-05 | 2017-05-31 | 西安科技大学 | Method is laid based on wireless communication propagation characteristic underground rescue robot communication node |
| CN107894779A (en) * | 2017-11-23 | 2018-04-10 | 哈尔滨工程大学 | It is a kind of based on environmental monitoring system and method in the ore deposit with cable unmanned plane |
| CN108194129A (en) * | 2018-03-28 | 2018-06-22 | 中国矿业大学(北京) | A kind of mine Disastrous environment search and rescue device based on aircraft |
| CN109319105A (en) * | 2018-10-26 | 2019-02-12 | 武汉科技大学 | A kind of unmanned monitoring device of the mining underground space |
| CN113099090A (en) * | 2021-04-08 | 2021-07-09 | 重庆工程职业技术学院 | Coal mine inspection auxiliary system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104345644A (en) * | 2013-07-29 | 2015-02-11 | 中科宇图天下科技有限公司 | Monitoring unmanned plane equipped with throwing sensing device and monitoring method |
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Application publication date: 20121017 |